YASKAWA DX200 Operator's Manual

WELCOME...
...to the Yaskawa Motoman family of robotics. We take pride
in the work we do and would like to take this opportunity to
thank you for your business. This READ FIRST!! packet
familiarizes you with your new Motoman
Please review all the information contained here before
operating your system.
Contained in this READ FIRST!! packet you will find:
•
Documentation Survey Card
•
Customer Service Information
•
Alarm Error Information
•
Lithium Battery Safety Information
•
System Drawings (if applicable)
•
Door Key (if applicable)
•

Additional Information

We continually strive to provide the highest quality systems
and service available. If you have any questions or
comments, please call us. We appreciate your business and
want Yaskawa Motoman to continue to be the best solution to
your automation needs.
ADDITIONAL INFORMATION
For additional information, refer to the following:
•
Motoman Manipulator Manual for your robot model
•
Motoman DX200 Controller Manual
(p/n 165292-1CD)
•
Motoman Operator's Manual for your application
•
Motoman Concurrent I/O Parameter Manual
(p/n 165294-1CD)
•
Equipment mounting guidelines refer to the installation
section of the manipulator manual and if applicable,
ArcWorld system manual. The installation section of
the manipulator manual contains the robot repulsion
forces. Contact your local concrete and masonry
supplier in order to meet equipment mounting and
anchoring requirements.
CUSTOMER SERVICE INFORMATION
If you are in need of technical assistance, contact the
Yaskawa Motoman service staff at 937.847.3200. Please
have the following information ready before you call.
•
Robot type (MA1440, MH50II, MS165, etc.)
•
Application type (arc and spot welding, handling, etc.)
•
System type (ArcWorld
•
Software version (access using MAIN MENU,
SYSTEM INFO, VERSION on programming pendant)
•
Robot serial number (located on the back side of robot
arm)
•
Robot sales order number (located on front of the
DX200 controller)
Part Number 170294-1

READ FIRST!!

DX200
®
robotic system.
® ®
, FabWorld , etc.)
Revision 2 March 2015

ALARM ERRORS

We make every effort to ensure safe delivery of your robotic
system. However, occasionally a robotic system will
encounter problems with data loss and physical movement
caused during the shipping process. Therefore, when turning
on the system and a Minor Alarms occurs they are probably
ALARM:4692 and ALARM:4107. The following is a
description of each cause and remedy.

Alarm 4311 Encoder Backup Error

Should you receive a 4311 alarm, please contact the
Yaskawa Motoman Service Department. While not a major
cause for concern, there are several remedies for this error.
A Yaskawa Motoman service representative can help
determine the best solution for your system.

Alarm 4107 Out of Range (ABSO DATA)

A 4107 Out of Range alarm occurs at power ON if the robot's
position has changed during shipment or since last
shutdown. The out of range axes will highlight in the alarm
display. After resetting the alarm and turning servo power
ON, a "Check Position" prompt occurs. The "Check Position"
procedure involves jogging the robot to a known pulse count
position (a specified point) and verifying that the robot is
physically at the proper position. This position called the
"Second Home."
To check position:
1. Select ROBOT from the main menu.
2. Select SECOND HOME POS, the Second Home Position
window appears.
3. Press the Page key. The group axes by which the second
home position is set when there are two or more group axes.
4. Press FWD, and observe the robot moves to the second
home position. Robot speed is set as selected manual
operation speed.
5. Select DATA.
6. Select CONFIRM POSITION. The "Home Position
Checked" message appears.
A comparison of the current pulse data and second home
position to ensure allowable ranges, and resumes playback
operations. However, if outside the allowable range, the
alarm occurs again. Contact a Yaskawa Motoman Service
representative if this occurs.
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