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FS100 OPTIONS
INSTRUCTIONS
SUPPLEMENTARY FOR MOTOMAN-SDA TYPE
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN-
INSTRUCTIONS
FS100 INSTRUCTIONS
FS100 OPERATOR'S MANUAL
FS100 MAINTENANCE MANUAL
YASKAWA ELECTRIC CORPORATION
Part Number: 160765-1CD
Revision: 0
MANUAL NO.
HW1481025
1/15
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Summary of Contents for YASKAWA MOTOMAN-SDA
- Page 1 FS100 OPTIONS INSTRUCTIONS SUPPLEMENTARY FOR MOTOMAN-SDA TYPE Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS FS100 INSTRUCTIONS FS100 OPERATOR’S MANUAL FS100 MAINTENANCE MANUAL Part Number: 160765-1CD...
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Page 2: Table Of Contents
HW1481025 FS100 Contents 1 System Configuration........................1-1 2 Axis Operation..........................2-1 2.1 Control Point Fixed Motion During Base Axis Operation ........... 2-1 2.1.1 Control Point Fixed Base Axis Operation for Single Arm........2-3 2.1.2 Control Point Fixed Base Axis Operation for Dual- Arm ........2-5 2.2 Axis Operation in Cartesian Coordinate System.............. -
Page 3: System Configuration
HW1481025 System Configuration FS100 System Configuration The dual-arm system in the FS100 system, the rotation axis, which is commonly used to R1 (left arm) and R2 (right arm), is registered as the base axis (B1 and B2). Following fig. 1-1 “Configuration of Dual-Arm System in the FS100 System”... -
Page 4: Axis Operation
HW1481025 Axis Operation FS100 Control Point Fixed Motion During Base Axis Operation Axis Operation Control Point Fixed Motion During Base Axis Operation Since the rotation axis is registered as the base axis, by operating the rotation base axis in the cartesian coordinate, the rotation axis can be kept moving with each manipulator’s control point at fixed point. - Page 5 HW1481025 Axis Operation FS100 Control Point Fixed Motion During Base Axis Operation Fig. 2-3: Control Point Fixed Rotation Base Axis Operation: Dual- Arm (R1 and R2) HW1481025 5/15...
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Page 6: Control Point Fixed Base Axis Operation For Single Arm
HW1481025 Axis Operation FS100 Control Point Fixed Motion During Base Axis Operation 2.1.1 Control Point Fixed Base Axis Operation for Single Arm 1. Select {SETUP} in the Main Menu. 2. Select {JOG CONDITION SETTING}. – JOG CONDITION SETTING window appears. HW1481025 6/15... - Page 7 HW1481025 Axis Operation FS100 Control Point Fixed Motion During Base Axis Operation 3. Select {CONTROL POINT OPERATION (BASE)}. – Selection dialog box appears. (1) Select “VALID”. 4. Select B1 (or B2) as its control group. For the control group selecting method, please refer to “2.2.0.3 Select Control Group”...
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Page 8: Control Point Fixed Base Axis Operation For Dual- Arm
HW1481025 Axis Operation FS100 Control Point Fixed Motion During Base Axis Operation 2.1.2 Control Point Fixed Base Axis Operation for Dual- Arm 1. Select {SETUP} in the Main Menu. 2. Select {JOG CONDITION SETTING}. – JOG CONDITION SETTING window appears. HW1481025 8/15... - Page 9 HW1481025 Axis Operation FS100 Control Point Fixed Motion During Base Axis Operation 3. Select {CONTROL POINT OPERATION (BASE)}. – Selection dialog box appears. (1) Select “VALID ALL”. 4. Select B1 (or B2) as its control group. For the control group selecting method, please refer to “2.2.0.3 Select Control Group”...
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Page 10: Axis Operation In Cartesian Coordinate System
HW1481025 Axis Operation FS100 Axis Operation in Cartesian Coordinate System Axis Operation in Cartesian Coordinate System At the dual-arm system in the FS100 system, the rotation axis is registered as the base axis. Therefore, the base coordinate (the world coordinate) is fixed to the ground even if the rotation axis is operated. On the other hand, the manipulator moves on the basis of the base coordinate when it is operated in the cartesian coordinate system. -
Page 11: Setting Method
HW1481025 Axis Operation FS100 Axis Operation in Cartesian Coordinate System 2.2.1 Setting Method 1. Select {SETUP} in the Main Menu. 2. Select {JOG CONDITION SETTING}. – JOG CONDITION SETTING window appears. HW1481025 11/15... - Page 12 HW1481025 Axis Operation FS100 Axis Operation in Cartesian Coordinate System 3. Select {RECTANGULAR JOG COORDINATE}. – [BASE] and [ROBOT] alternate each time [SELECT] is pressed. 4. Select B1 (or B2) as its control group. For the control group selecting method, please refer to “2.2.0.3 Select Control Group” in “FS100 OPERATOR’S MANUAL (RE-CSO-A043)”.
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Page 13: Job Configuration
HW1481025 Job Configuration FS100 Job Configuration The dual-arm system in the FS100 system, creation of jobs specified by the control groups shown below are possible. Movements shown in the table 3-1 “Job Configuration” at page 3-1 can be created by the combination of the groups. -
Page 14: Note
HW1481025 Note FS100 Note (1) Creation of a job only for the base axis is impossible. If the rota- tion axis is to be rotated, create a job for “R1” or “R2”. (2) When operating the both arm (R1 and R2) simultaneously with the base axis in motion, create a job for “R1 + R2”. - Page 15 FS100 OPTIONS INSTRUCTIONS SUPPLEMENTARY FOR MOTOMAN-SDA TYPE Specifications are subject to change without notice for ongoing product modifications and improvements. Printed in Japan December 2011 11-12 YASKAWA ELECTRIC CORPORATION MANUAL NO. HW1481025 15/15...
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