Motoman DX100 Instruction Manual
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Motoman DX100 Instruction Manual

Beginners reference
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Instruction Manual
BEGINNERS REFERENCE
Table of Basic Instruction
Simpli ed teaching and playback
DX100 Alarm List
-
Please read these instructions before operation and keep them for later
reference.
-
The operating instructions are only for internal use.
E1102000028GB01
DX100

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  • Page 1 DX100 Instruction Manual BEGINNERS REFERENCE Table of Basic Instruction Simpli ed teaching and playback DX100 Alarm List Please read these instructions before operation and keep them for later reference. The operating instructions are only for internal use. E1102000028GB01...
  • Page 2 DX100...

  • Page 3: Table Of Contents

    Table of Basic Instructions........5 Move Instructions..................5 I/O Instructions ..................8 Control Instructions ................10 Shift Instructions ..................12 Operating Instructions ................13 Teaching ..............21 Preparation for Teaching ................21 2.1.1 Checking Emergency Stop Buttons................21 2.1.2 Setting the Teach Lock....................21 2.1.3 Registering a Job......................21 2.1.4 Registering Jobs......................
  • Page 4 Editing Instructions.................59 2.6.1 Instruction Group ......................60 2.6.2 Inserting Instructions ..................... 61 2.6.3 Deleting Instructions ...................... 63 2.6.4 Modifying Instructions....................64 2.6.5 Modifying Additional Numeric Data ................66 2.6.6 Modifying Additional Items..................... 67 2.6.7 Inserting Additional Items ....................68 2.6.8 Deleting Additional Items....................

  • Page 6: Table Of Basic Instructions

    VE:0.01 to 100.00% PL=<position level> PL:0 to 8 CR=(corner radius) CR: 1.0 to 6553.5mm NWAIT UNTIL statement ACC=(acceleration adjustment ratio) ACC: 20 to 100% DEC=(deceleration adjustment ratio) DEC: 20 to 100% MOVL V=138 PL=0 NWAIT UNTIL IN#(16)=ON Example Beginners Reference DX100...
  • Page 7 PL:0 to 8 NWAIT BF,RF,TF,UF# (<user coordinate number>) base coordinates robot coordinates tool coordinates user coordinates UNTIL statement ACC=(acceleration adjustment ratio) ACC: 20 to 100% DEC=(deceleration adjustment ratio) DEC: 20 to 100% IMOV P000 V=138 PL=1 RF Example Beginners Referenze DX100...
  • Page 8 Station axis position data screen. REFP 1 Example Sets play speed. SPEED Function VJ=<joint speed>, VJ:Same as Additional V=<TCP speed>, MOVJ. Item VR=<play speed of the posture>, V,VR,VE: VE=<play speed of external axis> Same as MOVL. SPEED VJ=50.00 Example Beginners Reference DX100...

  • Page 9: I/O Instructions

    Number of addressed input signals: IN#(xx)=1;IGH#(xx)=4(per group); IG#(xx)=8(per group) Number of addressed output signals: OT#(xx)=1;OGH#(xx)=4(per group); OG#(xx)=8(per group) IGH#(xx) and OGH#(xx) are not subject to parity check; only the binary specification is allowed. DIN B016 IN#(16) Example DIN B002 IG#(2) Beginners Referenze DX100...
  • Page 10 1 to 9000 cm/min OFV = <offset voltage> -14.00 to 14.00 ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00 Example Ends the analog output corresponding to the speed. ARATIOF Function AO#(<output port number>) 1 to 40 Additional Item ARATIOF AO#(1) Example Beginners Reference DX100...

  • Page 11: Control Instructions

    Additional 655.35 s Item TIMER T=12.50 Example Evaluates the specified condition and makes a judgment accordingly. Function Described after an instruction that specifies a certain action. statement Format:<Item1>=,<>,<=,>=,<,><Item2> <Item1> Additional Item <Item2> JUMP *12 IF IN#(12)=OFF Example Beginners Referenze DX100...
  • Page 12 Initializes the prereading instruction processing. ADVINIT Function Used to adjust the access timing for variable data. Additional Item ADVINIT Example Stops the prereading instruction processing. ADVSTOP Function Used to adjust the access timing for variable data. Additional Item ADVINIT Example Beginners Reference DX100...

  • Page 13: Shift Instructions

    PX<variable number> Additional Item Coordinate BF,RF,TF, UF# (<user coordinate number>), base coordinates robot coordi- nates tool coordinates user coordinates MTF: tool coordinates for the master Data2 PX<variable number> Data3 PX<variable number> MSHIFT PX000 RF PX001 PX002 Example Beginners Referenze DX100...

  • Page 14: Operating Instructions

    I<variable number>, always be a Item D<variable number>, variable. R<variable number>, P<variable number>, BP<variable number>, EX<variable number> Data2 Constant, B<variable number>, I<variable number>, D<variable number>, R<variable number>, P<variable number>, BP<variable number>, EX<variable number> SUB I012 I013 Example Beginners Reference DX100...
  • Page 15 D<variable number>, R<variable number> DIV I012 I013 Example DIV P000 (3) 2 (Divide the Z-axis data by 2.) Increments the value of the specified variable by 1. Function B<variable number>,I<variable number>, Additional D<variable number> Item INC I043 Example Beginners Referenze DX100...
  • Page 16 Additional I<variable number>, always be a Item D<variable number>, variable. R<variable number>, P<variable number>, S<variable number>, BP<variable number>, EX<variable number> Data2 Constant, B<variable number>, I<variable number>, D<variable number>, R<variable number>, S<variable number>, EXPRESS SET I012 I020 Example Beginners Reference DX100...
  • Page 17 Data1. Format:CNVRT<Data1><Data2><coordinate> Data1 PX<variable number> Additional Item Data2 PX<variable number> BF,RF,TF,UF# (<user coordinate number>),MTF base coordinates robot coordinates tool coordinates user coordinates MTF:tool coordinates for the master CNVRT PX000 PX001 BF Example Beginners Referenze DX100...
  • Page 18 Obtains the square root of Data2, and stores the result in Data1. SQRT Function Format:SQRT<Data1><Data2> Data1 R<variable number> Data1 must Additional always be a real Item type variable. Data2 <constant>, R<variable number> SQRT R000 R001 (Sets the square root of R001 to R000.) Example Beginners Reference DX100...
  • Page 19 GETFILE D000 WEV#(1)(1) Example Stores the position data of Data2 (step number) in Data1. GETPOS Function Data1 PX <variable number> Additional Item Data2 STEP# (<step number>) GETPOS PX000 STEP#(1) Example Beginners Referenze DX100...
  • Page 20 Obtains the total number of bytes of the character string (ASCII) of Data2, Function and stores the result in Data1. Format:LEN<Data1><Data2> Data1 B <variable number>, Additional I <variable number>, Item D <variable number> Data2 Character string, S <variable number> LEN B000 “ABCDEF” Example Beginners Reference DX100...
  • Page 21 Combines the character string (ASCII) of Data2 and Data3, and stores the CAT$ Function result in Data1. Format:CAT$<Data1><Data2><Data3> Data1 S <variable number> Additional Item Data2 Character string, S <variable number> Data3 Character string, S <variable number> CAT$ S000 “ABC” “DEF” Example Beginners Referenze DX100...

  • Page 22: Teaching

    The Servo ON button on the programming pendant should be lit while the power is ON for the servo system. Perform the following operation to ensure that the emergency stop buttons on both the DX100 and the programming pendant are functioning correctly before operating the manipulator. Press E. STOP button.

  • Page 23: Registering Jobs

    The NEW JOB CREATE window appears. Input job name. Move the cursor to JOB NAME, and press [SELECT]. Input job names using the character input operation. For information on character input operation, refer to . Press [ENTER]. Beginners Reference DX100...

  • Page 24: Registering Comments

    In the NEW JOB CREATE window, press [ENTER] or select “EXECUTE.” Job name, comments, and control groups are all registered. Then, the JOB CONTENT window ap- pears. NOP and END instructions are automatically registered. Beginners Reference DX100...

  • Page 25: Teaching Operation

    The cursor for manipulator control. For the FWD, BWD, and test operation, the manipulator motion starts from the line this cursor points. C. Instructions, Additional Items, Comments, Etc MOVJ VJ = 50.00 Tag Numerical Data Instruction Additional Item Beginners Reference DX100...

  • Page 26: Interpolation Type And Play Speed

    The manipulator moves in a linear path from one taught step to the next. When the linear interpolati- on is used to teach a robot axis, the move instruction is MOVL. Linear interpolation is used for work Beginners Reference DX100...

  • Page 27: Circular Interpolation

    P0 to P1 in a straight line. Interpolation Type for Single Circular Arc Point Interpolation Instruction Type Joint or MOVJ Automatically becomes a straight line Linear MOVL Circular MOVC Joint or MOVJ Linear MOVL Continuous Circular Arcs Beginners Reference DX100...
  • Page 28 The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is applied from P2 to P3. If a circular operation is taught at high speed, the actual arc path has a shorter radius than that taught. Beginners Reference DX100...

  • Page 29: Spline Interpolation

    Interpolation Type for Continuous Spline Curves Point Interpolation Instruction Type Joint or MOVJ Linear MOVL Idential-point step not Spline MOVS requid Joint or MOVJ Linear MOVL Beginners Reference DX100...

  • Page 30: Teaching Steps

    This paragraph explains the teaching of <Hyperlink>fig. 2-1 "Registering Move Instructions", the operations involved in registering new steps. Fig. 2-1: Registering Move Instructions Fig. 2-2: Inserting Move Instructions Step insertion Step 2 Step 2 Step 1 Step 3 Step 1 Step 3 Beginners Reference DX100...
  • Page 31 4.)Grip the Enable switch. Grip the Enable switch to turn the servo power ON. 5.) Move the manipulator to the desired position using the axis key. Use the axis operation key to move the manipulator to the desired position. Beginners Reference DX100...
  • Page 32 • See for details on this operation. Setting the Interpolation Type 1.) Press [MOTION TYPE]. 2.) Select the desired interpolation type. When [MOTION TYPE] is pressed, MOVJ à MOVL à MOVC à MOVS are displayed in order in the in- put buffer line. Beginners Reference DX100...
  • Page 33 The position level can be added to move instructions MOVJ (joint interpolation) and MOVL (linear in- terpolation). If the position level is not set, the precision depends on the operation speed. Setting an appropriate level moves the manipulator in a path suitable to circumferential conditions and the workpiece. Beginners Reference DX100...
  • Page 34 Postion level 1 Position level 2 Position level 3 Position level4 Positioning Level Setting the Position Level Select move instruction. The DETAIL EDIT window appears. Select the position level “UNUSED.” The selection dialog box appears. Select “PL.” Beginners Reference DX100...
  • Page 35 Steps P2, P4, and P5 are simple passing points, and do not require accurate positioning. Adding PL=1 to 8 to the move instructions of these steps moves the manipulator around the inner corners, thereby reducing the cycle time. If complete positioning is necessary as P3 or P6, add PL=0. Beginners Reference DX100...
  • Page 36 Press [SELECT] when the cursor is on the reference point number. Then, the data input buffer line appears. Input the number and press [ENTER]. 8.) Press [INSERT]. The [INSERT] key lamp lights. When registering before the END instruction, pressing [INSERT] is not needed. 9.) Press [ENTER]. Beginners Reference DX100...
  • Page 37 If you use the Numeric keys to input the timer value, press [SELECT] when the cursor is on the timer value. The data input line appears. Input the value and press [ENTER]. 6.) Press [INSERT]. The [INSERT] key lamp lights. When registering before the END instruction, pressing [INSERT] is not needed. 7.) Press [ENTER]. Beginners Reference DX100...
  • Page 38 The DETAIL EDIT window for the TIMER instruction appears. 3.) Input the timer value on the instruction DETAIL EDIT window. When is selected, the items available to be changed are displayed in the dialog box. Select the particular item to be changed. Beginners Reference DX100...
  • Page 39 The DETAIL EDIT window is closed and the JOB CONTENT window appears again. Modified con- tent is displayed in the input buffer line. 5.) Press [INSERT]. The [INSERT] key lamp lights. When registering before the END instruction, pressing [INSERT] is not needed. 6.) Press [ENTER]. The TIMER instruction is registered. Beginners Reference DX100...

  • Page 40: Overlapping The First And Last Steps

    Each time [FWD] or [BWD] is pressed, the manipulator moves by a single step. [FWD]: Moves the manipulator ahead in step number sequence. Only the move instruction is executed when [FWD] is pressed, but when [INTERLOCK] + [FWD] are pressed, all instructions are executed. Beginners Reference DX100...
  • Page 41 Circular Movements with FWD/BWD Key Operations The manipulator moves in a straight line to the first step of the circular interpolation. There must be three circular interpolation steps in a row to move the manipulator in an arc. Beginners Reference DX100...
  • Page 42 If the manipulator is moved to P3 with [FWD], stopped, and then returned to P2 with [BWD], the path followed between P2 and P3 is different for each of the following: the first FWD operation, the BWD operation, and the consequent FWD operation. Beginners Reference DX100...
  • Page 43 Test operation differs in the following ways from actual playback in the play mode. • Operation speeds greater than the maximum teaching speed are reduced to the maximum teaching speed. NOTE • Work instruction output, such as arc output, is not exe- cuted. Beginners Reference DX100...
  • Page 44 The manipulator moves only while these keys are held down. The manipulator stops immediately when [TEST START] is released INTER- Always check safety conditions before pressing [ NOTE LOCK ] + [TEST START] to start the manipulator in motion. Beginners Reference DX100...
  • Page 45 NOTE • Note that the machine lock becomes “INVALID” if the fol- lowing operation is performed. • Execution of “CANCEL ALL SELECT” in the SPECIAL PLAY window. • Turning off the main power. Beginners Reference DX100...

  • Page 46: Modifying Steps

    Perform axis operations. Press [Delete]. Press [Enter]. Set interpolation type. Set play speed. Deletion completed Set position level when necessary. Press [Insert]. Press [Enter]. Insertion completed Beginners Reference DX100...
  • Page 47 Move to position to be operations to position modified using the to be modifield. axis operation keys. Delete MOV Press [Modify] instruction. Press [Modify] Press [Motion Type] and select motion type. Modification completed Insert MOV instruction. Modification completed Beginners Reference DX100...
  • Page 48 Move step cursor to the REFP instruction to be REFP instruction to be deleted, and move the modified. manipulator to the position. Perform axis operations. Press [DELETE] Press [REFP] Press [ENTER] Press [MODIFY]. Deletion completed Press [ENTER]. Modification completed Beginners Reference DX100...

  • Page 49: Displaying The Job Content Window For Editing

    Enter timer value. Deletion completed Press [MODIFY]. Press [ENTER]. Modification completed 2.4.1 Displaying the JOB CONTENT Window for Editing 2.4.1.1 Currently Called Up Job 1.) Select {JOB} under the main menu. 2.) Select {JOB}. The JOB CONTENT window appears. Beginners Reference DX100...

  • Page 50: Inserting Move Instructions

    3.) Select the job name to be called. 2.4.2 Inserting Move Instructions Move instructions cannot be inserted when the servo power NOTE is OFF. Step where move instruction is to be inserted Path after insertion Path before inseration Beginners Reference DX100...
  • Page 51 DOUT OT#(1) ON 0008 TIMER T=1.00 0009 MOVL V=558 0009 DOUT OT#(1) ON 0010 MOVJ VJ=100.0 0010 MOVJ VJ=100.0 After the insertion: when inserting after the cursor line After the insertion: when inserting before the next Step Beginners Reference DX100...

  • Page 52: Deleting Move Instructions

    [ENTER] to change the position data of the blinking cursor position to the current manipulator position. 2.) Press [DELETE]. The key lamp will blink. 3.) Press [ENTER]. The step indicated by cursor line is deleted. 0003 MOVL V=138 0004 MOVJ VJ=50.00 Beginners Reference DX100...

  • Page 53: Modifying Move Instructions

    4.) Press [ENTER]. The cursor line step is deleted. 5.) Press [MOTION TYPE]. Press [MOTION TYPE] to change the interpolation type. Each time [MOTION TYPE] is pressed, the input buffer line instruction alternates. 6.) Press [INSERT]. 7.) Press [ENTER]. Beginners Reference DX100...

  • Page 54: Undo Operation

    • Press [MODIFY] then [ENTER] to change the reference point position data to the current position of the manipula- tor. 1.) Move the cursor to the reference point instruction to be deleted. 2.) Press [DELETE]. The key lamp will blink. 3.) Press [ENTER]. Beginners Reference DX100...

  • Page 55: Modifying Timer Instructions

    MOVL VJ=138 0006 MOVL VJ=138 3.) Move the cursor to the input buffer line timer value. Move the cursor to the input buffer line timer value and press [SHIFT] + the cursor key to set the da- Beginners Reference DX100...

  • Page 56: Modifying Jobs

    JOB CONTENT Window The content of the registered job can be displayed and edited. COMMAND POSITION Window The taught data is displayed. JOB LIST Window The registered job is sorted alphabetically, then displayed, and the job is selected. Beginners Reference DX100...

  • Page 57: Job Header Window

    H. TO SAVE TO FD Displays “DONE” if the contents of the job have already been saved to an external memory after the date and time of the last editing operation, and displays “NOT DONE” if they have not been saved. Beginners Reference DX100...

  • Page 58: Job Content Window

    The cursor is moved to the instruction area. à (Right): A. Address Area Displays line numbers. B. Instruction Area Displays instructions, additional items, and comments. Line editing is possible. 2.5.4.1 COMMAND POSITION Window 1.) Select {ROBOT} under the main menu. 2.) Select {COMMAND POSITION}. Beginners Reference DX100...

  • Page 59: Job Capacity Window

    (*). D. Current Data Displays the current tool file number and position of the manipulator. 2.5.5 JOB CAPACITY Window 1.) Select {JOB} under the main menu. 2.) Select {JOB CAPACITY} Beginners Reference DX100...

  • Page 60: Editing Instructions

    A. NUMBER OF JOBS Displays the total number of jobs currently registered in the memory of DX100. B. USED MEMORY Displays the total amount of memory used in the DX100. C. STEPS Displays the total number of used steps. D. EDITING BUFFER Displays editing buffer use.

  • Page 61: Instruction Group

    Specifies the instruction where the cursor is. PRIOR Specifies the previously-registered instruction. Instruction List INFORM By pressing [INFORM LIST] , the instruction group list dialog box appears. LIST By selecting a group, the instruction list dialog box of the selected group appears. Beginners Reference DX100...

  • Page 62: Inserting Instructions

    1.) Select the instruction. 2.) Change the data of additional items or variables as required. <When Nothing is to be Changed> (1) Proceed to Step 6. <When Additional Items are to be edited> Beginners Reference DX100...
  • Page 63 To add an item, move the cursor to “UNUSED” and press [SELECT]. The selection dialog box ap- pears. (2) Move the cursor to the desired item and press [SELECT]. To delete an item, move the cursor to the item to be deleted and select “UNUSED.” 3. Changing the data type Beginners Reference DX100...

  • Page 64: Deleting Instructions

    The line to be deleted 2.) Move the cursor to the deleting line in the address area. 3.) Press [DELETE] and [ENTER]. The instruction is deleted and the following lines move up. The following lines move up Beginners Reference DX100...

  • Page 65: Modifying Instructions

    The instruction list dialog box appears. The selected instruction is displayed on the input buffer line with the same additional items as registered previously. 4.) Select the instruction to be modified. 5.) Change the data of additional items or variables as required. <Editing Additional Items> 1. Changing numeric data Beginners Reference DX100...
  • Page 66 (2)To add an item, move the cursor to “UNUSED” and press [SELECT]. The selection dialog box ap- pears. (3) Move the cursor to the desired item and press [SELECT]. To delete an item, move the cursor to the item to be deleted and select “UNUSED.” Beginners Reference DX100...

  • Page 67: Modifying Additional Numeric Data

    2.) Select the line where the number data is to be modified. The selected line can now be edited. Number data to be modified 3.) Move the cursor to the numeric data to be modified. 4.) Input the desired number. Beginners Reference DX100...

  • Page 68: Modifying Additional Items

    The DETAIL EDIT window appears. 4.) Select the additional item to be modified. The selection dialog box appears. 5.) Select the desired additional item. The modified additional item is displayed on the DETAIL EDIT window. 6.) Press [ENTER]. Beginners Reference DX100...

  • Page 69: Inserting Additional Items

    When the additional item needs the numeric data, move the cursor to the number and press [SE- LECT]. The input buffer line appears. Type the number and press [ENTER]. 5.) Select inserting additional item. The DETAIL EDIT window closes, and the JOB CONTENT window appears. 6.) Press [ENTER]. Beginners Reference DX100...

  • Page 70: Deleting Additional Items

    3.) Select the instruction. The DETAIL EDIT window appears. 4.) Select the additional item to be deleted. The selection dialog box appears. 5.) Select “UNUSED.” “UNUSED” is displayed on the DETAIL EDIT window. 6.) Press [ENTER]. Beginners Reference DX100...

  • Page 71: Editing Jobs

    (Refer to the following figure.) Base Reverse :Reverses the order of the contents of the buffer and adjusts Paste the to-and-from speeds same, and inserts them into a job. (Refer to the following figure.) Beginners Reference DX100...

  • Page 72: Selecting The Range

    After setting the range, Copy and Delete can be performed. 1.) Move the cursor to the instruction area in the JOB CONTENT window. Move the cursor to instructio area. 2.) Move the cursor to the start line and press [SHIFT] + [SELECT]. Beginners Reference DX100...

  • Page 73: Copying

    1.) Select {EDIT} under the menu. The pull-down menu appears. 2.) Select {COPY}. The specified range is copied to the buffer. 2.7.3 Cu tting Before cutting, the range to be cut has to be specified. 1.) Select {EDIT} under the menu. Beginners Reference DX100...

  • Page 74: Pasting

    Before pasting, the range to be pasted has to be stored in the buffer. 1.) Move the cursor to the line immediately before the desired position in the JOB CONTENT win- dow. The pull-down menu appears. 2.) Select {EDIT} under the menu. 3.) Select {PASTE}. Beginners Reference DX100...

  • Page 75: Reverse Pasting

    The pull-down menu appears. 3.) Select {REVERSE PASTE}. The confirmation dialog box appears. When “YES” is selected, the contents of the buffer are reverse pasted to the job. When “NO” is selected, the reverse-pasting operation is cancelled Beginners Reference DX100...

  • Page 76: Test Operations

    The manipulator stops immediately when [TEST START] is released. NOTE Always check safety conditions before starting the manipu- lator in motion. Other Job-editing Functions 2.9.1 Ed iting Play Speed There are two ways to modify play speed: Modification of Speed Type Relative Modification Beginners Reference DX100...
  • Page 77 If the section is not specified, the speed of the entire job will be changed. Move the cursor to the end line. The line numbers of the selected lines are highlighted. 5.) Select {EDIT} under the menu. 6.) Select {CHANGE SPEED}. Beginners Reference DX100...
  • Page 78 UP/DOWN cursor button to keep the speed on the first line and search for the next speed. To cancel the speed modification, press [CANCEL]. If “MODIFICATION TYPE” is set to “NOT CONFIRM,” all the speeds of the specified section are changed. Beginners Reference DX100...
  • Page 79 B. END LINE NO. Displays the last line number of the section to be measured and modified. C. MOVING TIME The weaving time needed to move from the first number to last number is measured and displayed. D. SETTING TIME Beginners Reference DX100...

  • Page 80: Editing Interpolation Type

    The interpolation type in the input buffer line changes. The modification of the speed according to the modification of the interpolation type is calculated by the ratio to maximum speed at each speed. Joint Speed: MAX=100.0% Linear Speed: MAX=9000cm/min Beginners Reference DX100...

  • Page 81: Editing Condition Files

    Multiple condition files are provided for each application. More than one pattern can be set up in each condition file. The patterns are listed by “condition numbers.” This number is specified by the work instruction in a job. Refer to DX100 Operator’s Manual of each application for NOTE information regarding the contents and editing methods of the condition file.

  • Page 82: User Variables

    Integer 2147483647. Type Real Type R000 to R099 Range of storable values is (100) from -3.4E+38 to 3.4E38. Accuracy: 1.18E-38 < x ≤ 3.4E38 Character Maximum storable number of S000 to S099 Type characters is 16. (100) Beginners Reference DX100...
  • Page 83 T=10.00 sec- onds. 2.9.4.1 Setting Byte, Integer, Double Precision Integer, and Real Type Variables 1.) Select {VARIABLE} under the main menu. {BYTE}, {INTEGER}, {DOUBLE}, and {REAL} are displayed for the sub menu. 2.) Select desired variable type. Beginners Reference DX100...
  • Page 84 4.) Move the cursor to the data of the variable. The number can be directly typed. 5.) Input the desired number. 6.) Press [ENTER]. Input value is set to the variable on the cursor position. Beginners Reference DX100...
  • Page 85 The cursor is moved to desred variable number 4.) Move the cursor to the data of the variable. The characters can be directly typed. 5.) Input the desired characters. For information on character input operation, refer to . 6.) Press [ENTER]. Beginners Reference DX100...
  • Page 86 Refer to for the character input operation. SUPPLE- MENT 5.) Input name. 6.) Press [ENTER]. The variable name is registered. 2.9.4.4 Displaying Position Variables 1.) Select {VARIABLE} under the main menu. 2.) Select desired position variable type. Beginners Reference DX100...
  • Page 87 The following table shows the types of position variables and setting methods. • The setting of position variables is done in the teach mode. NOTE • Turn the servo power ON when setting the variables with the axis keys. Beginners Reference DX100...
  • Page 88 Z-axis Setting Method Using the numeric keys 45000 Y-axis X-axis Using the axis keys 2.9.4.6 Setting Position Variables Using the Numeric Keys Pulse Type 1.) Select {VARIABLE} under the main menu. 2.) Select desired position variable type. Beginners Reference DX100...
  • Page 89 If the position variable was set before, confirmation dialog box appears for data clear. If “YES” is se- lected, the data is cleared. 4.) Select {PULSE}. 5.) Move the cursor to desired data to be input and press [SELECT]. 6.) Input the value. 7.)Press [ENTER]. The value is set in the cursor position. Beginners Reference DX100...
  • Page 90 When the position variable is used with a move instruction such as “MOVJ P001,” it is necessary to set a type. For details on types, refer to . Current Position Window (XYZ) shows the current setting of a type. Beginners Reference DX100...
  • Page 91 Move the manipulator or the external axis to the desired position to be set to position variable. 4.) Press [MODIFY]. 5.) Press [ENTER]. 2.9.4.8 Deleting Data Set of Position Variables 1.) Select {VARIABLE} under the main menu. Beginners Reference DX100...
  • Page 92 3.) Press [FWD]. Selected axis moves to the position specified by the variable. The selected axis (manipulator, base, or station) moves directly to the set variable position. NOTE Before pressing [FWD], check that the surrounding area is safe. Beginners Reference DX100...

  • Page 93: Flip/No Flip

    The definition of Re is shown below. NOTE 2.9.5 Flip/No Flip θ ≥ When the angle of B-axis is within (+) range ( 0°), it is called “Flip”, and when within (-) range θ B < 0°), “No Flip.” Beginners Reference DX100...

  • Page 94: R-Axis Angle

    θ R is the angle when the R-axis home position is 0 °. 2.9.7 T -axis Angle This specifies positions of the R-, B-, and T-axis. For manipulators with wrist axes (three axes), this specifies whether the T-axis angle is less than ±180° or greater than ±180° Beginners Reference DX100...

  • Page 95: Front/Back

    Right-hand side (S-axis 0 ) The diagram below shows the S-axis at 0° and at 180°. This is the configuration when the L-axis and the U-axis are viewed from the right-hand side. Beginners Reference DX100...
  • Page 96 L-axis and U-axis from the right-hand side. When viewed from the right-hand side, the right of the S-axis rotation center is called the front, and the left is called the back. Back Front Beginners Reference DX100...

  • Page 97: Upper Arm/Lower Arm

    This specifies whether the S-axis angle is less than ±180° or greater than ±180° ° ° S ≥ 180 S<180 0° 0° 360° -360° -180° 180° -180 ° < θ S ≤ 180 ° ° ° < θ S ≤ 360 -360 ° < θ S ≤ -180 ° Beginners Reference DX100...

  • Page 98: Editing Local Variables

    Accordingly, local variables do not affect other jobs, so it is possible to define a variable number (such as LB001) separately in different jobs, and use it in different ways in each of these jobs. Beginners Reference DX100...
  • Page 99 Only when expanding the “INSTRUCTION LEVEL,” it is possible to use local variables. Refer to “8.12 Instruction NOTE Level Setting” of “DX100 INSTRUCTIONS” (RE-CTO-A215) for details on setting the language level. 1.) Select {JOB} under the main menu. Beginners Reference DX100...

  • Page 100: Search

    The number of local variables are set. 2.9.12 Sea When editing or checking, jobs and steps can be searched for. Search can be done when the cursor is in either the address or instruction area on the JOB CONTENT window. Beginners Reference DX100...
  • Page 101 Search is an operation by which the cursor is moved to a specific step or instruction in the edit job. The desired item can be instantly searched for without using the cursor. 2.9.12.1 Line Search This function moves the cursor to the desired line number. 1.) Select {EDIT], {SEARCH} and “LINE SEARCH.” Beginners Reference DX100...
  • Page 102 The number can be entered. 2.) Input desired line number. 3.) Press [ENTER]. The cursor is moved to the line number and the window appears. Beginners Reference DX100...
  • Page 103 2.9.12.2 Step Search This function moves the cursor to the desired step number (move instruction). 1.) Select {EDIT], {SEARCH} and “STEP SEARCH.” The number can be entered. 2.) Input desired step number. 3.) Press [ENTER]. Beginners Reference DX100...
  • Page 104 For information on character input operation, refer to. At this time, search can be conducted by entering any one character of the label. For example, to search for the “START” label, enter only “S,” and the search can be done. 3.) Press [ENTER]. Beginners Reference DX100...
  • Page 105 While searching, forward search and backward search are possible by pressing the cursor key. To end search, select {EDIT} à {END SEARCH} on the menu and press [SELECT]. 2.9.12.4 Instruction Search This function moves the cursor to a desired instruction. 1.) Select {EDIT}, {SEARCH} and “INSTRUCTION SEARCH.” Beginners Reference DX100...
  • Page 106 3.) Select desired instruction. The cursor is moved to the selected instruction and the window appears. 4.) Use the cursor to continue search. While searching, forward search and backward search are possible by pressing the cursor key. Beginners Reference DX100...
  • Page 107 This function moves the cursor to the desired tag. 1.) Select {EDIT}, {SEARCH} and “TAG SEARCH.” The instruction list dialog box appears 2.) Select desired instruction group. 3.) Select desired instruction for which the tag is to be searched. Beginners Reference DX100...
  • Page 108 4.) Select the desired tag. The cursor is moved to the selected tag and the window appears. 5.) Use the cursor to continue search. While searching, forward search and backward search are possible by pressing the cursor key. Beginners Reference DX100...
  • Page 109 To end search, select {EDIT} à {END SEARCH} on the menu and press [SELECT], or press [CAN- CEL]. Beginners Reference DX100...

  • Page 110: Alarm

    Then turn ON the main power supply again. For Minor alarms (4 to 9 ) refer to the NOTE Document - CD which is delivered with your system Beginners Reference DX100...

  • Page 111: Alarm Display

    If a severe alarm such as hardware failure occurs, servo power is automatically shut OFF and the ma- nipulator stops. Turn OFF the main power supply, remove the cause of the alarm, and then turn ON the power supply again. Beginners Reference DX100...

  • Page 112: Special Alarm Display

    EAXA01 circuit board shows the SERVOPACK number. SV#1: SERVOPACK 1 (EAXA01 circuit board S1 switch: 0) SV#2: SERVOPACK 2 (EAXA01 circuit board S1 switch: 1) SV#3: SERVOPACK 3 (EAXA01 circuit board S1 switch: 2) SV#4: SERVOPACK 4 (EAXA01 circuit board S1 switch: 3) Beginners Reference DX100...

  • Page 113: Alarm Message List

    YASKAWA representative. To handle the JANCD-YIF∗∗−∗, personnel must be appropriately skilled in maintenance mode operation. JANCD-YIF backs up very important file data for the user • ∗∗−∗ program with a battery. Careless operation may delete registered data. Beginners Reference DX100...
  • Page 114 Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. No response was sent Setting error (1)Check the following settings. from the optional board · The optional board setting in maintenance mode #2 when the control power turned ON. Beginners Reference DX100...
  • Page 115 · The EAXA board rotary switch setting (0) of the turned ON. corresponding node number (SV#1) At this time, the DX100 may judge it as signal input such as external hold wrong. However, it is caused by the communication error with servo baord #1.
  • Page 116 · The cable of EAXA board CN509 · The cable of EAXA board connector CN515/516 · The PCI connector of the YIF01 board · The cable of YIF board connector CN113 Beginners Reference DX100...
  • Page 117 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 118 ERROR(SERVO) CPU for the servo board · Control group settings in maintenance mode #1 detected an error · The EAXA board rotary switch setting (0) of the when the control power corresponding node number (SV#1) turned ON. Beginners Reference DX100...
  • Page 119 · The cable of EAXA board CN509 · The cable of EAXA board connector CN515/516 · The PCI connector of the YIF01 board · The cable of YIF board connector CN113 Beginners Reference DX100...
  • Page 120 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 121 (1)Check the following settings. CPU for the servo board · Control group settings in maintenance mode #8 detected an error · The EAXA board rotary switch setting (7) of the when the control power corresponding node number (SV#8) turned ON. Beginners Reference DX100...
  • Page 122 Yaskawa representative about occurrence status (operating procedure). EAXA board (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 123 Yaskawa representative about occurrence status (operating procedure). EAXA board (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 124 · The rotary switch setting which specifies slot numbers of I/O module board each I/O module connected with 2nd serial · I/O module settings in maintenance mode bus when the control power turned ON. Beginners Reference DX100...
  • Page 125 · The rotary switch setting which specifies slot numbers of I/O module board each I/O module connected with 4th serial · I/O module settings in maintenance mode bus when the control power turned ON. Beginners Reference DX100...
  • Page 126 · The rotary switch setting which specifies slot numbers of I/O module board each I/O module connected with 6th serial · I/O module settings in maintenance mode bus when the control power turned ON. Beginners Reference DX100...
  • Page 127 · The rotary switch setting which specifies slot numbers of I/O module board each I/O module connected with 8th serial · I/O module settings in maintenance mode bus when the control power turned ON. Beginners Reference DX100...
  • Page 128 · The rotary switch setting which specifies slot numbers of I/O module board each I/O module connected with 10th · I/O module settings in maintenance mode serial bus when the control power turned ON. Beginners Reference DX100...
  • Page 129 · The rotary switch setting which specifies slot numbers of I/O module board each I/O module connected with 12th · I/O module settings in maintenance mode serial bus when the control power turned ON. Beginners Reference DX100...
  • Page 130 YIU unit when the control each I/O module power was turned ON. · I/O module settings in maintenance mode At this time, the DX100 may judge it as signal input such as external hold wrong. However, it is caused by the communication error with YIU .Therefore, execute...
  • Page 131 (1)Check the following settings. communications with the · PCI slot number in which each PCI board is mounted I/O module board · I/O module settings in maintenance mode connected with 1st PCI connector when the control power turned ON. Beginners Reference DX100...
  • Page 132 ON. Connection (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the corresponding I/O module Beginners Reference DX100...
  • Page 133 · The cable of YIF board connector CN113 EAXA board (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 134 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 135 · Control group settings in maintenance mode number of the serial · The EAXA board rotary switch setting (2) of the communications. corresponding node number (SV#3) Counter value received from EAXA board is off by one cycle. Beginners Reference DX100...
  • Page 136 · The cable of EAXA board CN509 · The cable of EAXA board connector CN515/516 · The PCI connector of the YIF01 board · The cable of YIF board connector CN113 Beginners Reference DX100...
  • Page 137 · The cable of YIF board connector CN113 EAXA board (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 138 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 139 · Control group settings in maintenance mode serial communication · The EAXA board rotary switch setting (7) of the watchdog data. corresponding node number (SV#8) Counter value received from EAXA board is invalid. Beginners Reference DX100...
  • Page 140 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 141 The SD parameter is Data error (1)Turn the power OFF then back ON. damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 142 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 143 The MF parameter is Data error (1)Turn the power OFF then back ON. damaged. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 144 (1)Turn the power OFF then back ON. damaged. (2)If the alarm occurs again, initialize the job file in maintenance mode, and then load the data (job, variable data, Robot calibration data) saved in the external memory device. Beginners Reference DX100...
  • Page 145 The CIO ladder file is Data error (1)Turn the power OFF then back ON. (LADDER PRG damaged. (2)If the alarm occurs again, initialize the appropriate data FILE) in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 146 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 147 Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Sensor-use parameter Setting error (1)Check the following settings. error. · The optional board setting in maintenance mode Beginners Reference DX100...
  • Page 148 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 149 (1)Check the following settings. connected to the serial · The rotary switch setting which specifies slot numbers of bus #3 is different from each I/O module the function of the set I/O · I/O module settings in maintenance mode module. Beginners Reference DX100...
  • Page 150 (1)Check the following settings. connected to the serial · The rotary switch setting which specifies slot numbers of bus #5 is different from each I/O module the function of the set I/O · I/O module settings in maintenance mode module. Beginners Reference DX100...
  • Page 151 (1)Check the following settings. connected to the serial · The rotary switch setting which specifies slot numbers of bus #7 is different from each I/O module the function of the set I/O · I/O module settings in maintenance mode module. Beginners Reference DX100...
  • Page 152 (1)Check the following settings. connected to the serial · The rotary switch setting which specifies slot numbers of bus #9 is different from each I/O module the function of the set I/O · I/O module settings in maintenance mode module. Beginners Reference DX100...
  • Page 153 (1)Check the following settings. connected to the serial · The rotary switch setting which specifies slot numbers of bus #11 is different from each I/O module the function of the set I/O · I/O module settings in maintenance mode module. Beginners Reference DX100...
  • Page 154 (1)Check the following settings. connected to the serial · The rotary switch setting which specifies slot numbers of bus #13 is different from each I/O module the function of the set I/O · I/O module settings in maintenance mode module. Beginners Reference DX100...
  • Page 155 (1)Check the following settings. connected to the serial · The rotary switch setting which specifies slot numbers of bus #15 is different from each I/O module the function of the set I/O · I/O module settings in maintenance mode module. Beginners Reference DX100...
  • Page 156 I/O module. Connection (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the corresponding I/O module Beginners Reference DX100...
  • Page 157 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 158 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 159 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 160 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 161 An error occurred during Setting error (1)Check the following settings. the parameter/file transfer · Control group settings in maintenance mode to the 3rd servo board. · The EAXA board rotary switch setting (2) of the corresponding node number (SV#3) Beginners Reference DX100...
  • Page 162 · The cable of EAXA board CN509 · The cable of EAXA board connector CN515/516 · The PCI connector of the YIF01 board · The cable of YIF board connector CN113 Beginners Reference DX100...
  • Page 163 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 164 · Control group settings in maintenance mode processing with the servo · The EAXA board rotary switch setting (1) of the CPU of 2nd servo board, corresponding node number (SV#2) and the system did not startup normally. Beginners Reference DX100...
  • Page 165 · The cable of EAXA board CN509 · The cable of EAXA board connector CN515/516 · The PCI connector of the YIF01 board · The cable of YIF board connector CN113 Beginners Reference DX100...
  • Page 166 · The cable of YIF board connector CN113 EAXA board (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 167 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 168 Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. 0500 SEGMENT PROC Setting error (1)Check the following settings. NOT READY · Instruction execution cycle Beginners Reference DX100...
  • Page 169 Refer to the instruction manual for the MEDAR function. CHANGE ERROR error 0605 MEDAR SCHEDULE MADER timer Refer to the instruction manual for the MEDAR function. TRANSMIT ERROR error 0606 MEDAR ERROR 1 MADER timer Refer to the instruction manual for the MEDAR function. error Beginners Reference DX100...
  • Page 170 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 171 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 172 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 173 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 174 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 175 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 176 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 177 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 178 · The PCI connector of the TOYOPUC board In the output side setting Setting error (1)Check the following settings. of allocation configuration · Allocation configuration for the TOYOPUC data, the set number to use the M-register of concurrent I/O exceeds the M-register limit. Beginners Reference DX100...
  • Page 179 · The PCI connector of the TOYOPUC board An error was found in the Setting error (1)Check the following settings. specified number of · Allocation configuration for the TOYOPUC registers which are used by the system data "WELDING INFO." of allocation configuration. Beginners Reference DX100...
  • Page 180 No. for the TOYOPUC exceeds the R-register limit. Connection (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, check the connection and insertion of the following connector. · The PCI connector of the TOYOPUC board Beginners Reference DX100...
  • Page 181 · The PCI connector of the TOYOPUC board In the input side setting of Setting error (1)Check the following settings. allocation configuration · Allocation configuration for the TOYOPUC data, some of the TOYOPUC’s R-registers are specified redundantly. Beginners Reference DX100...
  • Page 182 Save the CMOS.BIN before replace the board to be safe. · YCP02 board 0904 WATCHDOG TIMER A Watchdog timeout was Setting error (1)Check the following settings. ERROR(YCP02#4) detected in the CP02 #4 · Optional board in maintenance mode board. Beginners Reference DX100...
  • Page 183 Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. 0911 An error was detected in Setting error (1)Check the following settings. ERROR(YCP02#1) the CPU. · Optional board in maintenance mode Beginners Reference DX100...
  • Page 184 · Optional board in maintenance mode Board failure (1)Turn the power OFF then back ON. (YCP02 board) (2)If the alarm occurs again, replace the following board. Save the CMOS.BIN before replace the board to be safe. · YCP02 board Beginners Reference DX100...
  • Page 185 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 186 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 187 YIF board failure (1)Turn the power OFF then back ON. (2)If the alarm occurs again, replace the YIF01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YIF01 board, and then load the CMOS.BIN saved before alarm occurred. Beginners Reference DX100...
  • Page 188 (1)Reset the alarm.(In case of major alarm, turn the power rejected at verification. failure OFF then back ON.) (EEPROM verify error) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 189 S1CxG, S2C, S3C, S4C Data error (1)Turn the power OFF then back ON. parameter error (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 190 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 191 YCP01 board to insert it into the new YCP01 board. SVPxG parameter error Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 192 Robot calibration file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 193 Arc end condition file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 194 Press characteristics file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 195 Form cut file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 196 Painting condition file Data error (1)Turn the power OFF then back ON. (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 197 Laser welding end Data error (1)Turn the power OFF then back ON. condition file (2)If the alarm occurs again, initialize the appropriate data in maintenance mode, and then load the data saved in the external memory device. Beginners Reference DX100...
  • Page 198 Unable to properly EAXA board (1)Turn the power OFF then back ON. ERROR(MOTION) activate the servo control failure (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 199 Unable to send a request EAXA board (1)Turn the power OFF then back ON. to prepare a feedback failure (2)If the alarm occurs again, replace the EAXA board. pulse Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 200 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 201 OFF then back ON.) command code sent from occurred (2)If the alarm occurs again, save the CMOS.BIN in MOTION section. maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 202 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 203 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 204 OFF then back ON.) servo communications occurred (2)If the alarm occurs again, save the CMOS.BIN in CERF receiving process maintenance mode, and then contact your Yaskawa although it was not the representative about occurrence status (operating execution timing. procedure). Beginners Reference DX100...
  • Page 205 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 206 OFF then back ON.) did not complete within occurred (2)If the alarm occurs again, save the CMOS.BIN in the time set on the maintenance mode, and then contact your Yaskawa scheduling table. representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 207 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 208 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power register. failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 209 (1)Reset the alarm.(In case of major alarm, turn the power SVC parameter is operation error OFF then back ON.) unmatched. occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 210 CNTL BOX) controller Connection (1)Turn the power OFF then back ON. failure (2)If the alarm occurs again, check the connection of the following cable. ·CN159 power supply cable of the cooling fan in the YPS unit Beginners Reference DX100...
  • Page 211 Replace the YIF board, and then load the saved CMOS.BIN file. 1209 EXTERNAL WDT Sub Code Circuit board Replace the YIF01 board, and initialize the DX100 system BROKEN(YIF01) 0000_0001: Error broken configuration. detected in PLD circuit 1 0000_0010: Error...
  • Page 212 (1)Turn the power OFF then back ON. IP address setting operation error (2)If the alarm occurs again, save the CMOS.BIN in process of the Ethernet occurred maintenance mode, and then contact your Yaskawa function. representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 213 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 214 (1)Turn the power OFF then back ON. Web server task operation error (2)If the alarm occurs again, save the CMOS.BIN in management ID getting occurred maintenance mode, and then contact your Yaskawa process of the Ehternet representative about occurrence status (operating function. procedure). Beginners Reference DX100...
  • Page 215 YCP01 board to insert it into the new YCP01 board. The data acquisition Setting error (1)Check the following settings. process from the server ·The DHCP server operation did not complete within · The network status regulated time. Beginners Reference DX100...
  • Page 216 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 217 (2)If the alarm occurs again, replace the YCP01 board. Save the CMOS.BIN before replace the board to be safe. Replace the YCP01 board, and then remove the CF from the failure YCP01 board to insert it into the new YCP01 board. Beginners Reference DX100...
  • Page 218 (1)Turn the power OFF then back ON. start process of the operation error (2)If the alarm occurs again, save the CMOS.BIN in Ethernet function Telnet occurred maintenance mode, and then contact your Yaskawa (for onboard). representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 219 · YIF01-CN113 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 220 · YIF01-CN113 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 221 (1)Reset the alarm.(In case of major alarm, turn the power operation error OFF then back ON.) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 222 ·YSU01-CN202 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 223 · YSU01-CN202 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 224 (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. ·EAXA01-CN517 · YSU01-CN202 Module (1)Reset the alarm.(In case of major alarm, turn the power failure(amplifier) OFF then back ON.) (2)If the alarm occurs again, replace the amplifier. Beginners Reference DX100...
  • Page 225 OFF then back ON.) (2)If the alarm occurs again, replace the SERVOPACK. 1310 CHARGE Module (1)Reset the alarm.(In case of major alarm, turn the power ERROR(CONVERT failure(converter OFF then back ON.) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 226 (1)Reset the alarm.(In case of major alarm, turn the power TIMEOUT(SERVO) operation error OFF then back ON.) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 227 Save the CMOS.BIN before replace the board to be safe. External (1)Check the following settings. environment · Check the grounding condition of Manipulator. · Check whether it is installed into the strong magnetic field. · Check the position after the alarm. Beginners Reference DX100...
  • Page 228 · Cable between encoders · EAXA-CN508 [External axis] · Cable between encoders · EAXB-CN0534,535,536 Module (1)Reset the alarm.(In case of major alarm, turn the power failure(encoder) OFF then back ON.) (2)If the alarm occurs again, replace the encoder. Beginners Reference DX100...
  • Page 229 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power ERROR(SERIAL failure OFF then back ON.) ENCODER) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 230 Save the CMOS.BIN before replace the board to be safe. 1339 OVER SPEED LIMIT Setting error Check the JOB. 1341 SERVO OVERRUN Motion range Check if the overrun limit switch is activated by the ERROR error manipulator. Beginners Reference DX100...
  • Page 231 (1)Reset the alarm.(In case of major alarm, turn the power first digit shows the failure OFF then back ON.) converter No.) (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. · EAXA01-CN507,510 · EAXB01-CN08 · Converter CN551,553 Beginners Reference DX100...
  • Page 232 · EAXA01-CN507,510 · EAXB01-CN08 · Converter CN551,553 Module (1)Reset the alarm.(In case of major alarm, turn the power failure(converter OFF then back ON.) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 233 Save the CMOS.BIN before replace the board to be safe. Software (1)Reset the alarm. operation error (2)If the alarm occurs again, save the CMOS.BIN in occurred maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 234 65: Error due to unmatched input signal for the external WDT 66: Error due to unmatched 1FB input signal: the brake release control signal E.g.) Sub Code: 208 EXOT signal of the Power-ON unit2 (TU#2) is unmatched. Beginners Reference DX100...
  • Page 235 OFF then back ON.) occurred (2)If the alarm occurs again, check the connection and insertion of the following cables and connectors. [Robot axis] ·Cable between encoders ·EAXA-CN508 [External axis] · Cable between encoders · EAXB-CN0534,535,536 Beginners Reference DX100...
  • Page 236 CNT. LMT. OVER 1405 WORK ID. SHIFT DATA POS LMT. 1406 START SHIFT DATA CNT. LMT. OVER 1407 START SHIFT DATA POS LMT. 1420 SYSTEM ERROR(BENDING) 1421 ENCODER ERROR(LNR SCALE) 1422 CANNOT CHANGE ENCODER INPUT 1430 PRESS ENCODER ERROR Beginners Reference DX100...
  • Page 237 POWER SUPPLY Connection Check the power supply cable of the cooling fan in the failure CPS power unit. ERROR(SERVO) CPS module Check the cooling fan in the CPS power unit is working. failure Replace the CPS power unit. Beginners Reference DX100...
  • Page 238 Module (1)Reset the alarm.(In case of major alarm, turn the power failure(encoder) OFF then back ON.) (2)If the alarm occurs again, replace the encoder. Noise Check the noise source and take countermeasures to interference reduce the noise. Beginners Reference DX100...
  • Page 239 Check the noise source and take countermeasures to interference reduce the noise. Module (1)Reset the alarm.(In case of major alarm, turn the power failure(SERVOP OFF then back ON.) ACK) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 240 Check the insertion and connection of the followings. CONVERT COMM failure · Serial conversion unit ERR(SV2) · Cable between SERVOPACKs. Noise Check the noise source and take countermeasures to interference reduce the noise. Module Replace the serial conversion unit. failure(serial conversion unit) Beginners Reference DX100...
  • Page 241 Check the settings for manipulator motion condition (influence by external force, load condition). Module (1)Reset the alarm.(In case of major alarm, turn the power failure(motor) OFF then back ON.) (2)If the alarm occurs again, replace the motor. Beginners Reference DX100...
  • Page 242 (2)If the alarm occurs again, replace the SERVOPACK. 1559 GATE ARRAY Module (1)Reset the alarm.(In case of major alarm, turn the power ERROR(SERVO2) failure(SERVOP OFF then back ON.) ACK) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 243 OFF then back ON.) (2)If the alarm occurs again, replace the motor. Module (1)Reset the alarm.(In case of major alarm, turn the power failure(SERVOP OFF then back ON.) ACK) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 244 (2)If the alarm occurs again, replace the SERVOPACK. 1567 MULTITURN LIMIT Module (1)Reset the alarm.(In case of major alarm, turn the power failure(SERVOP OFF then back ON.) SAME(SERVO2) ACK) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 245 OFF then back ON.) (2)If the alarm occurs again, replace the motor. Module (1)Reset the alarm.(In case of major alarm, turn the power failure(SERVOP OFF then back ON.) ACK) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 246 Check the connection of mechanical combination. POSITION failure ERROR(SV2) 1586 EXCEEDED Module (1)Reset the alarm.(In case of major alarm, turn the power POSITION failure(SERVOP OFF then back ON.) DATA(SERVO2) ACK) (2)If the alarm occurs again, replace the SERVOPACK. Beginners Reference DX100...
  • Page 247 (1)Turn the power OFF then back ON. failure If the error occurs again, save the CMOS.BIN in maintenance mode, and then replace the YCP01 board. In this case, use the original CF card of the YCP01 board. Beginners Reference DX100...
  • Page 248 (1)Reset the alarm.(In case of major alarm, turn the power operation error OFF then back ON.) occurred (2)If the alarm occurs again, save the CMOS.BIN in maintenance mode, and then contact your Yaskawa representative about occurrence status (operating procedure). Beginners Reference DX100...
  • Page 249 Setting error Check the JOB. SPECIFIC. ERR(SV) was used for the axis for which the deceleration stop function was enabled. The servo float function cannot be used for the axis which the deceleration stop function was enabled. Beginners Reference DX100...
  • Page 250 (1)Reset the alarm.(In case of major alarm, turn the power CONVERSE CONST failure OFF then back ON.) ERR(SV) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 251 EAXA board (1)Reset the alarm.(In case of major alarm, turn the power SIG INCONSIST(SV) failure OFF then back ON.) (2)If the alarm occurs again, replace the EAXA board. Save the CMOS.BIN before replace the board to be safe. Beginners Reference DX100...
  • Page 252 EAXA (2)If the alarm occurs again, replace the YSU unit. Save board is dif f erent between the CMOS.BIN before replace the YSU unit to be safe. the CPU1 and the CPU2 of the YSU unit. Beginners Reference DX100...
  • Page 253 YSU unit (CN202 connector) (3)After confirmation of the communication cable connection, and then if the alarm occurred again, replace the communication cable below. · The communication cable between EAXA board (CN518 connector) and YSU unit (CN202 connector) Beginners Reference DX100...
  • Page 254 YSU unit failure (1)Turn the power OFF then back ON. (2)After replacement the communication cable, and then if the alarm occurred again, replace the YSU unit. Save the CMOS.BIN before replace the YSU unit to be safe. Beginners Reference DX100...
  • Page 255 EAXA board (1)Turn the power OFF then back ON. failure (2)After replacement the YSU unit, and then if the alarm occurred again, replace the EAXA board. Save the CMOS.BIN before replace the EAXA board to be safe. Beginners Reference DX100...
  • Page 256 EAXA board (1)Turn the power OFF then back ON. failure (2)After replacement the YSU unit, and then if the alarm occurred again, replace the EAXA board. Save the CMOS.BIN before replace the EAXA board to be safe. Beginners Reference DX100...
  • Page 257 YSU unit (CN202 connector) (3)After confirmation of the communication cable connection, and then if the alarm occurred again, replace the communication cable below. · The communication cable between EAXA board (CN518 connector) and YSU unit (CN202 connector) Beginners Reference DX100...
  • Page 258 YSU unit failure (1)Turn the power OFF then back ON. (2)After replacement the communication cable, and then if the alarm occurred again, replace the YSU unit. Save the CMOS.BIN before replace the YSU unit to be safe. Beginners Reference DX100...
  • Page 259 YSU units was failure (2)If the alarm occurs again, check the followings. detected. ·Check the connection of cable connected with other YSU unit. (3)After confirmation of the connection, and then if the alarm occurred again, replace the communication cable. Beginners Reference DX100...
  • Page 260 (1)Turn the power OFF then back ON. CHECK power turned ON, CPU2 (2)If the alarm occurs again, replace the YSU unit. Save ERROR(CPU2) detected an error in the the CMOS.BIN before replace the YSU unit to be safe. watchdog detection circuit. Beginners Reference DX100...
  • Page 261 EAXA board (1)Turn the power OFF then back ON. failure (2)After replacement the YSU unit, and then if the alarm occurred again, replace the EAXA board. Save the CMOS.BIN before replace the EAXA board to be safe. Beginners Reference DX100...
  • Page 262 EAXA board (1)Turn the power OFF then back ON. failure (2)After replacement the YSU unit, and then if the alarm occurred again, replace the EAXA board. Save the CMOS.BIN before replace the EAXA board to be safe. Beginners Reference DX100...
  • Page 263 EAXA board (1)Turn the power OFF then back ON. failure (2)After replacement the YSU unit, and then if the alarm occurred again, replace the EAXA board. Save the CMOS.BIN before replace the EAXA board to be safe. Beginners Reference DX100...
  • Page 264 YSU unit failure (1)Turn the power OFF then back ON. occurred between the (2)If the alarm occurs again, replace the YSU unit. Save EAXA board and the YSU the CMOS.BIN before replace the YSU unit to be safe. unit. Beginners Reference DX100...
  • Page 265 YSU unit failure (1)Turn the power OFF then back ON. (2)After replacement the communication cable, and then if the alarm occurred again, replace the YSU unit. Save the CMOS.BIN before replace the YSU unit to be safe. Beginners Reference DX100...
  • Page 266 · Cable of the YPS unit(CN154 connector) Loose fuse (1)Turn the power OFF then back ON. (2)If the alarm occurred again, check if the fuse(F1/F2) is not removed. Fuse is located on the front of the YSU unit. Beginners Reference DX100...
  • Page 267 YSU units was failure (2)If the alarm occurs again, check the followings. detected. ·Check the connection of cable connected with other YSU unit. (3)After confirmation of the connection, and then if the alarm occurred again, replace the communication cable. Beginners Reference DX100...
  • Page 268 DX100 . . .
  • Page 269 DX100...
  • Page 270 MOTOMAN in Ihrer Nähe / MOTOMAN near You YASKAWA Electric Corporation JP 2-1, Kurosaki-shiroishi Yahatanishi-ku Kitakyushu-shi 806-0004 +093-645-8801 MOTOMAN EU Distributors A MOTOMAN robotec GmbH BG Kammarton Bulgaria Ltd. Wien +43-1-707-9324-15 Sofia +359-02-926-6060 CZ MOTOMAN robotec s.r.o. CH Messer Eutectic Castolin Switzerland S.A.

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