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Motoman XRC Manual

Analog output function for up/skx-series robots
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XRC Controller
Analog Output
Function Manual
for UP/SKX-Series Robots
Part Number 142976-1
May 15, 1999
MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-HOUR SERVICE HOTLINE: (937) 847-3200
The information contained within this document is the proprietary property of Motoman,
Inc., and may not be copied, reproduced or transmitted to other parties without the
expressed written authorization of Motoman, Inc.
©1999 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications
without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

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  • Page 1 FAX: (937) 847-6277 24-HOUR SERVICE HOTLINE: (937) 847-3200 The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc.

  • Page 3: Table Of Contents

    Installation Safety ......................2-5 Programming Safety ..................... 2-5 Operation Safety ......................2-6 Maintenance Safety....................... 2-7 ANALOG OUTPUT FUNCTION Analog Output Function Corresponding to Speed............1-1 Instruction ........................2-1 Examples ........................3-1 Filter Process........................ 4-1 Precautions........................5-1 MOTOMAN Analog Output Function...
  • Page 4 NOTES Analog Output Function MOTOMAN...

  • Page 5: Introduction

    • Motoman UP130, XRC Manipulator Manual (P/N 142107-1) Customer Service Information If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Robot Type (UP6, SK16X, etc.) •...
  • Page 6 INTRODUCTION NOTES Analog Output Function MOTOMAN...

  • Page 7: Safety

    We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following: •...

  • Page 8: Standard Conventions

    NOTE: Information appearing in a NOTE caption provides additional information which is helpful in understanding the item being explained. Ånalog Output Function MOTOMAN...

  • Page 9: General Safeguarding Tips

    • Safety fences and barriers • Light curtains • Door interlocks • Safety mats • Floor markings • Warning lights Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately. MOTOMAN Analog Output Function...

  • Page 10: Installation Safety

    Do not make any modifications to PART 1. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! • Some operations require standard passwords and some require special passwords.

  • Page 11: Operation Safety

    SAFETY • Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc. • Be sure that all safeguards are in place. • Check the E-STOP button on the teach pendant for proper operation before programming.

  • Page 12: Maintenance Safety

    SAFETY Maintenance Safety All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. Maintenance tips are as follows: •...
  • Page 13 MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN-¨¨¨ INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR’S MANUAL YASNAC XRC OPERATOR’S MANUAL for BEGINNERS The YASNAC XRC operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA MANUAL NO. RE-CKI-A421...
  • Page 14 M A N D A T O R Y • This manual explains the analog output function corresponding to the speed of the YASNAC XRC. Read this manual carefully and be sure to understand its contents before handling the YASNAC XRC.
  • Page 15 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”,or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, W A R N I N G could result in death or serious injury to personnel.
  • Page 16 Injury may result if anyone enters the working envelope of the manipulator during opera- tion. Always press an emergency stop button immediately if there are problems.The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant.
  • Page 17 -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 XRC cabinet after use. The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures.
  • Page 18 Descriptions of the programming pendant and playback panel keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on them are Pendant denoted with [ ] ex. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
  • Page 19 Analog Output Function Corresponding to Speed Instructions 2.1 Instructions for Analog Output Function Corresponding to Speed ......... . .2-1 2.1.1 ARATION.
  • Page 20 viii...

  • Page 21: Analog Output Function Corresponding To Speed

    1 Analog Output Function Corresponding to Speed The analog output function corresponding to speed changes the analog output value automat- ically, according to the manipulator operating speed. This function does not need resetting of the analog output value according to the operating speed, so that the time required for job teaching can be reduced.

  • Page 23: Instructions

    2.1 Instructions for Analog Output Function Corresponding to Speed 2 Instructions Instructions for Analog Output Function Corre- sponding to Speed The instructions, ARATION and ARATIOF, are used for the analog output function corre- sponding to speed. 2.1.1 ARATION The analog output function corresponding to speed is performed after executing ARATION instruction.

  • Page 24: Aratiof

    2.1 Instructions for Analog Output Function Corresponding to Speed According to the set value of the ARATION instruction, the output characteristics for the rela- tion between the operating speed and the analog voltage are calculated. The analog output function corresponding to speed is executed depending on these output characteristics. The following graph shows the output characteristics.

  • Page 25: Instruction

    2.2 Registration of Instructions Registration of Instructions The instructions can be registered when the cursor is in the address area on the job content display in teach mode. Perform the following operations before registering an instruction. Operation Select {JOB} from the top menu Select {JOB CONTENT} Move the cursor to the address area...
  • Page 26 2.2 Registration of Instructions <Register without changes> To register without changes, perform operation of *5. <Register with addition or change of the additional items> • To change the output port number In case of using [SHIFT] and the cursor key, move the cursor to the output port number, and then press [SHIFT] and the cursor key simultaneously, to change the output port number.

  • Page 27: Aratiof

    2.2 Registration of Instructions The instruction displayed in the input buffer line is registered. 0020 MOVL V=138 The line where ARATION 0021 ARTION AO#(1) BV=10.00 instruction is registered 0022 MOVL V=138 2.2.2 ARATIOF Operation Move the cursor to one line above the place to register ARATIOF instruction Press [INFORM LIST] Select “ARATIOF”...

  • Page 28: Analog Output Display

    2.3 Analog Output Display Analog Output Display The current settings can be confirmed on the analog output display. D A T A EDIT DISPLAY UTILITY A N A L O G O U T P U T • TERMINAL AOUT1 AOUT2 AOUT3 AOUT4 ‚...

  • Page 29: Examples

    3.1 Examples of Output Characteristics 3 Examples Examples of Output Characteristics The graph below shows the change in the output characteristics when the following job is done. Output Voltage MOVJ VJ=50.00 ARATION AO#(1) BV=7.00 V=150.0 OFV=- 7.00 10.00 MOVL V=50.0 -4.33 MOVC V=100.0 1.33...

  • Page 30: Example Of Variation Of Operating Speed And Analog Output Value

    3.2 Example of Variation of Operating Speed and Analog Output Value Example of Variation of Operating Speed and Analog Output Value The following graph shows the change of the analog output according to the speed variation. MOVL V=200.0žžžž• ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00 MOVC V=150.0žžžž‚...

  • Page 31: Filter Process

    4.1 When Parameter is Set to “0” 4 Filter Process In the analog output function corresponding to speed, the output analog signal can be filtered by setting a filter constant at the parameters. When Parameter is Set to “0” The analog signal according to the speed reference (the speed determined by a path opera- tion) is output.

  • Page 32: Parameter Setting

    4.3 Parameter Setting Parameter Setting Adjust the settings of parameters during actual operations. Parameter S3C426 Analog output No. 1 Primary filter constant [units of msec] S3C427 Analog output No. 1 Secondary filter con- [units of msec] stant S3C428 Analog output No. 2 Primary filter constant [units of msec] S3C429...

  • Page 33: Precautions

    5.1 When Analog Output Corresponding to Speed is Interrupted 5 Precautions When Analog Output Corresponding to Speed is Interrupted If the manipulator is stopped for some reason and the editing operation is performed, the ana- log output corresponding to speed is interrupted. This interruption is performed in all output terminals, and the analog voltage fixed immediately before the interruption is output to each output terminal.
  • Page 34 5.2 When More than One Manipulator is Used...
  • Page 36 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD. 30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083 Phone 86-10-6233-2782 Fax 86-10-6232-1536 SHOUGANG MOTOMAN ROBOT CO., LTD. 7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076, P.R. China Phone 86-10-6788-0551...

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