YASKAWA DX200 Instructions Manual
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YASKAWA DX200 Instructions Manual

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See also: Operator's Manual , Instruction Manual
DX200 OPTIONS
INSTRUCTIONS
For MotoFit Function Engineering Support Tool
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
Part Number:
Revision:
MANUAL NO.
HW1482138
174506-1CD
0
1 of 102

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Summary of Contents for YASKAWA DX200

  • Page 1 DX200 OPTIONS INSTRUCTIONS For MotoFit Function Engineering Support Tool Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. Part Number: 174506-1CD Revision: MANUAL NO. 1 of 102 HW1482138...
  • Page 2 Copyright © 2015, Yaskawa America, Inc. Terms of Use and Copyright Notice All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the operation of Motoman robots, related equipment and software This manual is copyrighted property of Yaskawa and may not be sold or redistributed in any way.
  • Page 3 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 4 ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT! We recommend approved Yaskawa training courses for all personnel involved with the operation, programming, or repair of the equipment. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC rules.
  • Page 5 Notes for Safe Operation Support Tool 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 6 Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems. The emergency stop buttons are located on the right of the front door of the DX200 and the programming pendant. 6 of 102...
  • Page 7 Read and understand the Explanation of the Warning Labels in the DX200 Instructions before operating the manipulator. Definition of Terms Used In this Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and supply cables.
  • Page 8 174506-1CD Description of the Operation Procedure MotoFit Engineering Support Tool Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys/ The keys which have characters printed on Pendant Symbol Keys them are denoted with [ ]. ex.
  • Page 9 Programming Pendant’s LCD display screen by selecting {MAIN MENU} - {SYSTEM INFO} - {VERSION} • Robot Serial Number Located on the robot data plate • Robot Sales Order Number Located on the DX200 controller data plate 9 of 102 HW1482138...

  • Page 10: Table Of Contents

    2.2 User Interface ........................2-2 2.3 Target Robot ........................2-2 3 Operation Procedure........................3-1 3.1 Initial Settings........................3-1 3.1.1 Setting DX200 ...................... 3-1 3.1.2 Setting PC ......................3-1 3.2 MotoFit Teach Operation ....................3-2 3.2.1 Outline of Operation Step ..................3-2 3.2.2 Detailed Operation Step ..................
  • Page 11 174506-1CD MotoFit Engineering Table of Contents Support Tool 6 Operation Condition Data ....................... 6-1 6.1 Force Condition File Data ....................6-1 6.2 Adjustment Condition Data ....................6-2 6.3 MotoFit Command Argument Data ..................6-4 6.4 Backup of Teach Data ....................... 6-7 6.5 Data for Setting Detection Threshold.................

  • Page 12: Outline Of Function

    INSTRUCTIONS for MotoFit (168845-1CD)). During the force control, the robot moves based on the force condition file in DX200. On the other hand, during the operation of each command, the robot moves based on the command argument. The MotoFit Function Engineering Support Tool (abbreviated as FSE- Tool) is a tool to support teaching the MotoFit function.

  • Page 13: Automatic Adjustment Function Of Force Control Parameter

    174506-1CD MotoFit Engineering Outline of Function Support Tool 1.2 Automatic Adjustment Function of Force Control Parameter Automatic Adjustment Function of Force Control Parameter 1.2.1 Force control The MotoFit function uses the impedance control shown in the formula (1) as a model of force control. The impedance control parameter has M (Mass parameter), D (Damping parameter), and K (Spring parameter) as shown in the following figure, and the robot behavior receiving the external force depends on these values.

  • Page 14: Adjustment Method

    174506-1CD MotoFit Engineering Outline of Function 1.2 Automatic Adjustment Function of Force Control Parameter Support Tool 1.2.2 Adjustment Method The operation of the automatic adjustment function of force control parameter consists of the following two steps. The parameters with the asterisk mark (*) are the adjustment condition data, and listed in Table 6-2 "Adjustment Condition Data"...
  • Page 15 174506-1CD MotoFit Engineering Outline of Function Support Tool 1.2 Automatic Adjustment Function of Force Control Parameter By executing the Tuning Steps 1 and 2, adjust three translational axes (X, Y, Z) and three rotational axes (Rx, Ry, Rz). Both adjustment operations, translational and rotational, are shown in the figure below.

  • Page 16: Motofit Teach Guidance Function

    MotoFit Teach Guidance Function In the parameters of MotoFit function commands, the following values should be set (for details, refer to DX200 OPTIONS INSTRUCTIONS for MotoFit (168845-1CD). Among them, the parameters with the asterisk mark* need to be the values suitable for the shape of workpiece. Follow the guidance, and determine the set value by executing the MotoFit command and performing the measurement.

  • Page 17: Force Sense Basic Command

    174506-1CD MotoFit Engineering Outline of Function Support Tool 1.4 Force Sense Basic Command Force Sense Basic Command Force sense basic command is a command which targets relatively simple tasks such as pressing with constant force or stopping the operation when detecting the force which exceeds the specified force.

  • Page 18: System Configuration

    DX200, and the power 24 V DC for the sensor is attached inside the case at the side of DX200. Connect the force sensor and the sensor board using the RS422 cable after delivery.

  • Page 19: User Interface

    174506-1CD MotoFit Engineering System Configuration Support Tool 2.2 User Interface User Interface The user interface is designed by using LabVIEW of National Instruments Corporation. Installing the run-time engine of LabVIEW version that designed the execution file enables to use the PC even without LabVIEW installed.

  • Page 20: Operation Procedure

    The software (the MotoPlus application execution file; MotoFitFS.out) of the MotoFit function and FSE-Tool (MotoPlus application), and force condition file (FCON.CND) are shipped with being loaded to DX200. If the execution file or force condition file is deleted by mistake, load the data from the distributed CD-ROM.

  • Page 21: Motofit Teach Operation

    174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation MotoFit Teach Operation 3.2.1 Outline of Operation Step The outline of teach operation step is shown in the following flow schematic diagram. For details, refer to the next section. All the teach operations are given in the Teach mode.

  • Page 22: Detailed Operation Step

    174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 3.2.2 Detailed Operation Step 3.2.2.1 Startup of FSE-Tool 1. Open the execution file in the FSE-Tool folder. 2. The Main Menu of FSE-Tool opens. There are two modes prepared: Standard and Extension. In the Standard mode, teaching of simple fit operation is available.
  • Page 23 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation To change the operation condition arbitrarily to allow further complicated teaching operation, the Extension mode is useful. In this mode, items on the screen (within the frame of chain line in the later figures) can be changed.

  • Page 24: Setting Force Condition File

    2. Select the force condition file No. to use (from 1 to 24). Because the common FSE-Tool can be used for the FS100 and the DX200, the FS100 is used as the figure of the controller. However, when using the DX200, connect the FSE-Tool to the DX200 with the...
  • Page 25 3.2 MotoFit Teach Operation 3. Click the {Receive} button. The force condition data of the selected No. is received from the force condition file in DX200. The received data is output to the force condition file data in the right part of the screen.
  • Page 26 As an example of figure which shows the definition of the control group and the coordinate system, the robot "SDA10" is shown on the display. However, the robot which supports the DX200 is only "MH12" at the moment. 6. Select the coordinate when using the fit function (Robot/Tool). Based...
  • Page 27 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 7. Select the Tool No. when using the fit function (0 to 63). 8. Select the Insert in direction (X+, X-, Y+, Y-, Z+, Z-). 27 of 102 HW1482138...
  • Page 28 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 9. Select the axis in which the force control is valid (X, Y, Z, Rx, Ry, Rz). Plural axes can be selected. 10. Click the {Open Auto Tuning Menu} button. The operation screen for the automatic adjustment function of force control parameter appears.

  • Page 29: Automatic Adjustment Of Force Control Parameter

    174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 3.2.2.3 Automatic Adjustment of Force Control Parameter 1. According to the instruction on the Guidance Menu, perform operations. On the Guidance Menu, pages can be switched by the {Back} / {Next} buttons. Check the display on the Guidance Menu, execute necessary operations, and click the {Next} button to advance to the next operation.
  • Page 30 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 2. From now, perform the auto tuning of the force control parameter by contacting the workpiece, which is held by the robot, with the flat table. Programming Pendant will be hereinafter referred to as "PP", and the interface panel "I/F Panel".
  • Page 31 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 4. Input the force command value. Input the approximate force value to be used for the fit operation. Input both translational force and rotational force values ([Reference Force] and [Reference Moment]). For a metal workpiece fit operation, for example, typical values are 20 [N] for [Reference Force] and 0.5 [Nm] for [Reference Moment].
  • Page 32 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 6. Execution of Tuning Step 1 – Switch the Tuning Step to 1, and click the {Complete Setting} button. – The message "Operate from PP." appears. Click the {OK} button. –...
  • Page 33 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. The adjustment operation starts. At this time, the {START} button does not activate unless the OPERATION is set to PERM.
  • Page 34 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – During the adjustment operation, the [RUNNING] LED on the I/F Panel turns ON. To stop the operation such as when changing the adjustment condition, press the {STOP} button. To resume the adjustment, first return to the start position, and execute the operation.
  • Page 35 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation – When the adjustment is completed, the {STEP1} LED of the adjustment direction on the <Tuning Status> turns ON, and the "Minimum of Damping Param" is output as the result of adjustment. When the amplitude of force becomes constant or converged into force command, the adjustment is correctly completed.
  • Page 36 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – The message "Operate from PP." appears. Click the {OK} button. – The [TUNESTEP2 COMP SET] LED turns ON on the I/F Panel of 3-17 36 of 102 HW1482138...
  • Page 37 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. The adjustment operation starts. – During the adjustment operation, the [RUNNING] LED on the I/F Panel turns ON.
  • Page 38 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – When the adjustment operation completes, the [TUNESTEP2 COMP SET] LED and the [RUNNING] LED turn OFF. – When the adjustment is completed, the [TUNESTEP2 COMP SET] LED of the adjustment direction turns ON, and "Damping Param, Settling time, Stop time threshold, Stop speed threshold"...
  • Page 39 9. Return to Main Menu, and check that the result of the latest adjustment is reflected. Click the {Send} button to send the force condition file data that has completed the adjustment to DX200. There are two {Send} buttons, and both can be used. The {Send} button...

  • Page 40: Touch Command Teach

    174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 3.2.2.4 TOUCH Command Teach 1. Performs the MotoFit setting. Click the {Creating MotoFit JOB} tab, and the {Open MotoFit Command Setup Menu} button. 2. The [MotoFit Command Setup Menu] appears. Sets the arguments of TOUCH.
  • Page 41 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 3. Note that the force condition file No. of Arg1 has the number selected in section 3.2.2.2 “Setting Force Condition File” on page 3-5, step (2). 4. The values displayed on the Guidance Menu are set as initial values. However, when the values are changed in Main Menu, the changed values are reflected.
  • Page 42 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 5. Teach the fitting start position P1 (a few mm above the hole) by PP. This position will be used while setting TOUCH, FIT, and INSERT. Also teach the posture visually. 6.
  • Page 43 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 7. Teach the position P3 horizontally displaced from P1 (within 2 mm) by PP in consideration of the position differences at the operation. This position will be used whole setting FIT. 8.
  • Page 44 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – The message "Operate from PP." appears. Click the {OK} button. – The [TOUCH COMP SET] LED turns ON on the I/F Panel of PP. – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel.
  • Page 45 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation – During the TOUCH operation, the [RUNNING] LED turns ON on the I/F Panel. – When the TOUCH operation completes, the [TOUCH COMP SET] LED and the [RUNNING] LED turn OFF. 3-26 45 of 102 HW1482138...
  • Page 46 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – When the TOUCH is completed, the touch length is output as the measurement result. This result is set as Arg6. When the [Detect contact] LED is not turned ON, increase the force command value and execute the sequence again.
  • Page 47 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 10. TOUCH operation check 2 (the same operation as (8)) – Move the robot to P2, and click the {Completion of setting} button. – The message "Operate from PP." appears. Click the {OK} button. –...

  • Page 48: Fit Command Teach

    174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 3.2.2.5 FIT Command Teach 1. Sets the arguments of FIT. According to the guidance, perform the settings in Tuning operation at the lower part of the screen. Check the display on the Guidance Menu, execute necessary operations, and click the {Next} button to advance to the next operation.
  • Page 49 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 3. The values displayed on the Guidance Menu are set as initial values. However, when the values are changed in Main Menu, the changed values are reflected. 4. Setting of search vibration cycle of Arg6 –...
  • Page 50 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – The message "Operate from PP." appears. Click the {OK} button. – The [TOUCH COMP SET] LED and the [FIT COMP SET] LED turn ON on the I/F Panel of PP. 3-31 50 of 102 HW1482138...
  • Page 51 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. Operations of TOUCH and FIT start. In the sequence, after TOUCH is completed, FIT is executed continuously.
  • Page 52 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – When the TOUCH operation ends, the [TOUCH COMP SET] LED turns OFF. When the FIT operation ends, the [FIT COMP SET] LED and the [RUNNING] LED turn OFF. –...
  • Page 53 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 5. FIT operation check (the same operation as (4)) – Move the robot to P3, and click the {Completion of setting} button. – The message "Operate from PP." appears. Click the {OK} button. –...

  • Page 54: Insert Command Teach

    174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 3.2.2.6 INSERT Command Teach 1. Sets the arguments of INSERT. According to the guidance, perform the settings in Tuning operation at the lower part of the screen. Check the display on the Guidance Menu, execute necessary operations, and click the {Next} button to advance to the next operation.
  • Page 55 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 3. The values displayed on the Guidance Menu are set as initial values. However, when the values are changed in Main Menu, the changed values are reflected. 4. Setting of insertion length threshold 1 of Arg3 and insertion length threshold 2 of Arg4 –...
  • Page 56 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – The message "Operate from PP." appears. Click the {OK} button. – The [TOUCH COMP SET] LED, the [FIT COMP SET] LED, and the [INSERT COMP SET] LED turn ON on the I/F Panel of PP. 3-37 56 of 102 HW1482138...
  • Page 57 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation – Turn the servo ON by the enable switch of PP, and press the {START} button on the I/F Panel. Operations of TOUCH, FIT, and INSERT start. In the sequence, after TOUCH is completed, FIT is executed continuously, and then INSERT is executed continuously.
  • Page 58 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool – When the TOUCH operation ends, the [TOUCH COMP SET] LED turns OFF. When the FIT operation ends, the [FIT COMP SET] LED and the [RUNNING] LED turn OFF. When the INSERT operation ends, the [INSERT COMP SET] LED and the [RUNNING] LED turn OFF.
  • Page 59 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation – Set the threshold so that the output insertion length is within the range of thresholds 1 and 2, in consideration of the variance. When the sequence stops during the insertion operation, increase the Force command value.
  • Page 60 174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 6. INSERT operation check – Move the robot to P1, and click the {Completion of setting} button. – The message "Operate from PP." appears. Click the {OK} button. – The [TOUCH COMP SET] LED, the [FIT COMP SET] LED, and the [INSERT COMP SET] LED turn ON on the I/F Panel of PP.
  • Page 61 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 8. The setting of the INSERT command arguments are completed. Click the {Close} button to close the screen. 3-42 61 of 102 HW1482138...

  • Page 62: Creating Motofit Job

    174506-1CD MotoFit Engineering Operation Procedure 3.2 MotoFit Teach Operation Support Tool 3.2.2.7 Creating MotoFit JOB 1. In closing the MotoFit Command Setup Menu, setting result of TOUCH, FIT, and INSERT is reflected on the center of screen. 3-43 62 of 102 HW1482138...
  • Page 63 Support Tool 3.2 MotoFit Teach Operation 2. Add the MotoFit command to the JOB in DX200. Input the JOB name, and click the {Receive} button. The JOB contents received are displayed on the JOB Screen. The JOB receiving capacity is limited to 2 kByte.
  • Page 64 {INSERT} button. The commands of SET, TOUCH, and WAIT are added in the JOB Screen. Change the output number of WAIT command by referring to DX200 OPTIONS INSTRUCTIONS for MotoFit (168845-1CD). When the TOUCH command is added, the existed line will be moved to the next line automatically. The SET command is used for the judgment when the fit operation is failed.
  • Page 65 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 5. Click the {INSERT} tab. Change the insertion line, and click the {Insert} button. The INSERT command is added in the JOB Screen. When the INSERT is successful, 1 is output to the B variable 99. 6.
  • Page 66 {Delete} button. If there is no command selected in the specified line, deletion is not available. 8. The JOB added with the MotoFit command is sent to DX200. Click the {Send} button. The message "The JOB of the same name already exists.
  • Page 67 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.2 MotoFit Teach Operation 9. The MotoFit JOB is created in DX200. 3-48 67 of 102 HW1482138...

  • Page 68: Teach Of Force Sense Basic Command

    174506-1CD MotoFit Engineering Operation Procedure 3.3 Teach of Force Sense Basic Command Support Tool Teach of Force Sense Basic Command 3.3.1 Outline of Teach Operation of Force Detection The outline of the teach operation is shown in the following flow schematic diagram.
  • Page 69 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.3 Teach of Force Sense Basic Command 1. Teach the initial position P1. 2. Teach the end position P2. Use UNTIL to set the manipulator to stop when the general output is turned ON. The general output No. is 991 for R1, and 992 for R2.

  • Page 70: Threshold Setting By Data Logging

    174506-1CD MotoFit Engineering Operation Procedure 3.3 Teach of Force Sense Basic Command Support Tool 3.3.2.2 Threshold Setting by Data Logging In this section, it is explained how to set the argument of the FDET command based on the logged data. 1.
  • Page 71 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.3 Teach of Force Sense Basic Command 4. Press the {Monitor} tab. 5. After pressing the {Start monitoring} button, execute the JOB consecutively in the normal state (without any protrusions under the tape). As up to 50 data can be logged, perform the JOB 50 times or less.
  • Page 72 174506-1CD MotoFit Engineering Operation Procedure 3.3 Teach of Force Sense Basic Command Support Tool 6. Press the {Stop monitoring} button, and then press the {Setting detection threshold} tab. 7. The log data is displayed in the graph, and Average of Fmax, Standard Deviation, and Recommended value of the log data are output.
  • Page 73 174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.3 Teach of Force Sense Basic Command 8. Set the output Recommended value as the argument of the FDET command. For the force detection, set the Recommended value (+ Side) of Fmax as the argument. This value is the maximum force value in consideration of the tolerance during the normal operation.
  • Page 74 174506-1CD MotoFit Engineering Operation Procedure 3.3 Teach of Force Sense Basic Command Support Tool For the Impulse detection, set the Recommended value (+ Side) of Impulse as the argument. This value is the maximum Impulse value in consideration of the tolerance during the normal operation. Therefore, since the force over this Recommended value is applied in the error state, it is considered to be detected.

  • Page 75: Operation Check

    174506-1CD MotoFit Engineering Operation Procedure Support Tool 3.3 Teach of Force Sense Basic Command 3.3.2.3 Operation Check 1. Execute the JOB. When there are no protrusions under the tape, the manipulator reaches to the end position P2. The universal output 991 remains OFF.
  • Page 76 174506-1CD MotoFit Engineering Operation Procedure 3.3 Teach of Force Sense Basic Command Support Tool Whether there are any detections or not can be checked in the monitor information. 3-57 76 of 102 HW1482138...

  • Page 77: Interface Panel

    174506-1CD MotoFit Engineering Interface Panel Support Tool Interface Panel The interface screen is configured as in the following figure. For I/O assignment of the button switches and status display LEDs, refer to the table below. Do not use the general output No. in the table if FSE-Tool is used. 1.
  • Page 78 174506-1CD MotoFit Engineering Interface Panel Support Tool General Signal Name Contents Output No. 11267 Tuning Step 2 With the {TUNESTEP2 COMP SET} button Setting pressed on PC: LED ON completed Operation end: LED OFF 11268 Running In operation: LED ON Operation end: LED OFF 11241 Coordinate...

  • Page 79: Monitor Information

    174506-1CD MotoFit Engineering Monitor Information Support Tool Monitor Information In executing the adjustment operation, the MotoFit operation or Force Sense Basic Command operation, status is displayed on the screen by LED and graph waveform. Monitor information is listed as below: 1.
  • Page 80 174506-1CD MotoFit Engineering Monitor Information Support Tool 2. Tuning Step 2 – Status display LED Name Contents Controller Status Servo ON Servo ON: LED ON, Servo OFF: LED OFF Force Force Control ON: LED ON, Control Force Control OFF: LED OFF Error With error: LED ON, Without error: LED OFF...
  • Page 81 174506-1CD MotoFit Engineering Monitor Information Support Tool 3. Parameter setting of MotoFit command – Status display LED Name Contents Controller Status Servo ON Servo ON: LED ON, Servo OFF: LED OFF Force Force Control ON: LED ON, Control Force Control OFF: LED OFF Running In process: LED ON, Process end: LED OFF...
  • Page 82 174506-1CD MotoFit Engineering Monitor Information Support Tool Name Contents State transition • TOUCH operation of fitting task 10: Approaches to the workpiece with a constant (Horizontal axis: speed count, 12: Presses with the specified force command after 1 count: 12 ms) contact 14: Ends as the insertion length reaches the threshold -12: Ends by timeout before the insertion length...
  • Page 83 174506-1CD MotoFit Engineering Monitor Information Support Tool 4. MotoFit operation The status of the MotoFit or Force Sense Basic Command operation in JOB execution R1 and R2 can be monitored respectively. – Button Name Contents Start Starts monitoring monitoring Stop Stops monitoring monitoring –...
  • Page 84 174506-1CD MotoFit Engineering Monitor Information Support Tool Name Contents Position Pos(X)[mm]: Position of X direction (Horizontal axis: Count, Pos(Y)[mm]: Position of Y direction 1 count: 12 ms) Pos(Z)[mm]: Position of Z direction During the execution of MotoFit or the force sense basic command on the JOB, the coordinate system of the force condition file is displayed.
  • Page 85 174506-1CD MotoFit Engineering Monitor Information Support Tool 85 of 102 HW1482138...

  • Page 86: Operation Condition Data

    174506-1CD MotoFit Engineering Operation Condition Data 6.1 Force Condition File Data Support Tool Operation Condition Data Force Condition File Data The range of each data for the force condition file is shown in the table below. In the automatic adjustment function of force control parameter, Settling time, Stop time threshold, Stop speed threshold, and Damping Param are the target of auto tuning.

  • Page 87: Adjustment Condition Data

    174506-1CD MotoFit Engineering Operation Condition Data Support Tool 6.2 Adjustment Condition Data Adjustment Condition Data The range of adjustment condition data is shown in the table below. For the meaning of variables , refer to section 1.2 “Automatic Adjustment Function of Force Control Parameter” on page 1-2. 87 of 102 HW1482138...
  • Page 88 174506-1CD MotoFit Engineering Operation Condition Data 6.2 Adjustment Condition Data Support Tool Table 6-2: Adjustment Condition Data Item Unit Initial value Range Remarks Tuning Dir. X+, X-, Auto Tuning Menu (Common to Step1, Step2) Y+, Y-, Z+, Z-, Rx+, Rx-, Ry+, Ry-, Rz+, Rz- Reference Force...

  • Page 89: Motofit Command Argument Data

    6.3 MotoFit Command Argument Data MotoFit Command Argument Data The range of MotoFit command argument data is shown in the table below. For the meaning of each parameter, refer to DX200 OPTIONS INSTRUCTIONS for MotoFit (168845-1CD). 1. TOUCH Table 6-3: TOUCH Command Argument...
  • Page 90 174506-1CD MotoFit Engineering Operation Condition Data 6.3 MotoFit Command Argument Data Support Tool 2. FIT Table 6-4: FIT Command Argument Variable Initial value Range Remarks FIT Arg2 10.0 0.0 to 99.9 (Force command value [N]) FIT Arg3 0.0 to 99.9 (Insertion length threshold [mm]) FIT Arg4 OMNI...
  • Page 91 174506-1CD MotoFit Engineering Operation Condition Data Support Tool 6.3 MotoFit Command Argument Data 3. INSERT Table 6-5: INSERT Command Argument Variable Initial value Range Remarks INSERT Arg2 20.0 0.0 to 99.9 (Force command value [N]) INSERT Arg3 90.0 0.0 to 99.9 (Insertion length threshold 1 [mm]) INSERT Arg4 99.9...

  • Page 92: Backup Of Teach Data

    174506-1CD MotoFit Engineering Operation Condition Data 6.4 Backup of Teach Data Support Tool Backup of Teach Data During the teach operation of FSE-Tool, the force condition file data and the MotoFit command argument data can be saved. 1. Saving the data –...
  • Page 93 174506-1CD MotoFit Engineering Operation Condition Data Support Tool 6.4 Backup of Teach Data 2. Loading the data – To use the data previously saved, click the {Load} button. – Select the file, and click the {Save} button. 93 of 102 HW1482138...

  • Page 94: Data For Setting Detection Threshold

    174506-1CD MotoFit Engineering Operation Condition Data 6.5 Data for Setting Detection Threshold Support Tool Data for Setting Detection Threshold The data of the number of JOB execution can be logged (up to 50 data). Contents to be logged are Fmax, Fmin, and Impulse. Pressing the [Stop monitoring] button will output the respective Average, Standard Deviation, Recommended value on the screen.

  • Page 95: General Output And Variables

    174506-1CD MotoFit Engineering General Output and Variables Support Tool General Output and Variables In the interface panel, the general output numbers described in chapter 4 are used. For others, the following in Table 7-1 "External Force Detection Signal" are allocated as the external force detection signal. Table 7-1: External Force Detection Signal General Signal Name...

  • Page 96: Error Of Automatic Adjustment Function Of Force Control Parameter

    Error of Automatic Adjustment Function of Force Control Parameter Error description is shown in the table below. The alarms and errors related to the MotoFit function are displayed on the PP of DX200. For details, refer to DX200 OPTIONS INSTRUCTIONS for MotoFit (168845-1CD).

  • Page 97: Alarm List Of Fse-Tools

    CMOS.BIN in the maintenance mode and tell the situation of the alarm occurrence (such as the operation procedures) to your YASKAWA representative. 8003 When the controller receives Software (1) Check the followings and FSETOOL the data from PC with using (Setting then turn ON the power again.
  • Page 98 (2) If this alarm occurs again, error) save CMOS.BIN in the maintenance mode and tell the situation of the alarm occurrence (such as the operation procedures) to your YASKAWA representative. 8805 ALM SEND Communication interrupted. Hardware Confirm Ethernet connection. COMM ALARM...

  • Page 99: Version

    174506-1CD MotoFit Engineering Version Support Tool 10 Version 1. DX200 (system): DN1.06.00A(JP/US)-09 or later 2. MotoPlus application: MPA6.01.00A (JP/US)-00 or later The version No. is displayed on No. 98 and No. 99 of the Variable S. 10-1 99 of 102...
  • Page 100 174506-1CD MotoFit Engineering Version Support Tool 3. PC application: PCA4.01.00A (JP/US)-00 or later 4. I/F Panel: PPA3.01.00A (JP/US)-00 or later At the upper part of the I/F Panel, the version No. is displayed. 5. Macro JOB: MCA2.01.00A(JP/US)-00 The version number is described in the macro JOB as a comment. 10-2 100 of 102 HW1482138...

  • Page 101: Precautions

    11.3 Communication Error When the message "Communication error" appears on PC, the Ethernet to connect DX200 and PC may be unconnected. 11.4 Limitation due to Using Environment The using environment should be limited to the assembly line; it cannot be used in the welding line.
  • Page 102 For MotoFit Function Engineering Support Tool HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH Robotics Divsion )

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