YASKAWA MOTOMAN DX200 Instructions Manual
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YASKAWA MOTOMAN DX200 Instructions Manual

Options for convey or synchronized function
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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
FOR CONVEYOR SYNCHRONIZED FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions 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:
165637-1CD
Revision:
2
MANUAL NO.
HW1482181
4
1 of 86

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Summary of Contents for YASKAWA MOTOMAN DX200

  • Page 1 DX200 OPTIONS INSTRUCTIONS FOR CONVEYOR SYNCHRONIZED FUNCTION Upon receipt of the product and prior to initial operation, read these instructions 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.
  • Page 2 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. You are welcome to copy this document to your computer or mobile device for...
  • Page 3 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 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 165637-1CD Notes for Safe Operation Conveyor Synchronized 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 “DANGER”, “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates an imminent hazardous situation which, if not avoided, could DANGER...
  • Page 6 165637-1CD Notes for Safe Operation Conveyor Synchronized Function WARNING • Before operating the manipulator, check that servo power is turned OFF pressing the emergency stop buttons on the front door of the DX200 and the programming pendant. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
  • Page 7 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 8 165637-1CD Description of the Operation Procedure Conveyor Synchronized 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] is pressed, or that the item is directly selected by touching the screen.
  • Page 9 Do not make any modifications to the controller unit. Making any changes without the written permission from YASKAWA will void the warranty. • Some operations require a standard passwords and some require special passwords.
  • Page 10 It is important that users operate the equipment in accordance with this instruction manual and any additional information which may be provided by YASKAWA. Address any questions regarding the safe and proper operation of the equipment to YASKAWA Customer Support.
  • Page 11 Function system, please contact YASKAWA Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact YASKAWA Customer Support at the following e-mail address: techsupport@motoman.com When using e-mail to contact YASKAWA Customer Support, please provide a detailed description of your issue, along with complete contact information.

  • Page 12: Table Of Contents

    165637-1CD Table of Contents Conveyor Synchronized Function Table of Contents 1 Conveyor Synchronized Function ....................1-1 1.1 System Configuration Example..................1-1 1.2 Conveyor Synchronized Operation ..................1-2 1.2.1 Conveyor Home-position Limit Switch ..............1-3 1.2.2 Conveyor Home-position Input Signal ..............1-3 1.2.3 SYSTART Instruction and Manipulator Motion .............
  • Page 13 165637-1CD Table of Contents Conveyor Synchronized Function 4.2.2.6 Editing “CORRECTION”................ 4-11 4.2.2.7 Editing “TRACKING” ................4-11 4.2.2.8 Editing “USER COORD NO.” ..............4-11 4.2.2.9 Editing “BASE AXIS” ................4-11 4.2.2.10 Editing “POSITIONAL RESOLUTION” ..........4-11 4.2.2.11 Editing “VIRTUAL CONVEYOR SPEED” ..........4-11 4.2.2.12 Editing “AVERAGED TRAVEL TIME”...
  • Page 14 165637-1CD Table of Contents Conveyor Synchronized Function 5.7 Notes on Operation......................5-17 5.7.1 Confirming Reach to Step................... 5-17 5.7.2 Backward (BWD) Operation ................5-17 5.7.3 Changing Tool ....................5-17 5.7.4 Deleting Taught Points ..................5-17 5.8 Job Example ........................5-18 6 Playback............................
  • Page 15 165637-1CD Table of Contents Conveyor Synchronized Function 10 Manual Conveyor Function ......................10-1 10.1 Settings for Manual Conveyor Function................. 10-2 10.1.1 Setting the Conveyor Position ................10-2 10.1.2 Enabling/Disabling the Setting................10-2 10.2 Precautions........................10-2 10.2.1 When the Power is Turned ON................. 10-2 11 Manual Setting Function for Conveyor Home-Position Limit Switch...........

  • Page 16: Conveyor Synchronized Function

    165637-1CD Conveyor Synchronized Function Conveyor Synchronized 1.1 System Configuration Example Function Conveyor Synchronized Function System Configuration Example A basic system configuration example using DX200 conveyor synchronized function is shown below. The manipulator detects the conveyor moving amount by the encoder mounted on the conveyor.

  • Page 17: Conveyor Synchronized Operation

    165637-1CD Conveyor Synchronized Function Conveyor Synchronized 1.2 Conveyor Synchronized Operation Function Conveyor Synchronized Operation The position tracking type conveyor synchronized operation function modifies the taught path in conveyor non-moving state according to the conveyor moving amount so that the manipulator performs follow-up motion in the conveyor moving direction with constant speed relative to the workpiece.

  • Page 18: Conveyor Home-Position Limit Switch

    165637-1CD Conveyor Synchronized Function Conveyor Synchronized 1.2 Conveyor Synchronized Operation Function 1.2.1 Conveyor Home-position Limit Switch The conveyor home-position limit switch turns ON the conveyor home- position input signal when a workpiece is detected by a sensor. 1.2.2 Conveyor Home-position Input Signal When the conveyor home-position input signal is input, the conveyor current value is automatically reset to 0 mm.
  • Page 19 165637-1CD Conveyor Synchronized Function Conveyor Synchronized 1.2 Conveyor Synchronized Operation Function If the SYSTART instruction is executed before the input of conveyor home-position input signal, the manipulator waits until the conveyor home- position input signal is input and the conveyor reaches the synchronization start position, then starts the synchronized operation.

  • Page 20: Conveyor

    165637-1CD Conveyor Synchronized Function Conveyor Synchronized 1.3 Conveyor Function <Job Example> A job example of conveyor synchronized operation is shown. Refer to section 5.8 “Job Example” on page 5-18. 0000 NOP 0001 SYEND CV#(1) Resets the conveyor home-position registration status 0002 MOVJMoves to the stand-by position near the conveyor 0003 SYSTART CV#(1) STP=100.000Conveyor synchronized operation starts.

  • Page 21: Definition Of Conveyor Moving Direction

    165637-1CD Conveyor Synchronized Function Conveyor Synchronized 1.3 Conveyor Function 1.3.2 Definition of Conveyor Moving Direction The conveyor moving amount pulses detected by the encoder mounted on the conveyor are scalar. From this number of pulses, the manipulator determines how far to move, but not in which direction. Therefore, the conveyor moving direction must be defined for the manipulator.

  • Page 22: Hardware Specifications

    165637-1CD Hardware Specifications Conveyor Synchronized 2.1 Required Boards and Setup Function Hardware Specifications This chapter explains the required equipment and boards to use the conveyor synchronized function, as well as what data are required and how they should be set. Before setting up a system, read carefully this chapter.
  • Page 23 165637-1CD Hardware Specifications Conveyor Synchronized 2.2 Connecting YCP02 Board to DX200 Function JANCD-YCP02 CN123 CN124 RS422 RS232/RS422 manufactured by 3M 10250-52A2PL Plug : manufactured by 3M 10150-3000PE Shell kit : manufactured by 3M 10350-52A0-008 (Screw latch type) 10350-52F0-008 (Quick release latch type) JANCD-YCP02 Plug : manufactured by 3M 10136-3000PE Shell kit : manufactured by 3M 10336-52A0-008 (Screw latch type)

  • Page 24: Connecting Conveyor Home-Position Signals To Dx200

    165637-1CD Hardware Specifications Conveyor Synchronized 2.3 Connecting Conveyor Home-Position Signals to DX200 Function Connecting Conveyor Home-Position Signals to DX200 The conveyor home-position input signals are connected through each encoder input port on the JANCD-YCP02 board. Since the conveyor home-position input signals are used for the reference to the conveyor position, they must be as in phase as possible.

  • Page 25: Applicable Encoder And Connection Specification

    165637-1CD Hardware Specifications Conveyor Synchronized 2.4 Applicable Encoder and Connection Specification Function Applicable Encoder and Connection Specification For the conveyor synchronized function, use conveyor encoders with following specifications. • Incremental type • Power supply voltage: DC5V • Line driver output (RS422 or equivalent) •...

  • Page 26: Connection Example Of One Conveyor

    165637-1CD Hardware Specifications Conveyor Synchronized 2.5 Connection Example of One Conveyor Function Connection Example of One Conveyor A connection example of one conveyor is shown below. Use a cable of 0.2 pt size. DX200 JANCD-YCP02 Board CN121 Connector Shell Shield Conveyor encoder Machine Safety Terminal Block Circuit Board (JANCD-YFC22-E)

  • Page 27: Connector Connection

    165637-1CD Connector Connection Conveyor Synchronized 3.1 Opening the Front Door Function Connector Connection Opening the Front Door Open the front door of the DX200. 1. Turn the two door locks on the front face of the DX200 clockwise by 90° by using a coin or flat tip screwdriver. Do o r lo c k Clo c k wis e Fla t tip s c r ew dr i ve r...

  • Page 28: Sensor Cable Connection

    165637-1CD Connector Connection Conveyor Synchronized 3.2 Sensor Cable Connection Function Sensor Cable Connection Connect the cable from the sensor to the YCP02 board. Fig. 3-1: Cable Connection to YCP02 Board Robot I/F circuit board Machine safety CPU JANCD-YIF01-2E circuit board JANCD-YSF21-E sensor circuit board CPU circuit board...

  • Page 29: Closing The Front Door

    165637-1CD Connector Connection Conveyor Synchronized 3.3 Closing the Front Door Function Closing the Front Door Close the front door of the DX200. 1. Gently close the door of the DX200. Main power supply switch 2. Turn the two door locks counterclockwise by 90°. Counterclockwise Door lock Flat tip screwdriver...

  • Page 30: Settings For Conveyor Condition File

    165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function Settings for Conveyor Condition File Conveyor Condition File For proper operation of conveyor synchronized function, the data of conveyor must be provided to the DX200 by setting them in the conveyor condition files.
  • Page 31 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function  FILE NO. Indicates the conveyor condition file No.  STATUS OF USE (USED/NOT USED) Select whether to use the conveyor condition file or not.  PORT NO. (CN1/CN2/CN3) Specify the port number of which the encoder in use is connected.
  • Page 32 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function  ENCODER SIGN (FORWARD/REVERSE) Select whether to invert the sign of encoder position pulse input from encoder or not. When “REVERSE” is specified, the signs of data on the windows of conveyor position and conveyor speed are inverted, and the synchronized direction of the manipulator is reversed.
  • Page 33 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function  TRACKING (ROBOT-AXIS/BASE-AXIS/CIRCULAR) Specify whether to carry out the synchronization with the robot-axis or the base-axis (servo track). If “BASE AXIS” is selected for the system without base axis, no synchronized motion can be performed.
  • Page 34 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function Base axis: Select a base axis (servo track) among X, Y, or Z-axis, which is parallel to the conveyor. In this case, the conveyor moving direction does not need to be defined in a user coordinate. The relations of the base axis, X, Y and Z, the conveyor, and the robot coordinate axis are shown below.
  • Page 35 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function  USER COORD NO. (1 to 63)  When “ROBOT AXIS” is selected in , specify with which X-axis direction of user coordinate is to be carried out for the synchronization by selecting the user coordinate number.
  • Page 36 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function AVERAGED TRAVEL TIME (0 to 3000 ms) At sudden change in the conveyor moving amount, the moving amounts is automatically averaged so that the manipulator moves smoothly. However, the synchronization responsiveness is lowered in this case.
  • Page 37 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function ALARM: When the conveyor averaged speed is so lowered that it becomes below the set value in “CONVEYOR LOWER LIMIT SPD” of the conveyor condition file continuously for 0.1 second, an alarm occurs and the manipulator stops.
  • Page 38 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.1 Conveyor Condition File Function VIRTUAL ENCODER INPUT (0 to 4096) When the general purpose input signal of the number which is set in “VIRTUAL ENCODER INPUT” is input, the encoder input enters the virtual encoder mode.

  • Page 39: Editing Conveyor Condition File

    165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.2 Editing Conveyor Condition File Function Editing Conveyor Condition File 4.2.1 Displaying Conveyor Condition File 1. Select {ROBOT} under the top menu. 2. Select {CV CONDITION}. 3. Display a desired conveyor condition file. –...

  • Page 40: Editing "Correction

    165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.2 Editing Conveyor Condition File Function 4.2.2.6 Editing “CORRECTION” 1. Select "CORRECTION" 2. "FORWARD" and "REVERSE" switch alternately. 4.2.2.7 Editing “TRACKING” 1. Select "TRACKING" 2. The selection dialog appears. 3. Select a desired method. 4.2.2.8 Editing “USER COORD NO.”...

  • Page 41: Editing "Virtual Encoder Input

    165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.2 Editing Conveyor Condition File Function 4.2.2.16 Editing “VIRTUAL ENCODER INPUT” 1. Select "VIRTUAL ENCODER INPUT". 2. Enter a value using [Numeric Keys]. 4.2.2.17 Editing “VIRTUAL ENCODER OUTPUT” 1. Select "VIRTUAL ENCODER OUTPUT". 2.

  • Page 42: Setting Conveyor Positional Resolution

    165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.3 Setting Conveyor Positional Resolution Function Setting Conveyor Positional Resolution The encoder mounted on the conveyor sends a pulse amount as the conveyor current position. In order that the manipulator recognizes this pulse amount as the conveyor moving amount for its synchronized motion, the pulse amount must be converted into a distance.
  • Page 43 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.3 Setting Conveyor Positional Resolution Function 4.3.1 Setting Conveyor Positional Resolution Set the conveyor positional resolution in the following manner. 1. Select {ROBOT} under the top menu, then select {CV MONITOR}. – The conveyor position window appears. 2.

  • Page 44: Verifying And Adjusting Conveyor Positional Resolution

    165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.3 Setting Conveyor Positional Resolution Function 4.3.2 Verifying and Adjusting Conveyor Positional Resolution After the setting has been completed, verify and adjust the conveyor positional resolution in the following operations. Prepare a job as shown below. This job is to perform a synchronized ...
  • Page 45 165637-1CD Settings for Conveyor Condition File Conveyor Synchronized 4.3 Setting Conveyor Positional Resolution Function On the contrary, when the conveyor resolution value is not appropriate,  the tool center point is dislocated farther from the point as the follow-up time elapses as shown in Fig. 4-3 and Fig. 4-4, the conveyor resolution value is too big.

  • Page 46: Teaching

    165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function Teaching Registering Instructions The instructions can be registered when the cursor is in the address area on the job content window in teach mode. 1. Select {JOB} under the top menu. 2. Select {JOB CONTENT}. 3.
  • Page 47 165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function The system variable $B008 can not be directly referenced. NOTE Copy to the variable Bxxx by GETS instruction and refer. <Example> GETS B000 $B0008 JUMP ∗NG IF B000 <1 When the SYSTART instruction is executed and re-executed in the process of the job, the manipulator operates as follows: The manipulator continues to follow the conveyor and waits until the conveyor current position value exceeds the synchronization start position...

  • Page 48: Format

    165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function 5.1.1.2 Format SYSTART CV#(1) STP=50.000 OL=10.0      Conveyor Condition File No. (CONVEYOR FILE) Set the conveyor condition data file No. to be used.  Synchronization Start Position (SYNC START POS) Set the conveyor position where the synchronized operation starts.
  • Page 49 165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function 4. Change additional items. <Register without editing additional items> – Perform the operation in step 5. <Edit the additional items> • To change the conveyor condition file No. or/and the synchronization start position –...

  • Page 50: Syend Instruction

    165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function 5.1.2 SYEND Instruction 5.1.2.1 Function This instruction indicates the end of a conveyor synchronized operation sequence. The synchronized operation ends at the step where this instruction is registered. Executing the SYEND instruction clears the conveyor home-position registered status.
  • Page 51 165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function 3. Select "SYEND". – An instruction SYEND is displayed in the input buffer line. 4. Press [INSERT] and [ENTER]. – The instruction displayed in the input buffer line is registered. The conveyor synchronized function can be temporarily separated in the process of the job.

  • Page 52: Symov¨ Instruction

    165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function 5.1.3 SYMOV Instruction 5.1.3.1 Function These move instructions perform the conveyor synchronized motion. Except that the conveyor position at the time of teaching is registered as CTP (conveyor teaching position), these instructions are the same as ordinary move instructions.

  • Page 53: Switching The Interpolation Mode

    165637-1CD Teaching Conveyor Synchronized 5.1 Registering Instructions Function 5.1.4 Interpolation Mode for Conveyor Synchronized Operation The interpolation mode of move instructions for conveyor synchronized operation differs from that of ordinary move instructions. Therefore, teaching is performed in “interpolation mode for conveyor synchronized operation”.

  • Page 54: Motion Speed

    165637-1CD Teaching Conveyor Synchronized 5.2 Motion Speed Function Motion Speed Generally, teaching in the direction opposite to the conveyor moving direction gives such a result as a manipulator can move more easily and slowly in playback operation. In the conveyor synchronized operation, the manipulator motion speed is the teaching speed added the conveyor motion speed.
  • Page 55 165637-1CD Teaching Conveyor Synchronized 5.2 Motion Speed Function Fig. 5-4: Relation among Manipulator Motion Speed, Teaching Speed, and Conveyor Speed Conveyor speed 10 m/s Manipulator motion speed Manipulator motion speed = Teaching speed = Teaching speed + Conveyor speed = Vr (m/s) ...

  • Page 56: Wrist Posture In Synchronization

    165637-1CD Teaching Conveyor Synchronized 5.3 Wrist Posture in Synchronization Function Wrist Posture in Synchronization In the synchronization section, the wrist maintains its taught posture while the manipulator is synchronizing the conveyor. Teach a posture so that the wrist can be moved in the conveyor moving direction. Fig.

  • Page 57: Circular Interpolation Steps

    165637-1CD Teaching Conveyor Synchronized 5.4 Circular Interpolation Steps Function Circular Interpolation Steps Continuous circular interpolation steps should be performed on the same conveyor position. When continuous circular interpolation steps are taught on different conveyor positions, a path different from the taught path may be resulted in the synchronized operation.
  • Page 58 165637-1CD Teaching Conveyor Synchronized 5.5 Teaching Function   Confirm by FWD operation, and add or change the step. Add or change SYMOVL V=1000 CV#(1) CTP=200.000 Perform teaching after having confirmed that the conveyor NOTE is completely stopped. Teaching while the conveyor moves may cause an error or segment over alarm.
  • Page 59 165637-1CD Teaching Conveyor Synchronized 5.5 Teaching Function 3. Move the conveyor. – Move the conveyor, and after the conveyor home-position limit switch is ON, stop the workpiece at the teaching position. At the moment the conveyor home-position limit switch is ON, “CURR POS (PULSE)”...

  • Page 60: Teaching After Interruption Of Playback In Synchronized Operation

    165637-1CD Teaching Conveyor Synchronized 5.6 Teaching After Interruption of Playback in Synchronized Operation Function Teaching After Interruption of Playback in Synchronized Operation When the synchronized operation is interrupted by hold operation or switching to teach mode and so on during playback in synchronized operation, if another conveyor home-position is attempted to be registered, a conveyor home-position input signal is not accepted.
  • Page 61 165637-1CD Teaching Conveyor Synchronized 5.6 Teaching After Interruption of Playback in Synchronized Operation Function   Confirm by FWD operation, and add or change the step. Add or change SYMOVL V=1000 CV#(1) CTP=200.000 5.6.2 When Performing Another Teaching (for Other Workpiece) 1.

  • Page 62: Notes On Operation

    165637-1CD Teaching Conveyor Synchronized 5.7 Notes on Operation Function Notes on Operation The conveyor synchronized move instructions are special instructions for registering a conveyor position together with a manipulator position. Therefore, different from ordinary move instructions such as MOVJ, these instructions have the following restrictions on operations.

  • Page 63: Job Example

    165637-1CD Teaching Conveyor Synchronized 5.8 Job Example Function Job Example A basic job example is shown below. Instruction Explanation SYEND CV#(1) Resets the conveyor home-position registered status. After then, a conveyor home-position limit switch signal is accepted. MOVJ After the job is started, the manipulator moves to its stand-by position. SYSTART CV#(1) STP=100.000 Conveyor synchronization start instruction If the conveyor reaches the specified position (ex.: 100 mm), the...

  • Page 64: Playback

    165637-1CD Playback Conveyor Synchronized 6.1 Conveyor Speed Down Function Playback Conveyor Speed Down When the conveyor slows down while the manipulator is synchronizing the conveyor, the manipulator will react according to the mode setting in the conveyor condition data file: Conveyor Condition File Window •...

  • Page 65: Accuracy

    165637-1CD Playback Conveyor Synchronized 6.2 Accuracy Function Accuracy The conveyor synchronized operation function reproduces the path taught with the conveyor in stop status. Therefore, the accuracy of conveyor synchronized operation function is determined by the amount of difference between the taught path and the synchronized path.

  • Page 66: Restarting Synchronization After Manipulator Stops

    165637-1CD Playback Conveyor Synchronized 6.4 Restarting Synchronization After Manipulator Stops Function Restarting Synchronization After Manipulator Stops When a manipulator stops during the conveyor synchronized operation in the following cases, the synchronized operation is restarted by restarting the manipulator: • Minor failure alarm (excluding occurrence of alarm related to the conveyor synchronized function) •...

  • Page 67: Conveyor Monitoring Windows

    165637-1CD Conveyor Monitoring Windows Conveyor Synchronized Function Conveyor Monitoring Windows There are three windows for conveyor monitoring as follows: • Conveyor position window. • Conveyor speed window. • Conveyor tracking status window. Call each window in the following manner. 1. Select {ROBOT} under the top menu. 2.

  • Page 68: Conveyor Position Window

    165637-1CD Conveyor Monitoring Windows Conveyor Synchronized 7.1 Conveyor Position Window Function Conveyor Position Window  Conveyor Condition File No. CV#1 to CV#3 are displayed.  CURR POS (PULSE) The number of feedback pulses from the encoder connected to the conveyor calculated on the base of the position where the conveyor home-position limit switch turns ON as “0”.

  • Page 69: Conveyor Speed Window

    165637-1CD Conveyor Monitoring Windows Conveyor Synchronized 7.2 Conveyor Speed Window Function Conveyor Speed Window  Conveyor Condition File No. CV#1 to CV#3 are displayed.  SPEED (mm/sec) Conveyor averaged speed per 0.1 sec.  CORRECT POS (mm) The manipulator follows up the conveyor with a certain delay time to the input conveyor position.

  • Page 70: Conveyor Tracking Status Window

    165637-1CD Conveyor Monitoring Windows Conveyor Synchronized 7.3 Conveyor Tracking Status Window Function Conveyor Tracking Status Window  Conveyor Home-Position Input Signal No. The conveyor home-position input signal Nos. LS#1, LS#2, and LS#3 are the input signals connected to CN1, CN2, and CN3 respectively. ...

  • Page 71: Virtual Encoder Mode

    165637-1CD Virtual Encoder Mode Conveyor Synchronized 8.1 Virtual Encoder Pulse Count Function Virtual Encoder Mode Virtual Encoder Pulse Count When the manipulator is stopped during operation with a virtual encoder, the virtual encoder pulse counting is stopped as well as the manipulator. Since the virtual encoder continues counting pulses by restarting the manipulator, the manipulator can be restarted from the position where it stopped.

  • Page 72: Turntable Synchronized Function

    165637-1CD Turntable Synchronized Function Conveyor Synchronized 9.1 Setting Up the Turntable Synchronized System Function Turntable Synchronized Function Functional Overview This function enables interpolation motion of the manipulator, synchronized with circular conveyor and turntable. Setting Up the Turntable Synchronized System 9.1.1 Settings for Conveyor Condition File ...

  • Page 73: Setting A Calibration Tool

    165637-1CD Turntable Synchronized Function Conveyor Synchronized 9.1 Setting Up the Turntable Synchronized System Function 9.1.2 Calibration between Manipulator and Turntable The manipulator-turntable calibration is a setting required before carrying out a synchronized operation of manipulator and turntable. Before the synchronized operation, register their positional correlation following the procedures explained in this section.

  • Page 74: Operating Calibration

    165637-1CD Turntable Synchronized Function Conveyor Synchronized 9.1 Setting Up the Turntable Synchronized System Function Adjust the manipulator control point to the rotated P-point, and register Rotate 3. Rotate the turntable in the same direction as the previous step. Adjust the manipulator control point to the rotated P-point, and register Rotate 9.1.2.3 Operating Calibration 1.
  • Page 75 165637-1CD Turntable Synchronized Function Conveyor Synchronized 9.1 Setting Up the Turntable Synchronized System Function 7. Press [MODIFY], then [ENTER]. – The taught position will be displayed on the window. 8. Select {COMPLETE}. – The calibration position is registered. – The taught coordinates are registered in the user coordinate number which is specified in the conveyor condition file.

  • Page 76: Modifying Instructions

    165637-1CD Turntable Synchronized Function Conveyor Synchronized 9.2 Modifying Instructions Function Modifying Instructions In case of using the turntable synchronized function, the units used for distance and speed are changed from mm (μ) to pulse. The instructions are modified accordingly as follows: •...

  • Page 77: Manual Conveyor Function

    165637-1CD 10 Manual Conveyor Function Conveyor Synchronized Function 10 Manual Conveyor Function Manual Conveyor Function is a manual setting function for conveyor position. This function enables the conveyor position to be set from the programming pendant without moving the conveyor to modify the taught job.

  • Page 78: Settings For Manual Conveyor Function

    165637-1CD 10 Manual Conveyor Function Conveyor Synchronized 10.1 Settings for Manual Conveyor Function Function 10.1 Settings for Manual Conveyor Function 10.1.1 Setting the Conveyor Position 1. Move the cursor to the desired value in the column of the {SET (mm)} 2.

  • Page 79: Manual Setting Function For Conveyor Home-Position Limit Switch

    165637-1CD 11 Manual Setting Function for Conveyor Home-Position Limit Switch Conveyor Synchronized Function 11 Manual Setting Function for Conveyor Home-Position Limit Switch When the conveyor home-position limit switch cannot be turned ON, it can be pseudonymously turned ON in the following manner: 1.

  • Page 80: Instruction List

    165637-1CD 12 Instruction List Conveyor Synchronized Function 12 Instruction List “< >” indicates numerical or alphabetical data. If one or more items are shown in one section, select one of them. Function Starts the conveyor synchronized operation. Instruction CV# (<Conveyor condition file No.>) 1 to 3 items STP= <Synchronization start position (mm)>...

  • Page 81: Alarm List

    0, 1, and 2. If the alarm occurs again, [10], Decimal Data; 0 2: The robot axis for tracking robot contact your YASKAWA to 255 axis does not exist. representative. 3: The base axis does not exist in the job for tracking the base axis.
  • Page 82 165637-1CD 13 Alarm List Conveyor Synchronized Function Alarm Message Causes Corrective Actions 4538 CAN NOT USE SYMOVJ was executed when a robot SYMOVJ can be used only SMOVJ DURING axis was used for synchronization. when the base axis is used TRACKING for synchronization.

  • Page 83: Specific I/O Signals

    165637-1CD 14 Specific I/O Signals Conveyor Synchronized 14.1 Specific Input Signals “4xxxx” Function 14 Specific I/O Signals 14.1 Specific Input Signals “4xxxx”  40700 to 40702: Conveyor Home-position Limit Switch Input When this signal turns ON, the conveyor home-position limit State switch turns ON.

  • Page 84: Conveyor Parameters

    165637-1CD 15 Conveyor Parameters Conveyor Synchronized Function 15 Conveyor Parameters  S3C1210: Conveyor Model Speed for SYMOVJ Specifies the conveyor speed at the execution of the SYMOVJ instruction when “ROBOT AXIS” is selected for “TRACKING” in the Conveyor Condition File. If “0” is set, the DX200 refers to the actual conveyor speed immediately before the execution of SYMOVJ.

  • Page 85: Sensor Parameters (Sxe)

    165637-1CD 16 Sensor Parameters (SxE) Conveyor Synchronized Function Sensor Parameters (SxE) Use the sensor parameters with their initial value settings. Contents Initial Value Application designation Time to recognize the input of start signal Reference time to recognize the occurrence of speed down Time for averaging the speed variation amount Time to recognize the falling edge of start...
  • Page 86 FOR CONVEYOR SYNCHRONIZED 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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