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

YASKAWA DX200 Instructions Manual

Robot controller for the interrupt job function
Hide thumbs Also See for DX200:
Table of Contents

Advertisement

Quick Links

See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
FOR THE INTERRUPT JOB 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
DX200 MAINTENANCE MANUAL
The DX200 operator's manuals above correspond to specific usage.
Be sure to use the appropriate manual.
Part Number:
165259-1CD
Revision:
0
MANUAL NO.
HW1481811
1/27
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

Subscribe to Our Youtube Channel

Related Manuals for YASKAWA DX200

Summary of Contents for YASKAWA DX200

  • Page 1 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 DX200 MAINTENANCE MANUAL The DX200 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. Part Number: 165259-1CD Revision: MANUAL NO. HW1481811...
  • 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 Interrupt Job 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 – 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 DX200 cabinet after use. The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator, on the floor, or near fixtures.
  • Page 6 165259-1CD Interrupt Job Function Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character The keys which have characters printed on Pendant Keys them are denoted with [ ]. ex. [ENTER] Symbol The keys which have a symbol printed on them Keys are not denoted with [ ] but depicted with a small picture.

  • Page 7: Table Of Contents

    165259-1CD Interrupt Job Function Table of Contents 1 What is the Interrupt Job Function? ....................1-1 2 Setting of the Interrupt Job Function....................2-1 2.1 Interruption Table Display....................2-1 2.2 Setting of Interruption Table ....................2-3 2.2.1 Setting of Signals ....................2-3 2.2.2 Setting of Job Names ...................

  • Page 8: What Is The Interrupt Job Function

    The smaller the interruption level number becomes, the higher the priority of the processing becomes. Since the DX200 determines which interrupt job is to be executed according to this interruption table, make sure the settings for this table are correct. The system engineer sets up this interruption table.
  • Page 9 165259-1CD Interrupt Job Function What is the Interrupt Job Function? An interrupt job can be executed when the start lamp is ON and between the execution of the EI (enable interruption) instruction and the DI (disable interruption) instruction. A different interruption level can be specified for both EI and NOTE HW1481811 9/27...

  • Page 10: Setting Of The Interrupt Job Function

    165259-1CD Interrupt Job Function Setting of the Interrupt Job Function 2.1 Interruption Table Display Setting of the Interrupt Job Function Interruption Table Display 1. Select {JOB} under the main menu. 2. Select {INTERRUPT JOB} in the sub menu. TABLE NO. (Initial value: 1) OUTPUT SIGNAL (Initial value: no setting) ...
  • Page 11 165259-1CD Interrupt Job Function Setting of the Interrupt Job Function 2.1 Interruption Table Display EXEC (ON): Interrupting job in progress (OFF): Interrupting job not in progress “Exec” turns ON when an interruption signal is received and the inter- rupt job is called, and turns OFF when the job is completed. “Exec”...

  • Page 12: Setting Of Interruption Table

    165259-1CD Interrupt Job Function Setting of the Interrupt Job Function 2.2 Setting of Interruption Table Setting of Interruption Table In a system where an independent control is used simultaneously with the interrupt job function, an interrupt job can be set and executed for each task.

  • Page 13: 2.2.2 Setting Of Job Names

    165259-1CD Interrupt Job Function Setting of the Interrupt Job Function 2.2 Setting of Interruption Table 2.2.2 Setting of Job Names 1. Move the cursor to the item to be selected, and press [SELECT]. 2. Select a job in the JOB LIST window. 3.

  • Page 14: Setting Of Interruption Levels

    165259-1CD Interrupt Job Function Setting of the Interrupt Job Function 2.3 Setting of Interruption Levels Setting of Interruption Levels To specify the levels where interruptions can be enabled or disabled by the EI and DI instructions respectively, set the bits corresponding to the levels to “1.”...

  • Page 15: Registration Of Instructions

    165259-1CD Interrupt Job Function Registration of Instructions 3.1 EI (Enable Interruption) Instruction Registration of Instructions EI (Enable Interruption) Instruction Executing an EI instruction activates the specified interruption levels set in the additional item. To specify the levels where interruptions can be enabled, set the bits corresponding to the levels to “1.”...
  • Page 16 165259-1CD Interrupt Job Function Registration of Instructions 3.1 EI (Enable Interruption) Instruction 5. Press [SELECT] twice to set an interruption level in the DETAIL EDIT window. – Enter the interruption level using the Numeric keys. Press [ENTER] twice – Pressing [ENTER] once shows the set contents in the input buffer line.

  • Page 17: Di (Disable Interruption) Instruction

    165259-1CD Interrupt Job Function Registration of Instructions 3.2 DI (Disable Interruption) Instruction DI (Disable Interruption) Instruction Executing a DI instruction activates the specified interruption levels set in the additional item. To specify the levels where interruptions can be disabled, set the bits corresponding to the levels to “1.”...
  • Page 18 165259-1CD Interrupt Job Function Registration of Instructions 3.2 DI (Disable Interruption) Instruction 5. Press [SELECT] twice to set an interruption level in the DETAIL EDIT window. – Enter the interruption level using the Numeric keys. 6. Enter the interruption level using the Numeric keys. –...

  • Page 19: Execution Of An Interrupt Job

    165259-1CD Interrupt Job Function Execution of an Interrupt Job 4.1 Interruption Signal Detection Execution of an Interrupt Job Interruption Signal Detection An interruption signal is detected at the rising edge of the signal. If more than one interruption signal is detected at the same time, the job for the level with higher priority is executed.

  • Page 20: Output Signal Of "Interrupt Job In Execution

    165259-1CD Interrupt Job Function Execution of an Interrupt Job 4.5 Output Signal of “Interrupt Job in Execution” Output Signal of “Interrupt Job in Execution” During execution of an interrupt job, the output signal turns ON to indicate that the interrupt job is being executed. This output signal turns ON when an interruption signal is received and the interrupt job is called, and turns OFF when the interrupt job completes.

  • Page 21: Application Examples

    165259-1CD Interrupt Job Function Application Examples 5.1 Interruption During Timer Instruction Application Examples Interruption During Timer Instruction Job in progress 0000 NOP 0001 EI Interruption enabled Interrupt job 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVL Interruption during 0002 DOUT OG#(2) 5 0005 TIMER T=2.00 TIMER instruction...

  • Page 22: Interruption During Move Instruction With Nwait

    165259-1CD Interrupt Job Function Application Examples 5.3 Interruption During Move Instruction with NWAIT Interruption During Move Instruction with NWAIT Job in progress 0000 NOP 0001 EI Interruption enabled Interrupt job 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVL Interruption during move from 0002 DOUT OG#(2) 5 Step 3 to Step 4 (while the...

  • Page 23: Interruption During Circular Interpolation Move Instruction (Movc)

    165259-1CD Interrupt Job Function Application Examples 5.4 Interruption During Circular Interpolation Move Instruction (MOVC) Interruption During Circular Interpolation Move Instruction (MOVC) Job in progress 0000 NOP 0001 EI Interrupt job Interruption enabled 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVC Interruption during move 0002 DOUT OG#(2) 5...

  • Page 24: System With Independent Control

    165259-1CD Interrupt Job Function System with Independent Control System with Independent Control In a system where an independent control is used simultaneously with the interrupt job function, an interrupt job can be set and executed for each task. When using four tasks (sixteen tasks maximum) for the independent control, the table No.
  • Page 25 165259-1CD Interrupt Job Function System with Independent Control • EI and DI instructions are valid only in each individual task. For example, an EI instruction in subtask 1 does not affect any interruption tables in the master task or in subtask 2. •...

  • Page 26: Instruction List

    165259-1CD Interrupt Job Function Instruction List Instruction List < > indicates numerical or alphabetical data. If multiple items are shown in one section, select one of the items. Function Enables a specified interruption level. Additional <Interruption level> 0 to 255 for constants. Items B <Variable No.>...

  • Page 27: Hw1481811

    DX200 OPTIONS INSTRUCTIONS FOR THE INTERRUPT JOB FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW1481811 27/27...

Table of Contents