Page 1 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. 工控帮助教小舒QQ:2823408167...
Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
Page 3 DX100 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” Indicates a potentially hazardous WARNING...
Page 4 Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: – Turning on the power for the DX100. – Moving the manipulator with the programming pendant. – Running the system in the check mode.
Page 5 Read and understand the Explanation of Warning Labels in the DX100 Instructions before operating the manipulator. Definition of Terms Used Often 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 6 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on Pendant them are denoted with [ ]. ex. [ENTER] Symbol Keys...
Page 7: Table Of Contents
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 1 Introduction . 1.1 DX100 Overview. 1.2 Programming Pendant. 1.2.1 Programming Pendant Overview. 1.2.2 Key Description . 1.2.2.1 Character Keys . 1.2.2.2 Symbol Keys . 1.2.2.3 Axis Keys and Numeric Keys . 1.2.2.4 Keys Pressed Simultaneously.
Page 8 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 2.2.0.3 Select Control Group . 2.2.0.4 Select Coordinate System . 2.2.0.5 Select Manual Speed . 2.2.0.6 Servo ON. 2.2.0.7 Axis Operation . 2.2.0.8 HIGH SPEED . 2.3 Coordinate Systems and Axis Operation . 2.3.1 Joint Coordinates.
Page 9 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 3.3 Checking Steps. 3-22 3.3.1 FWD/BWD Key Operations . 3-22 3.3.1.1 Precautions When Using FWD / BWD Operations. 3-23 3.3.1.2 Selecting Manual Speed . 3-25 3.3.1.3 Moving to Reference Point . 3-26 3.3.1.4 Test Operations.
Page 10 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 3.6.8 Deleting Additional Items . 3-57 3.7 Editing Jobs . 3-58 3.7.1 Selecting the Range . 3-60 3.7.2 Copying . 3-61 3.7.3 Cutting . 3-61 3.7.4 Pasting. 3-62 3.7.5 Reverse Pasting . 3-63 3.8 Test Operations .
Page 11 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 3.9.12.4 Instruction Search . 3-95 3.9.12.5 Tag Search. 3-97 4 Playback . 4.1 Preparation for Playback . 4.1.1 Selecting a Job . 4.1.1.1 Calling a Job . 4.1.1.2 Registering the Master Job . 4.1.1.3 Calling the Master Job.
Page 12 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 4.5.1 Preparation for Reserved Start . 4-23 4.5.1.1 Enabling Reserved Start. 4-24 4.5.1.2 Registering Reserved Start I/O Signal. 4-26 4.5.1.3 Registering Jobs to Stations. 4-28 4.5.1.4 Deleting Registered Jobs from Stations . 4-30 4.5.2 Playback from Reserved Start .
Page 13 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 6.2.3.3 MSHIFT Instruction . 6-11 6.2.4 Continuation of the Parallel Shift Function . 6-13 6.2.5 Examples of Use . 6-14 6.2.5.1 Example of Use of Shift Addition/Subtraction. 6-14 6.2.5.2 Example of Use of MSHIFT Instruction .
Page 14 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 6.5.6.3 Explanation of the Mirror Shift Window . 6-51 6.6 Multi Window Function. 6-53 6.6.1 Function Overview . 6-53 6.6.2 Setting the Dividing Pattern of the General-Purpose Display Area . 6-53 6.6.2.1 Calling Up and Operating Methods of the Display Dividing Pattern Setting Window.
Page 15 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 8.2 Motion Speed Setting Parameters. 8.2.0.1 S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED . 8.2.0.2 S1CxG001: DRY-RUN SPEED . 8.2.0.3 S1CxG002 to S1CxG009: JOINT SPEED FOR REGISTRATION . 8.2.0.4 S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION .
Page 16 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 8.3.0.15 S2C215: ADDRESS SETTING WHEN CONTROL POWER IS TURNED ON . 8-15 8.3.0.16 S2C216: JOB LIST DISPLAY METHOD AT JOB SELECTION . 8-15 8.3.0.17 S2C217: INITIAL OPERATION OF MANIPULATOR . 8-16 8.3.0.18 S2C218: PLAYBACK EXECUTION AT CYCLE MODE “1- STEP” .
Page 17 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 8.5.0.3 S4C016 to S4C031: PARITY OF USER OUTPUT GROUPS . 8-36 8.5.0.4 S4C032 to S4C047: DATA OF USER INPUT GROUPS . 8-37 8.5.0.5 S4C048 to S4C063: DATA OF USER OUTPUT GROUPS . 8-38 8.5.0.6 S4C064 to S4C079: USER OUTPUT GROUP TO BE INITIALIZED AT SWITCHING MODE .
Page 18 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 8.10 Application Parameters. 8-49 8.10.1 Arc Welding . 8-49 8.10.1.1 AxP000: APPLICATION . 8-49 8.10.1.2 AxP003: WELDING ASSIGNMENT OF WELDING START CONDITION FILE. 8-49 8.10.1.3 AxP004: WELDING ASSIGNMENT OF WELDING END CONDITION FILES .8-49 8.10.1.4 AxP005: WELDING SPEED PRIORITY .
Page 19 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 9.3.6.3 Registering the SVSPOT Instruction . 9-11 9.4 Setting Welding Conditions. 9-12 9.4.1 Setting of MANUAL SPOT Window. 9-12 9.4.2 Pressure Setting . 9-14 9.4.3 Welding Current and Welding Time Settings. 9-17 9.5 Playback (Motor Gun).
Page 20 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 9.8.4 Forced Gun-pressurizing Function . 9-44 9.8.4.1 Setting an Input Signal Number. 9-44 9.8.5 Electrode Wear Compensation for Fixed Gun . 9-46 9.8.5.1 Setting the User Coordinates . 9-46 9.8.5.2 Parameters . 9-47 9.8.5.3 Example of Wear Compensation. 9-48 9.8.6 Clearance Teaching Function.
Page 21 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Contents 9.8.14.2 Calculation of Gun Pushing Coefficient. 9-86 9.8.15 tip Mounting Control Function. 9-87 9.8.15.1 tip Mounting Error Detection Flow Chart . 9-88 9.8.15.2 Tip Installation . 9-89 9.8.15.3 Tip Mounting Error Detection . 9-91 9.8.15.4 Job Examples.
Page 22: Introduction
DX100 Overview The main power switch and the door lock are located on the front of the DX100 controller. The emergency stop button is installed in the upper right corner of the cabinet door and the programming pendant hangs from a hook below the button.
Page 23: Programming Pendant
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant Programming Pendant 1.2.1 Programming Pendant Overview The programming pendant is equipped with the keys and buttons used to conduct manipulator teaching operations and to edit jobs. Fig. 1-2: PP Overview Start button Hold button...
Page 24: Key Description
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.2 Key Description 1.2.2.1 Character Keys The keys which have characters printed on them are denoted with [ ]. For example, is shown as [ENTER]. ENTER The Numeric keys have additional functions along with their number values.
Page 25: Programming Pendant Keys
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.3 Programming Pendant Keys [START] Starts the manipulator motion in playback operation. • The lamp on this button is lit during the play operation. The lamp also lights when the playback operation is started by the system input START signal.
Page 26 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant Enable Switch Turns ON the servo power. The Enable switch is active only when the SERVO ON LED is blinking, the safety plug is ON, and the Mode Switch is set to “TEACH.”...
Page 27 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant [SERVO ON READY] Enables the servo power supply to be turned ON. Press this button to enable the servo power supply to be turned ON if the servo power supply is shut OFF by...
Page 28 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant [DIRECT OPEN] Displays the content related to the current line. • To display the content of a CALL job or condition DIRECT DIRECT file, move the cursor to the next line and press...
Page 29 INFORM LIST [ROBOT] Enables the robot axis operation. [ROBOT] is active for the system where multiple manipulators are controlled by one DX100 or the ROBOT system with external axes. [EX. AXIS] Enables the external axis (base axis or station axis) operation.
Page 30 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant [FWD] Moves the manipulator through the taught steps while this key is pressed. • Only move instructions are executed (one instruction at a time, no welding instructions). [INTERLOCK] + [FWD] All instructions are executed.
Page 31 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant MANUAL SPEED Sets the speed for manual operation. This speed is keys also valid for operations with [FWD] and [BWD]. • There are four speed levels (slow, medium, fast, and inching). The speed changes as described FAST below.
Page 32: Programming Pendant Display
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.4 Programming Pendant Display The programming pendant display is a 5.7 inch color display. Alphanumeric characters can be used. 1.2.4.1 Five Display Areas The general-purpose display area, menu area, human interface display area, and main menu area among the following five areas can be moved by pressing [AREA], or can be selected by directly touching the screen.
Page 33: General-Purpose Display Area
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.4.2 General-purpose Display Area On the general-purpose display area, various settings and contents such as jobs and characteristics files can be displayed and edited. The operation buttons are also displayed at the bottom of the window according to the window contents.
Page 34: Main Menu Area
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.4.3 Main Menu Area Each menu and submenu are displayed in the main menu area. Press [MAIN MENU] or touch {Main Menu} on the left bottom of the window to display the main menu.
Page 35 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant B. Operation Coordinate System Displays the selected coordinate system. Switched by pressing [COORD]. : Joint Coordinates : Cartesian Coordinates : Cylindrical Coordinates : Tool Coordinates : User Coordinates C. Manual Speed Displays the selected speed. For details, refer to chapter 2.2.0.5 "Select Manual Speed"...
Page 36 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant F. State Under Execution Displays the present system status (STOP, HOLD, ESTOP, ALARM, or RUN). : Stop Status : Hold Status : Emergency Stop Status : Alarm Status : Operating Status G. Mode...
Page 37: Human Interface Display Area
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.4.5 Human Interface Display Area An error(s) or a message(s) is displayed in the human interface display area. Turn on servo power When an error is displayed, operations cannot be performed until the error is canceled.
Page 38: Screen Descriptions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.5 Screen Descriptions • The menu displayed in the programming pendant is denoted with { }. The above menu items are denoted with {DATA}, {EDIT}, {DISPLAY}, AND {UTILITY}. • The window can be displayed according to the view desired.
Page 39: Character Input Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.6 Character Input Operation Move the cursor to the data for which characters are to be input, and press [SELECT] to display the software keypad. 1.2.6.1 Character Input To input characters, the software keypad is shown on the programming pendant display.
Page 40: Alphanumeric Input
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.6.3 Alphanumeric Input Number input is performed with the Numeric keys or on the following alphanumeric input window. Numbers include 0 to 9, the decimal point (.), and the minus sign/hyphen (-). Note however, that the decimal point cannot be used in job names.
Page 41: Symbol Input
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Programming Pendant 1.2.6.4 Symbol Input GO BACK GO BACK Press the page key to display the symbol input window. PAGE PAGE Move the cursor to the desired symbol and press [SELECT] to enter the symbol.
Page 42: Mode
如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Mode Mode The following three modes are available for DX100. • Teach Mode • Play Mode • Remote Mode 1.3.1 Teach Mode In the teach mode, the following can be done. • Preparation and teaching of a job •...
Page 43 Security Mode 1.4.1 Types of Security Modes The following three types of security modes are available for DX100. Any operation in the edit mode and the management mode requires a password. The password must contain between 4 and 8 letters, numbers, or symbols.
Page 44 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Security Mode Table 1-1: Menu & Security Mode Main Menu Sub Menu Security Mode DISPLAY EDIT Operation Edit SELECT JOB Operation Operation CREATE NEW JOB Edit Edit MASTER JOB Operation Edit JOB CAPACITY Operation RES. START(JOB)
Page 45 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Security Mode Table 1-1: Menu & Security Mode (Continued) Main Menu Sub Menu Security Mode DISPLAY EDIT ROBOT CURRENT POSITION Operation COMMAND POSITION Operation SERVO MONITOR Management WORK HOME POS Operation Edit SECOND HOME POS...
Page 46 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Security Mode Table 1-1: Menu & Security Mode (Continued) Main Menu Sub Menu Security Mode DISPLAY EDIT SETUP TEACHING COND Edit Edit OPERATE COND Management Management DATE/TIME Management Management GRP COMBINATION Management Management RESERVE JOB NAME...
Page 47 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Security Mode 1.4.2 Changing Security Modes The security mode can be changed only when the main manu is displayed. 1. Select {SYSTEM INFO} under the main menu. – The sub menu appears. 2. Select {SECURITY}.
Page 48 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Introduction DX100 Security Mode 3. Select the desired security mode. – When the selected security mode is higher than the currently set mode, the user ID input status window appears. 4. Input the user ID as required.
Page 49 Control Groups and Coordinate Systems 2.1.1 Control Group For the DX100, a group of axes to be controlled at a time is called “Control Group”, and the group is classified into three units: “ROBOT” as a manipulator itself, “BASE” that moves the manipulator in parallel, and “STATION”...
Page 50 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Control Groups and Coordinate Systems 2.1.2 Types of Coordinate Systems The following coordinate systems can be used to operate the manipulator: • Joint Coordinates Each axis of the manipulator moves independently.
Page 51: Select Control Group
DX100 General Operations General Operations 2.2.0.1 Check Safety Before any operation of the DX100, read Section 1 “Safety” of “DX100 INSTRUCTIONS” again and keep safe around the robot system or peripherals. 2.2.0.2 Select Teach Mode Set the mode switch on the programming pendant to “teach”.
Page 52: Select Manual Speed
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 General Operations 2.2.0.5 Select Manual Speed Select manual speed of operation by pressing [FAST] or [SLOW]. The selected speed is effective not only for axis operation but [FWD] or [BWD] operation.
Page 53: Coordinate Systems And Axis Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation Coordinate Systems and Axis Operation 2.3.1 Joint Coordinates When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of the manipulator move independently. The motion of each axis is described in the table below.
Page 54: Cartesian Coordinates
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation U-axis R-axis B-axis T-axis E-axis L-axis S-axis 2.3.2 Cartesian Coordinates In the cartesian coordinates, the manipulator moves parallel to the X-, Y-, or Z-axes. The motion of each axis is described in the table below.
Page 55: Cylindrical Coordinates
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation Z-axis Y-axis X-axis Fig. 2-1: Moves parallel to X- or Y-axis Fig. 2-2: Moves parallel to Z-axis Z-axis Y-axis X-axis 2.3.3 Cylindrical Coordinates In the cylindrical coordinates, the manipulator moves as follows. The motion of each axis is described in the table below.
Page 56 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation • When two or more axis keys are pressed at the same time, the manipulator will perform compound movement. How- ever, if two different directional keys for the same axis are...
Page 57: Tool Coordinates
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation 2.3.4 Tool Coordinates In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z- axes, which are defined at the tip of the tool. The motion of each axis is described in the table below.
Page 58 Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation For tool coordinates, the tool file should be registered in advance. For further details, refer to “8.3 Tool Data Setting” SUPPLE- MENT of coordinates “DX100 INSTRUCTIONS” (RE-CTO-A215). 工控帮助教小舒QQ:2823408167 2-10...
Page 59: Selecting Tool
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation 2.3.4.1 Selecting Tool Tool numbers are used to specify a tool when more than one tool is used on the system. You may select from the registered tool files when you switch tools on the manipulator.
Page 60: User Coordinates
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation 2.3.5 User Coordinates In the user coordinates, the manipulator moves parallel to each axis of the coordinates which are set by the user. Up to 24 coordinate types can be registered.
Page 61: Selecting User Coordinates
Check the change on the status display area. 2. Press [SHIFT] + [COORD]. – The USER COORD SELECT window appears. For more information on registration of the user coordinates, refer to “8.8 User Coordinate Setting” of “DX100 INSTRUC- SUPPLE- MENT TIONS” (RE-CTO-A215).
Page 62: Examples Of User Coordinate Utilization
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation 2.3.5.2 Examples of User Coordinate Utilization The user coordinate settings allow easy teaching in various situations. For example: • When multiple positioners are used, manual operation can be simplified by setting the user coordinates for each fixture.
Page 63: Control Point Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation 2.3.7 Control Point Operation Motion about TCP (Tool Center Point) can only change the wrist orientation at a fixed TCP position in all coordinate systems except the joint coordinates.
Page 64 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation Re is an element to indicate the posture of the manipulator with seven axes and does not change by the specified coor- dinates. The definition of Re is shown below.
Page 65 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation Turning of each wrist axis differs in each coordinate system. • In cartesian or cylindrical coordinates, wrist axis rotations are based on the X-, Y-, or Z-axis.
Page 66: Control Point Change
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Manipulator Coordinate Systems and Operations DX100 Coordinate Systems and Axis Operation • In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the user coordinates. Z-axis − Y-axis − − X-axis Z-axis Y-axis X-axis 2.3.7.1 Control Point Change...
Page 67 Fig. 2-11: Motion about TCP with P1 Fig. 2-12: Motion about TCP with P2 selected selected Workpiece Workpiece For registration of the tool file, refer to “8.3 Tool Data Setting” SUPPLE- of “DX100 INSTRUCTIONS” (RE-CTO-A215). MENT 工控帮助教小舒QQ:2823408167 2-19...
Page 68: 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.
Page 69: Registering A Job
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Preparation for Teaching 3.1.3 Registering a Job Specify the name, comments (as required), and control group to register a job. 3.1.3.1 Registering Job Names Job names can use up to 32 alphanumeric and symbol characters. These different types of characters can coexist within the same job name.
Page 70: Registering Comments
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Preparation for Teaching 3. 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 chapter 1.2.6 "Character Input...
Page 71: Switching To The Teaching Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Preparation for Teaching 3.1.3.5 Switching to the Teaching Window After the name, comments (can be omitted), and the control groups have been registered, switch the window to the teaching window as follows. 1. In the NEW JOB CREATE window, press [ENTER] or select “EXECUTE.”...
Page 72: Teaching Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Teaching Operation 3.2.1 Teaching Window Teaching is conducted in the JOB CONTENT window. The JOB CONTENT window contains the following items: B. Cursor C. Instruction, additional items, comments, etc. A. Line numbers A. Line Numbers The number of the job line is automatically displayed.
Page 73: Interpolation Type And Play Speed
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 3.2.2 Interpolation Type and Play Speed Interpolation type determines the path along which the manipulator moves between playback steps. Play speed is the rate at which the manipulator moves. Normally, the position data, interpolation type, and play speed are registered together for a robot axis step.
Page 74: Linear Interpolation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 3.2.2.2 Linear Interpolation The manipulator moves in a linear path from one taught step to the next. When the linear interpolation is used to teach a robot axis, the move instruction is MOVL. Linear interpolation is used for work such as welding.
Page 75: Circular Interpolation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 3.2.2.3 Circular Interpolation The manipulator moves in an arc that passes through three points. When circular interpolation is used for teaching a robot axis, the move instruction is MOVC. Single Circular Arc When a single circular movement is required, teach the circular interpolation for three points, P1 to P3, as shown in the following figure.
Page 76: Spline Interpolation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Alternatively, to continue movements without adding an extra joint or linear interpolation step in between, add “FPT” tag to the step whose curvature is needed to be changed. Point Interpolation Instruction Type Joint or...
Page 77 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Continuous Spline Curves The manipulator moves through a path created by combining parabolic curves. This differs from the circular interpolation in that steps with identical points are not required at the junction between two spline curves.
Page 78: Teaching Steps
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 3.2.3 Teaching Steps 3.2.3.1 Registering Move Instructions Whenever one step is taught, one move instruction is registered. There are two ways to teach a step. Steps can be taught in sequence as shown in the following left figure fig.
Page 79 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Setting the Position Data 1. Select {JOB} under the main menu. – The sub-menu appears. 2. Select {JOB}. – The contents of the currently-selected job is displayed. 3. Move the cursor on the line immediately before the position where a move instruction to be registered.
Page 80 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Selecting the Tool Number 1. Press [SHIFT] + [COORD]. – When selecting the “JOINT,” “XYZ/CYLINDRICAL,” or “TOOL” coordinates, press [SHIFT] + [COORD] and the TOOL NO. SELECT window will be shown. 2. Select the desired tool number.
Page 81 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Setting the Play Speed 1. Move the cursor to the instruction. 2. Press [SELECT]. – The cursor moves to the input buffer line. 3. Move the cursor to the play speed to be set.
Page 82 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Setting the Position Level 1. Select move instruction. – The DETAIL EDIT window appears. 2. Select the position level “UNUSED.” – The selection dialog box appears. 3. Select “PL.” – The position level is displayed. The position initial value is 1.
Page 83 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 4. Press [ENTER]. – To change the position level, select the level in the input buffer line, type the value using the Numeric keys, and press [ENTER]. The position level’s move instruction is registered.
Page 84: Registering Reference Point Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 3.2.3.2 Registering Reference Point Instructions Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving. Reference point Nos. 1 to 8 are assigned for each application. Follow these procedures to register reference point instructions.
Page 85: Registering Timer Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 3.2.3.3 Registering Timer Instructions The timer instruction stops the manipulator for a specified time. Follow these procedures to register timer instructions. 1. Select {JOB} under the main menu. 2. Select {JOB}. 3. Move the cursor.
Page 86 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation Changing Timer Value 1. Press [TIMER]. 2. Press [SELECT]. – The DETAIL EDIT window for the TIMER instruction appears. 3. Input the timer value on the instruction DETAIL EDIT window. (1) When is selected, the items available to be changed are dis- played in the dialog box.
Page 87 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 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. 工控帮助教小舒QQ:2823408167 3-20...
Page 88: Overlapping The First And Last Steps
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Teaching Operation 3.2.4 Overlapping the First and Last Steps Why is overlapping the first and last step necessary? Assume that the job shown below is to be repeated. The manipulator moves from the last step (Step 6) to the first step (Step 1).
Page 89: Checking Steps
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Checking Steps Checking Steps 3.3.1 FWD/BWD Key Operations Check whether the position of the taught steps is appropriate using [FWD] or [BWD] on the programming pendant. Each time [FWD] or [BWD] is pressed, the manipulator moves by a single step.
Page 90: Precautions When Using Fwd / Bwd Operations
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Checking Steps 3.3.1.1 Precautions When Using FWD / BWD Operations FWD Movements • The manipulator moves in step number sequence. Only move instructions are executed when [FWD] is pressed. To execute all instructions, press [INTERLOCK] + [FWD].
Page 91 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Checking Steps Spline Curve Movements with FWD/BWD Operations • The manipulator moves in a straight line to the first step of spline interpolation. • There must be three spline curve motion steps in a row to perform a spline curve operation.
Page 92: Selecting Manual Speed
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Checking Steps 3.3.1.2 Selecting Manual Speed When [FWD] or [BWD] is pressed, the manipulator moves at the manual speed selected at that time. Selected manual speed can be checked by the manual speed indication on the programming pendant.
Page 93: Moving To Reference Point
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Checking Steps 3.3.1.3 Moving to Reference Point To check the position of a taught reference point, follow these procedures to move the manipulator to the reference point. 1. Move the cursor to the reference point instruction line to be checked.
Page 94: Machine Lock Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Checking Steps Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety purposes, these keys will only function while the keys are held down. 1. Select {JOB} under the main menu. 2. Press {JOB}.
Page 95: Modifying Steps
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps Modifying Steps Begin move instruction Begin move instruction insertion. deletion. Move step cursor to Move cursor to location location where you want of instruction to be to insert the instruction. deleted. Perform axis operations.
Page 96 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps Move step cursor to step to be modified. Modifying position data Modifying interpolation type Perform axis Move to position to be operations to position modified using the to be modified. axis operation keys.
Page 97 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps Begin REFP instruction modification. Modifications Deletions Move step cursor to the Move step cursor to the REFP instruction to be REFP instruction to be deleted, and move the modified. manipulator to the position.
Page 98 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps Begin TIMER Instruction Modification. Modifications Deletions Move edit cursor to the Move edit cursor to the TIMER instruction to be TIMER instruction to be deleted. modified. Press [TIMER]. Press [DELETE]. Press [ENTER]. Enter timer value.
Page 99: Displaying The Job Content Window For Editing
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps 3.4.1 Displaying the JOB CONTENT Window for Editing 3.4.1.1 Currently Called Up Job 1. Select {JOB} under the main menu. 2. Select {JOB}. – The JOB CONTENT window appears. 3.4.1.2 Calling Up Other Jobs...
Page 100: Inserting Move Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps 3.4.2 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 insertion 1. Move the cursor to the line immediately before the insert position.
Page 101 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps TEACHING CONDITION window. Before inserting the move instruction Cursor line 0006 MOVL V=276 0007 TIMER T=1.00 0008 DOUT OT#(1) ON 0009 MOVJ VJ=100.0 After the insertion: when inserting before the next step After the insertion: when inserting after the cursor line...
Page 102: Deleting Move Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps 3.4.3 Deleting Move Instructions Step where move instruction is to be deleted Path before deletion Path after deletion 1. Move the cursor to the move instruction to be deleted. 0003 MOVL V=138 Move instruction...
Page 103: Modifying Move Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps 3.4.4 Modifying Move Instructions 3.4.4.1 Modifying Position Data 1. Move the cursor to the MOV instruction to be modified. – Display the JOB CONTENT window and move the cursor to the move instruction to be changed.
Page 104: Undo Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps 3.4.5 Undo Operation After inserting, deleting, or modifying an instruction, the operation can be undone. The UNDO operation becomes enabled by selecting {EDIT} {ENABLE ∗ UNDO}, and becomes disabled by selecting {EDIT} ENABLE UNDO} while editing a job.
Page 105: Modifying Reference Point Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps 3.4.6 Modifying Reference Point Instructions 3.4.6.1 Deleting Reference Point Instructions If the manipulator position differs from the cursor position, an error message is displayed. If this occurs, follow either of the procedures below.
Page 106: Modifying Timer Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Steps 3.4.7 Modifying Timer Instructions 3.4.7.1 Deleting Timer Instructions 1. Move the cursor to the timer instruction to be deleted. 0003 MOVJ VJ=50.00 Timer instruction 0004 TIMER T=0.50 to be deleted 0005 MOVL V=138 2.
Page 107: Modifying Jobs
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Jobs Modifying Jobs 3.5.1 Calling Up a Job 1. Select {JOB} under the main menu. 2. Select {SELECT JOB}. – The JOB LIST window appears. 3. Select the desired job. 3.5.2 Windows Related to Job There are five types of job windows.
Page 108 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Jobs 3.5.3 JOB HEADER Window 1. Select {JOB} under the main menu. 2. Select {JOB}. 3. Select {DISPLAY} under the menu. Select {JOB HEADER}. – The JOB HEADER window appears. Scroll the window using the cursor.
Page 109 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Jobs 3.5.4 JOB CONTENT Window Select {JOB} under the main menu. 2. Select {JOB}. – The JOB CONTENT window appears. The cursor is moved to the address area. – ß (Left) : The cursor is moved to the instruction area.
Page 110 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Modifying Jobs 3.5.4.1 COMMAND POSITION Window 1. Select {ROBOT} under the main menu. 2. Select {COMMAND POSITION}. – Edit operations cannot be conducted on this window, but the taught play speed and position data can be viewed on this window.
Page 111 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 112 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions Editing Instructions The editable content differs depending on whether the cursor is in the address area or instruction area. A. When the cursor is in the address area Instructions can be inserted, deleted, or modified.
Page 113 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3.6.1 Instruction Group The instructions are divided into eight groups by processing or each work. Display Instruction Group Content Example IN/OUT I/O Instruction Controls input and output DOUT, WAIT CONTROL Control Instruction Controls processing and each work...
Page 114 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3.6.2 Inserting Instructions 1. Move the cursor to the address area in the JOB CONTENT window. – Move the cursor to the line immediately before where the instruction is to be inserted, in the teach mode.
Page 115 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions – <When Additional Items are to be edited> 1. Changing numeric data (1) Move the cursor to the desired item and press [SHIFT] + the cur- sor key to increase or decrease the value.
Page 116 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3. Changing the data type (1) To change the data type of an additional item, move the cursor to of the item and press [SELECT]. The data type list appears. Select the desired data type.
Page 117 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3.6.3 Deleting Instructions 1. Move the cursor to the address area in the JOB CONTENT window. – Move the cursor to the instruction line to be deleted, in the teach mode. The line to be deleted 2.
Page 118 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 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 (1) Move the cursor to the desired item and press [SHIFT] + the cur- sor key to increase or decrease the value.
Page 119 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions (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.” 3. Changing the data type (1) To change the data type of an additional item, move the cursor to of the item and press [SELECT].
Page 120 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions – The instruction is modified to the instruction displayed in the input buffer line. 工控帮助教小舒QQ:2823408167 3-53...
Page 121 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3.6.5 Modifying Additional Numeric Data 1. Move the cursor to the instruction area in the JOB CONTENT window. 2. Select the line where the number data is to be modified. – The selected line can now be edited.
Page 122 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3.6.6 Modifying Additional Items 1. Move the cursor to the instruction area in the JOB CONTENT window. 2. Select the instruction line for which the additional item is to be modified. – The selected line can now be edited.
Page 123 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3.6.7 Inserting Additional Items 1. Move the cursor to the instruction area in the JOB CONTENT window. 2. Select the instruction line for which the additional item is to be inserted. – The selected line can now be edited.
Page 124: Deleting Additional Items
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Instructions 3.6.8 Deleting Additional Items This operation cannot be used for the additional item which NOTE is locked. 1. Move the cursor to the instruction area in the JOB CONTENT window. 2. Select the line where the additional item is to be deleted.
Page 125 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Jobs Editing Jobs The following five operations are to edit jobs. Copy :Copies a specified range to the buffer. :Copies a specified range from a job to the buffer, and deletes it in a job.
Page 126 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Jobs 0000 0001 ’TEST JOB MOVJ VJ=50.00 Copy 0002 MOVJ VJ=50.00 TIMER T=1.00 0003 TIMER T=1.00 MOVL V=100 0004 MOVL V=100 0005 MOVL V=100 0000 0001 ’TEST JOB 0005 MOVL V=100 0000 0001 ’TEST JOB...
Page 127: Selecting The Range
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Jobs 3.7.1 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 t instruction area.
Page 128: Copying
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Jobs 3.7.2 Copying Before copying, the range to be copied has to be specified. 1. Select {EDIT} under the menu. – The pull-down menu appears. 2. Select {COPY}. – The specified range is copied to the buffer.
Page 129: Pasting
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Jobs 3.7.4 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 window.
Page 130: Reverse Pasting
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Editing Jobs 3.7.5 Reverse 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 window.
Page 131: Test Operations
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Test Operations Test Operations Playback operations can be simulated in the teach mode with test operations. This function is convenient for checking continuous paths and operation instructions. Test operation differs in the following ways from actual playback in the play mode.
Page 132: Other Job-Editing Functions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions Other Job-editing Functions 3.9.1 Editing Play Speed There are two ways to modify play speed: • Modification of Speed Type • Relative Modification 3.9.1.1 Modification of Speed Type This method is used to modify the speed type (such as VJ, V, VR, etc.) 0005 MOVJ VJ=25.00...
Page 133 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 5. Select {EDIT} under the menu. 6. Select {CHANGE SPEED}. – The SPEED MODIFICATION window appears. 7. Set desired items. A. START LINE NO. Displays the first line number of the section to be modified.
Page 134: Modification By Trt (Traverse Time)
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.1.3 Modification by TRT (Traverse Time) Modifications made by TRT have the following characteristics: • By setting the time required to execute a move instruction (moving time) to a desired value, the speeds can be modified.
Page 135 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 8. Select “EXECUTE.” – The speed is changed according to the setting. • If instructions that include specific speed data such as SPEED or ARCON instructions (including speed data of the welding condition file) exist in the specified section, the speed data for those steps are not changed.
Page 136: Editing Interpolation Type
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.2 Editing Interpolation Type 1. Select {JOB} under the main menu. 2. Select {JOB}. – The JOB CONTENT window appears. 3. Move the cursor to the instruction area. 4. Select the line to be modified.
Page 137: Editing Condition Files
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 138: User Variables
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.4 User Variables User variables are used for jobs to store counters, calculation results or input signals. Since the same user variable can be used in multiple jobs, save the numerical values as common references for the jobs and the user variables are maintained even when the power is turned OFF.
Page 139: Setting Byte, Integer, Double Precision Integer, And Real Type Variables
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions • Play Speed V: MOVL V=I000 The variable I000 is used for speed V with this move instruction. The unit for V is 0.1mm per second. For example, if I000 were set as 1000, the following would...
Page 140 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3. Move the cursor to the desired variable No. – When the desired variable number is not displayed, move the cursor with either of the following operations. • Move the cursor on the variable No. and press [SELECT]. Then input the variable No.
Page 141: Setting Character Type Variables
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.4.2 Setting Character Type Variables 1. Select {VARIABLE} under the main menu. 2. Select {STRING}. – The STRING VARIABLE window appears. 3. Move the cursor to the desired variable No. – When the desired variable number is not displayed, move the cursor with either of the following operations.
Page 142: Registering Variable Name
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.4.3 Registering Variable Name 1. Select {VARIABLE} under the main menu. 2. Select desired variable. – Select any variable type from among byte type, integer type, double precision integer type, real type, robot position type, base position type, and station position type.
Page 143: Displaying Position Variables
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.4.4 Displaying Position Variables 1. Select {VARIABLE} under the main menu. 2. Select desired position variable type. – The POSITION VARIABLE window of desired type among robot type, base type, and station type appears.
Page 144: Setting Position Variables
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.4.5 Setting Position Variables 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.
Page 145: Setting Position Variables Using The Numeric Keys
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.4.6 Setting Position Variables Using the Numeric Keys Pulse Type 1. Select {VARIABLE} under the main menu. 2. Select desired position variable type. – The desired variable window appears (robot, base, or station). (The POSITION VARIABLE window is used for this example.)
Page 146 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions XYZ Type 1. Select {VARIABLE} under the main menu. 2. Select desired position variable type. 3. Select the variable data type. – The selection dialog box appears. 4. Select desired coordinates except PULSE.
Page 147: Setting Position Variables Using The Axis Keys
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Page 148: Deleting Data Set Of Position Variables
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Page 149: Manipulator Types
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.4.10 Manipulator Types When the position data of the job data are described using the XYZ format, several postures may be taken according to the manipulator’s structure when moving it to the described position.
Page 150: Flip/No Flip
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.5 Flip/No Flip θ ≥ When the angle of B-axis is within (+) range ( 0°), it is called “Flip”, θ and when within (-) range ( B < 0°), “No Flip.”...
Page 151: T-Axis Angle
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.7 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°.
Page 152 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 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. ° ° S-axis 0...
Page 153: Upper Arm/Lower Arm
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.9 Upper Arm/Lower Arm This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis are viewed from the right-hand side. Right-hand side Upper Arm Lower Arm 3.9.10 S-axis Angle This designation is required for the manipulators which have working envelopes greater than ±180°.
Page 154: Editing Local Variables
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.11 Editing Local Variables As well as user variables, local variables can be used for the storage of counters, calculations, and input signals. The data format is the same as that of user variables. As shown in the following table, the letter L is affixed to the variable number to indicate a local variable.
Page 155 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions • Not Able to Display the Variable Contents To display the local variable contents, user variables are needed. For example, to view the contents of local variable LP000, save it temporarily as user variable P001. Then execute the instruction SET P001 LP000, and view the POSITION VARIABLE window for P001.
Page 156: Setting The Number Of Local Variables
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. 2. Select {JOB}.
Page 157: Search
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.12 Search 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.
Page 158: Line Search
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.12.1 Line Search This function moves the cursor to the desired line number. 1. Select {EDIT], {SEARCH} and “LINE SEARCH.” – The number can be entered. 2. Input desired line number. 3. Press [ENTER].
Page 159: Step Search
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.12.2 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.
Page 160: Label Search
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Page 161 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 4. Use the cursor to continue search. – While searching, forward search and backward search are possible by pressing the cursor key. – To end search, select {EDIT} {END SEARCH} on the menu and press [SELECT].
Page 162: Instruction Search
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.12.4 Instruction Search This function moves the cursor to a desired instruction. 1. Select {EDIT}, {SEARCH} and “INSTRUCTION SEARCH.” – The INFORM command list appears. 2. Select desired instruction group. 3. Select desired instruction.
Page 163 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 4. Use the cursor to continue search. – While searching, forward search and backward search are possible by pressing the cursor key. – To end search, select {EDIT} {END SEARCH} on the menu and press [SELECT], or press [CANCEL].
Page 164: Tag Search
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 3.9.12.5 Tag Search 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.
Page 165 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Teaching DX100 Other Job-editing Functions 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.
Page 166: Playback
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Page 167: Registering The Master Job
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Preparation for Playback 4.1.1.2 Registering the Master Job If a particular job is played back frequently, it is convenient to register that job as a master job (master registration). A job registered as the master job can be called more easily than the method described on the preceding page.
Page 168 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Preparation for Playback 4. Select {CALL MASTER JOB}. – The JOB LIST window appears. 5. Select a job to be registered as a master job. – The selected job is registered as the master job.
Page 169: Calling The Master Job
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Page 170 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Preparation for Playback Calling from the MASTER JOB Window 1. Select {JOB} under the main menu. 2. Select {MASTER JOB}. – The MASTER JOB window appears. 3. Press [SELECT]. – The selection dialog box appears.
Page 171: The Playback Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Preparation for Playback 4.1.2 The PLAYBACK Window When the mode switch on the programming pendant is switched to “PLAY” while displaying the JOB CONTENT window, the PLAYBACK window appears. C, E A. Job Content The cursor moves according to the playback operation. The contents are automatically scrolled as needed.
Page 172: Operation Cycle
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Page 173 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Preparation for Playback Automatic Setting for Operation Cycle Automatic setting of the operation cycle can be changed by the following operation. This can be done in the management mode only. 1. Select {SETUP} under the main menu.
Page 174 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Preparation for Playback – The operation cycle when switching modes is set. 工控帮助教小舒QQ:2823408167...
Page 175: Playback
4.2.1.2 Servo On 1. Press [Servo ON Ready]. – DX100 servo power is ON and the Servo ON lamp on the programming pendant lights. 4.2.1.3 Start Operation 1. Press [START].
Page 176: Special Playback Operations
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Page 177: Limited Speed Operations
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Page 178: Machine Lock Operation
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Page 179: Cancel All Special Operations
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Page 180: Stop And Restart
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Page 181 At an emergency stop, the servo power supply that drives the manipulator is turned OFF and the manipulator stops immediately. An emergency stop can be performed by using either of the following: • Button on the Front Door of the DX100 • Programming pendant • External input signal (system input) Emergency Stop 1.
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Page 185 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Modifying Play Speed Modifying Play Speed 4.4.1 Speed Override Speed modifications using the speed override have the following features: • Speed can be modified during playback. The job can be played back at various speeds until the play speed is properly adjusted.
Page 186 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Modifying Play Speed 4.4.1.1 Setting Speed Overrides 1. Select {UTILITY} under the menu in the PLAYBACK window. 2. Select {SPEED OVERRIDE}. – The PLAYBACK window shows the speed override status. 3. Select “ON” or “OFF”.
Page 187 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Modifying Play Speed 4.4.1.2 Modifying Play Speed 1. Set speed override. 2. Playback the manipulator. – The play speed is increased or decreased in the set ratio. – When setting “MODIFY” to “ON,” the step’s play speed is modified when each step is reached.
Page 188: Preparation For Reserved Start
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Page 189: Enabling Reserved Start
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Page 190 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Playback with Reserved Start When the reserved start is enabled, the external start and the programming pendant start are prohibited even if setting NOTE is “PERMIT.” Regardless of the operation cycle selected, it is automati- cally set to 1 CYCLE.
Page 191: Registering Reserved Start I/O Signal
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Page 192 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Playback with Reserved Start – The input/output signal number is registered. 工控帮助教小舒QQ:2823408167 4-27...
Page 193: Registering Jobs To Stations
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Page 195: Deleting Registered Jobs From Stations
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Page 196: Playback From Reserved Start
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Page 197: Checking Job Reservation Status
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Page 198: Resetting Job Reservation
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Page 199: Hold Operation
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Page 200: Hold At The Station
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Page 201: Displaying Job Stack
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Page 202 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Playback DX100 Displaying Job Stack – To close the job stack status dialog box, select {DISPLAY} and then {JOB STACK} under the menu again. – For above example, the playback of Job C is being executed and the Job C is called from Job B.
Page 203: Editing Jobs
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Editing Jobs This section explains how to manage the jobs without moving the manipulator. Copying, deleting, and modifying of the jobs can be done only in the teach mode. Other operations can be done in any mode.
Page 204: Copying Jobs
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Copying Jobs Copying Jobs This operation is used to copy registered jobs and use them to create new jobs. It can be done using either the JOB CONTENT window or the JOB LIST window.
Page 205 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Copying Jobs See chapter 1.2.6 "Character Input Operation" at page 1- SUPPLE- 18 for information on letter input operations. MENT 5. Press [ENTER]. – The confirmation dialog box appears. – If “YES” is selected, the job is copied and the new job appears.
Page 206: Copying Jobs On The Job List Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Copying Jobs 5.1.0.2 Copying Jobs on the JOB LIST Window On the JOB LIST window, select the copy source job from the registered jobs and specify the copy destination directory. 1. Select {JOB} {SELECT JOB} under the main menu.
Page 207 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Copying Jobs 4. Input the job name. – Input the new job name. – The name of the copy source job is displayed on the input area. It is possible to partially change this name to enter a new name.
Page 208: Deleting Jobs
DX100 Deleting Jobs Deleting Jobs This operation is used to delete jobs that are registered on the DX100. It can be performed in either the JOB CONTENT window or the JOB LIST window. 5.2.0.1 Deleting Jobs on the JOB CONTENT Window On the JOB CONTENT window, the current edit job is deleted.
Page 209: Deleting Jobs On The Job List Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Deleting Jobs 5.2.0.2 Deleting Jobs on the JOB LIST Window On the JOB LIST window, select the job to be deleted from the list of the registered jobs. 1. Select {JOB} {SELECT JOB} under the main menu.
Page 210: Modifying Job Names
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Modifying Job Names Modifying Job Names This operation is used to modify the name of a job that is registered. The operation can be performed in either the JOB CONTENT window or the JOB LIST window.
Page 211 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Modifying Job Names 5. Press [ENTER]. – The confirmation dialog box appears. – When “YES” is selected, the job name is changed and a new job name is displayed. – When “NO” is selected, the job name is not changed, and the process is cancelled.
Page 212: Modifying Job Names On The Job List Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Modifying Job Names 5.3.0.2 Modifying Job Names on the JOB LIST Window On the JOB LIST window, select the job whose name is to be modified from the list of the registered jobs. 1. Select {JOB} {SELECT JOB} under the main menu.
Page 213 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Modifying Job Names – When “NO” is selected, the job name is not changed, and the process is cancelled. 工控帮助教小舒QQ:2823408167 5-11...
Page 214: Editing Comments
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Editing Comments Editing Comments Comments of up to 32 characters can be added to each job to identify each job more specifically. Comments are displayed and edited on the JOB HEADER window. 1. Select {JOB} under the main menu.
Page 215 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Editing Comments 7. Press [ENTER]. – The comment on the input area is registered and is displayed on the “COMMENT” area in the JOB HEADER window. 工控帮助教小舒QQ:2823408167 5-13...
Page 216: Setting Edit Lock On Individual Job Units
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Setting Edit Lock on Individual Job Units Setting Edit Lock on Individual Job Units In order to prevent inadvertent changes in the registered jobs or data, it is possible to set the edit lock to each job. When the edit lock is ON, the job cannot be edited or deleted.
Page 217: Enabling The Modification Of Position Data Only
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Editing Jobs DX100 Enabling the Modification of Position Data Only Enabling the Modification of Position Data Only Even in the edit-locked job, the position data can be modified. 1. Select {SETUP} under the main menu. 2. Select {TEACHING COND}.
Page 218: Convenient Functions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 One-touch Operation “Direct Open” Convenient Functions One-touch Operation “Direct Open” The direct open function immediately shows the JOB CONTENT window or condition file contents of a job called by the CALL instruction. Move the...
Page 219 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 One-touch Operation “Direct Open” 1. In the JOB CONTENT window, move the cursor to the job name or the condition file for which the window is to be displayed. 2. Press the direct open key...
Page 220: Parallel Shift Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function Parallel Shift Function 6.2.1 Function Overview Parallel shift refers to the shifting of an object from a fixed position in such a way that all points within the object move an equal distance. In the model for parallel shift shown in the following, the shift value can be defined as the distance L (three-dimensional coordinate displacement).
Page 221: Parallel Shift Of Step
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.1.1 Parallel Shift of Step The block from the SFTON to the SFTOF instructions is subject to the shift operation. Line (Step) Instruction 0000 0001(001) MOVJ VJ=50.00 0002(002) MOVL V=138 0003...
Page 222: Setting The Shift Value
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.2 Setting the Shift Value 6.2.2.1 Coordinate Systems The shift value for parallel shift is X, Y, and Z increment in each coordinates. There are four coordinates: base coordinates, robot coordinates, tool coordinates, and user coordinates. In systems with no servo track, the base coordinates and robot coordinates are the same.
Page 223 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function and the final shift position, then divide by the number of pitch intervals (number of divisions) to calculate the shift value per pitch. Number of pitches Final shift position Teaching position The posture of the wrist is defined by the angular displacement of the coordinates of the wrist axes.
Page 224: Registering Shift Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.3 Registering Shift Instructions To register the instruction, move the cursor to the address area in the JOB CONTENT window during teach mode as follows: 1. Select {JOB} under the main menu.
Page 225: Sfton Instruction
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.3.1 SFTON Instruction This is the instruction that starts a parallel shift. 1. Move the cursor to the line immediately before where the SFTON instruction is to be registered. 0020 MOVL V=138...
Page 226 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function – Line up the cursor with ”UNUSED” and press [SELECT]. The selection dialog box appears. Line up the cursor with the coordinate system to be added, and press [SELECT]. – After the coordinate system addition is completed, press [ENTER].
Page 227: Sftof Instruction
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.3.2 SFTOF Instruction This is the instruction that ends a parallel shift. 1. Move the cursor to the line immediately before where the SFTOF instruction is to be registered. 0030 MOVL V=138...
Page 228: Mshift Instruction
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.3.3 MSHIFT Instruction When a parallel shift of the wrist posture is attempted, the manipulator may not be shifted to the target posture in the following cases. • Posture displacement (Rx, Ry, Rz) is specified to the shift value set by the user.
Page 229 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function PX = MSHIFT 0 BF PX001 PX002 After the number is input, press [ENTER] to modify the number value in the input buffer line. • Changing the coordinate system in which the shift is performed Move the cursor to the instruction in the input buffer line and press [SELECT].
Page 230: Continuation Of The Parallel Shift Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.4 Continuation of the Parallel Shift Function CAUTION • If the shift function is cancelled through a job editing operation after the execution of a parallel shift instruction, the job must be started again from the beginning.
Page 231: Examples Of Use
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.5 Examples of Use 6.2.5.1 Example of Use of Shift Addition/Subtraction Table 6-1: Workpiece Stacking Operation Line Instruction 0000 0001 SET B000 0 0002 SUB P000 P000 Make the first shift value zero.
Page 232: Example Of Use Of Mshift Instruction
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Function 6.2.5.2 Example of Use of MSHIFT Instruction Line Instruction Explanation 0000 0001 MOVJ VJ=20.00 Move the manipulator to the reference position. 0002 GETS PX000 $PX000 Set the reference position as position variable P000.
Page 233: Parallel Shift Job Conversion Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function Parallel Shift Job Conversion Function 6.3.1 Function Overview If the manipulator and base positions are moved after a job has been taught, the entire job has to be modified. The parallel shift conversion function shortens the modification time required in cases like this by shifting all steps of the job by the same value to create a new job.
Page 234: Coordinate Systems For Conversion
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 6.3.2 Coordinate Systems for Conversion When performing the parallel shift job conversion, it is necessary to specify the coordinate systems in which the conversion is to be performed. The coordinate system can be selected from the following: •...
Page 235 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function Table 6-2: Relationship Between Group Combinations and Coordinates at Conversion The manipulator is shifted in the selected coordinates. The station axis is shifted on the basis of pulse values regardless of the coordinates.
Page 236 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 2. Robot Coordinates The base axis is shifted by B. The TCP of the manipulator is shifted by A in the robot coordinates. These shifts are carried out independently.
Page 237 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function Converting R*+R* Jobs with Master Tool Coordinates R*+R* coordinated jobs can be subjected to the parallel shift job conversion in the master tool coordinates. Only the steps taken at the “slave”...
Page 238: Executing The Parallel Shift Job Conversion
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 6.3.3 Executing the Parallel Shift Job Conversion 6.3.3.1 Window Display A. SOURCE JOB Selects the job before conversion. The job which is shown in the JOB CONTENT window is set initially. To change the job, perform the follow- ing procedure.
Page 239 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function F. SHIFT VALUE The axis shown is varied according to the setting of “4. coordinates” above. Move the cursor to the input box and press [SELECT] to directly input the shift value.
Page 240: Parallel Shift Job Conversion Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 6.3.3.2 Parallel Shift Job Conversion Operation There are two methods for specifying the shift value. • Directly input the shift value by numerical value. • Calculate the shift value by teaching the original base point and con- verted base point.
Page 241 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 6. Select the shift value to be set. – The number can be entered. 7. Type the shift value using the Numeric keys. 8. Press [ENTER]. – The shift value is set.
Page 242 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function – When “CANCEL“ is selected, the display goes back to the JOB CONTENT window without executing conversion. If an alarm occurs during conversion, conversion is sus- NOTE pended. 工控帮助教小舒QQ:2823408167...
Page 243 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function Calculation by Teaching 1. Select {JOB} under the main menu. 2. Select {JOB}. – The JOB CONTENT window appears. 3. Select {UTILITY} under the pull-down menu. 4. Select {PARALLEL SHIFT JOB}.
Page 244 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 9. Press [MODIFY] and [ENTER]. – The original base point is set. 10. Select “BASE POINT(DEST).” 11. Move the manipulator to the converted base point by the axis keys.
Page 245 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 14. Display the PARALLEL SHIFT JOB window. Select “EXECUTE.” – The confirmation dialog box appears when the converted job is not specified. Select “YES” then the conversion is executed.
Page 246: Specifying The Shift Value By Position Variables
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 6.3.4 Specifying the Shift Value by Position Variables The shift value can be specified using position variables by parameter settings. Parameter S2C652: SHIFT VALUE FOR PARALLEL SHIFT JOB CONVERSION...
Page 247 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function When the user coordinates are selected, the input buffer line appears. Input the desired user coordinate number and press [ENTER]. E. CONV. METHOD Specifies the conversion methods of related jobs such as a coordinated job with two manipulators or the system with multiple stations.
Page 248: Jobs Targeted For Conversion
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 6.3.4.2 Jobs Targeted for Conversion There are two ways to specify the job to be converted as described in the following: • Independent Job Conversion Only the selected job is converted even if the selected job includes the jobs called by JUMP or CALL instructions.
Page 249: Conversion Of Coordinated Jobs
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function 6.3.4.3 Conversion of Coordinated Jobs There are two ways to convert a related job such as a coordinated job with two manipulators or the system with multiple stations as described in the...
Page 250 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function The system with multiple stations Variables used in an individual shift Be sure to use the variables of which numbers are consecu- NOTE tive after the selected number. The variables of which numbers are not consecutive are unable to be selected.
Page 251 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function JOB S4 JOB S2 JOB S3 JOB S1 EX007 EX008 EX006 EX005 Relation between variables and jobs for conversion in an individual shift In the case of independent job conversion: •...
Page 252: Operation Procedure
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function In a system with R1, R2, and S1 to S12: Variables BP001 P001 For base R1 For R1 Job without group axes P002 P002 For R2 For base R2...
Page 253 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Parallel Shift Job Conversion Function – The PARALLEL SHIFT JOB window appears. 7. Specify the conversion items. – Specify each item. 8. Select “EXECUTE.” – Select “EXECUTE” then the parallel shift job conversion is executed.
Page 254: Pam Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function PAM Function 6.4.1 Function Overview The function for position adjustment during playback (PAM: Position Adjustment by Manual) allows position adjustment by simple operations while observing the motion of the manipulator and without stopping the manipulator.
Page 255 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function • Base axis and station axis data cannot be adjusted. • Adjustment when a TCP instruction is executed is per- formed by adjusting the data of the selected tool. • When the coordinates for adjustment are user coordi- nates, an error occurs if teaching has not been performed in the user coordinates.
Page 256: Operating Methods
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function 6.4.2 Operating Methods 6.4.2.1 Setting Adjustment Data 1. Select {JOB} under the main menu. 2. Select {JOB}. – The JOB CONTENT window (in the teach mode) or the PLAYBACK window (in the playback mode) appears.
Page 257 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function to display the number input buffer line. Input the number data and press [ENTER] to set the adjusted data. – F. Rx, Ry, Rz Coordinate Adjustment Set the direction and amount of the Rx, Ry and Rz posture angles.
Page 258: Executing The Adjustment
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function 6.4.2.2 Executing the Adjustment Executing the Adjustment 1. Touch “COMPLETE” on the screen. – The confirmation dialog box appears. 2. Select “YES.” – In the teach mode, the job adjustment can be immediately executed.
Page 259 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function Cancelling the Execution In the play mode, during the adjustment wait status, “STOP” is displayed in the PAM window. To cancel the adjustment process, touch “STOP” on the screen. Also, if the following occurs before executing, the process is automatically cancelled.
Page 260 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function Clearing Data If there is a mistake made when adjusting the data, or if the adjustment of the step becomes unnecessary, the data can be cleared. 1. Move the cursor to the step of the data to be cleared.
Page 261 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 PAM Function – However, if the line where the data is to be copied does not have a speed value or PL value, it cannot be copied. Canceling the Adjustment After the position adjustment in the PAM function, the job can be returned to the status before adjustment only during teaching.
Page 262: Mirror Shift Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function Mirror Shift Function 6.5.1 Function Overview With the mirror shift function, a job is converted to the job in which the path is symmetrical to that of the original job. This conversion can be performed for the specified coordinate among the X-Y, X-Z, or Y-Z coordinate of the robot coordinates and the user coordinates.
Page 263: Pulse Mirror-Shift Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function 6.5.2 Pulse Mirror-shift Function With the pulse mirror-shift function, the mirror shift is performed by reversing the sign (+/-) for the axes which are specified with the parameter in advance. R -axi s...
Page 264 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function 6.5.3 Robot-coordinates Mirror-shift Function With the robot-coordinates mirror-shift function, the mirror shift is performed on the X-Z coordinate of the robot coordinates. 6.5.3.1 Object Job Jobs without group axes cannot be converted.
Page 265 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function 6.5.4 User-coordinates Mirror-shift Function With the user-coordinates mirror-shift function, the mirror shift is performed on the X-Z, X-Y, or Y-Z coordinate of the specified user coordinates. 6.5.4.1 Object Job Jobs without group axes cannot be converted.
Page 266 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function 6.5.5 Notes on the Mirror Shift Function For manipulators, such as a polishing wrist, whose center of S-axis rotation and T-axis rotation are offset in the X-coordinate direction, the mirror shift cannot correctly be performed by the pulse mirror-shift function.
Page 267 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function 6.5.6 Operation Procedures 6.5.6.1 Calling Up the JOB CONTENT Window Call up the JOB CONTENT window of the job to be converted as follows: For Current Job 1. Select {JOB} under the main menu.
Page 268: Explanation Of The Mirror Shift Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function 6.5.6.3 Explanation of the Mirror Shift Window A. SOURCE JOB Selects the conversion source job. To select another job to be converted, move the cursor to the name and press [SELECT] to call up the list of jobs. Select the desired job and press [SELECT].
Page 269 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Mirror Shift Function G. USER COORD NO. Specifies the user coordinates number when "USER" is selected in “6. COORDINATES”. This item cannot be set when "PULSE" or "ROBOT" is selected in “6. COORDINATES”. H. TARGET Specifies the coordinate where conversion is to be done when "ROBOT"...
Page 270: Multi Window Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function Multi Window Function 6.6.1 Function Overview Multi window function divides the general-purpose display area up to 4 windows and shows them simultaneously. There are seven dividing patterns to be optionally choose as necessary.
Page 271: Setting Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function Table 6-3: Display the dividing Pattern (Sheet 2 of 2) Number of the window Dividing Pattern 3 windows 3 windows 4 windows 6.6.2.1 Calling Up and Operating Methods of the Display Dividing Pattern Setting Window Call up the dividing pattern setting window.
Page 272 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function In the dividing pattern setting window, set the dividing pattern of the general-purpose display area. 1. Key operation 1: When “Window Pattern” is focused in the window, the option of the dividing pattern shifts as cursor moves upper or lower.
Page 273 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function 3. Touching operation: The desired pattern can be chosen by touching a pattern in the window. – Choose a pattern from the dividing pattern buttons. 4. Touch [OK] button or move the cursor to it and press [SELECT] key.
Page 274 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function Cancel the setting 1. Touch [CANCEL] button or move the cursor to it and press [SELECT] key. – Dividing pattern setting window closes. The dividing pattern in the general-purpose display area doesn’t change.
Page 275: Displaying The Status Of Plural (More Than Two) Window Dividing Pattern Setting
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function 6.6.3 Displaying the Multi Window 6.6.3.1 Multi Window Mode and Single Window Mode Specifying more than two-window pattern in the dividing pattern setting window shows plural windows simultaneously in the general-purpose display area.
Page 276: Displaying Of Active Window And Non-Active Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function 6.6.3.3 Displaying of Active Window and Non-Active Window When a display is in the multi window mode, one window should be active and the rest is (are) non-active. The title of the active window is displayed in deep blue and non-active window is in light blue.
Page 277: Operation Of Multi Window
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function 6.6.4 Operation of Multi Window 6.6.4.1 Switching of Multi Window Mode and Single Window Mode When more than two windows are displayed as a dividing pattern of the multi window, it is possible to switch multi window mode to single window mode.
Page 278 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function 3. Press [SHIFT]+[MULTI] keys in step 2 status. – The general-purpose display area changes to already set pattern in multi window mode. 工控帮助教小舒QQ:2823408167 6-61...
Page 279 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function 6.6.4.2 Switching of Active Window Switch the active window in the multi window displaying mode. 1. Set the mode of the general-purpose displaying area to multi window mode. 2. Key Operation: Press [MULT] key –...
Page 280 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function Switch the active window in the single window mode. 1. Set the mode of the general-purpose displaying area to single window mode. 2. Press [MULT] key – The following windows are displayed in the order mentioned in chapter 6.6.2...
Page 281: Switching The Axis Operation Control Group
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function 6.6.5 Switching the Axis Operation Control Group The appropriate control group for axis operation is automatically selected in accordance with the window status or its operation in the active window. Due to this function, when the general-purpose display area is in multi window mode, the control group for axis operation can vary depending on the window which is active at the time.
Page 282 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Convenient Functions DX100 Multi Window Function • Setting Value:1 – Call up the confirmation dialog box to confirm the switch of the active window. – Message “Control group will be changed. Switch the active window?” is displayed ······...
Page 283: External Memory Devices
External Memory Devices DX100 Memory Devices External Memory Devices Memory Devices The following memory devices can be used in the DX100 to save and load data such as jobs and parameters. Device Function Media (destination of Optional function saved/ loaded data)
Page 284: Compact Flash (Cf Cards)
The life span differs depending on products or status of use. However, normal use of Compact Flash as an external memory device for the DX100 does not adversely affect the Compact Flash. For details, refer to instruction manuals for each medium.
Page 285 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Memory Devices 7.1.1.3 Inserting a Compact Flash When inserting a Compact Flash, take note of insertion direction. With the notch and clip of the Compact Flash downward, insert the Compact Flash slowly into the slot of the programming pendant of which display faces up.
Page 286: Usb Memory Stick
The life span differs depending on products or status of use. However, normal use of USB memory stick as an external memory device for the DX100 does not adversely affect the USB memory stick. For details, refer to instruction manuals for each medium.
Page 287: Inserting A Usb Memory Stick
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Memory Devices 7.1.2.3 Inserting a USB Memory Stick When inserting a USB memory stick, take note of insertion direction. With the USB memory stick face-up and the connector upwards, insert the stick slowly into the slot of the programming pendant of which display face-down.
Page 288: Handling Data
External Memory Devices DX100 Handling Data Handling Data 7.2.1 Data Classification For the DX100, data that can be saved online are classified into eight categories. 1. JOB 2. FILE/GENERAL DATA 3. BATCH USER MEMORY 4. PARAMETER 5. SYSTEM DATA 6.
Page 289 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Handling Data Table 7-1: Data List (Sheet 1 of 2) Data Classification File Name Save Load (Saved Data) OPN EDIT MAN OPN EDIT MAN 8. ALL CMOS AREA ALCMSxx.HEX 7. BATCH CMOS CMOSxx.HEX 3.
Page 290 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Handling Data Table 7-1: Data List (Sheet 2 of 2) Data Classification File Name Save Load (Saved Data) OPN EDIT MAN OPN EDIT MAN 8. 7. 4. 4. PARA- Coordinate home RO.PRM METER...
Page 291: File Existence
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Handling Data 7.2.2 File Existence The following data categories show whether the same file name as a file that is going to be saved is in the external memory device or not. • JOB No mark appears when the selected folder has the file of the same name.
Page 292: Saving By Overwriting
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Handling Data 7.2.2.1 Saving by Overwriting “3. BATCH USER MEMORY”, “7. BATCH CMOS”, and “8. ALL CMOS AREA” can be overwritten. As for “1. JOB”, “2. FILE/GENERAL DATA”, “4. PARAMETER”, “5. SYSTEM DATA”, and “6. I/O DATA”, those data cannot be overwritten.
Page 293: Operation Flow
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Operation Flow The following description is the operation flow for external memory devices. • SELECT DEVICE Select {FD/PC CARD} --> {DEVICE}, and the destination device for saving. The device selected is valid after turning the power supply ON again.
Page 294: Operating A Folder
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 7.3.0.1 Operating a Folder Folders can be used in order to classify and sort out the data such as jobs and condition files when using the Compact Flash. The folders can be created in hierarchical structure positioning a root folder at the top.
Page 295 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 3. Move the cursor to a folder and press [SELECT]. – Select the higher-level folder where a new folder to be created should be contained. – When creating a folder in top-level, this step is unnecessary.
Page 296 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Initial Folder Setting The folder that is contained in a deep hierarchy can be selected in a shortened operation. When selecting {LOAD}, {SAVE}, {VERIFY}, or {DELETE} from the sub menu of {FD/PC CARD}, the folder that has been set as an initial folder becomes a current folder.
Page 297 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 5. Select {EDIT} --> {SETUP FOLDER} under the pull-down menu. Move the cursor to “AUTO CHANGE” and press [SELECT]. – The initial folder is set in “ROOT FOLDER.” – “AUTO CHANGE” shows “ON” and the initial folder setting becomes valid.
Page 298: Saving Data
DX100 Operation Flow 7.3.0.2 Saving Data To download data from the memory of the DX100 to the external memory device, perform the following procedure. Data such as PARAMETER, SYSTEM DATA, I/O DATA, and the batch data such as PARAMETER BATCH, BATCH...
Page 299 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 4. Select a job to be saved. – The selected job is marked with “ .” 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.” – The selected job is saved.
Page 300 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Saving a Condition File or General Data 1. Select {FD/PC CARD} under the main menu. 2. Select {SAVE}. – The following window appears. 3. Move the cursor to {FILE/GENERAL DATA} and select.
Page 301 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 4. Select condition files or general data to be saved. – The selected files are marked with “ .” 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.”...
Page 302 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Saving a Parameter 1. Select {FD/PC CARD} under the main menu. 2. Select {SAVE}. – The following window appears. 3. Move the cursor to {PARAMETER} and select. – The selection window for parameters appears.
Page 303 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.” – The selected parameters are saved. 工控帮助教小舒QQ:2823408167 7-21...
Page 304 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Saving I/O Data 1. Select {FD/PC CARD} under the main menu. 2. Select {SAVE}. – The following window appears. 3. Move the cursor to {I/O DATA} and select. – The selection window for I/O data appears.
Page 305 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Saving System Data 1. Select {FD/PC CARD} under the main menu. 2. Select {SAVE}. – The following window appears. 3. Move the cursor to {SYSTEM DATA} and select. – The selection window for system data appears.
Page 306 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 6. Select “YES.” – The selected system data are saved. “BATCH USER MEMORY”, “BATCH CMOS”, and “ALL CMOS AREA” can be overwritten. As for “JOB”, “FILE/GENERAL DATA”, “PARAMETER”, SUPPLE- “SYSTEM DATA”, and “I/O DATA”, the data cannot be over- MENT written.
Page 307 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Saving All User’s Programs 1. Select {FD/PC CARD} under the main menu. 2. Select {SAVE}. – The following window appears. 3. Move the cursor to {BATCH USER MEMORY} and select. 4. Select “EXECUTE.”...
Page 308 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Saving All CMOS Data 1. Select {FD/PC CARD} under the main menu. 2. Select {SAVE}. – The following window appears. 3. Move the cursor to {BATCH CMOS} and select. 4. Select “EXECUTE.”...
Page 309 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Saving All Data in CMOS Area 1. Select {FD/PC CARD} under the main menu. 2. Select {SAVE}. – The following window appears. 3. Move the cursor to {ALL CMOS AREA} and select.
Page 310: Loading Data
7.3.0.3 Loading Data To upload data from the external memory device to the memory of the DX100, follow the procedure in the following. Data such as PARAMETER, SYSTEM DATA, I/O DATA, and the batch data such as PARAMETER BATCH, BATCH...
Page 311 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 4. Select a job to be loaded. – The selected jobs are marked with “ .” 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.” – The selected jobs are loaded.
Page 312 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Loading a Condition File or General Data 1. Select {FD/PC CARD} under the main menu. 2. Select {LOAD}. – The following window appears. 3. Move the cursor to {FILE/GENERAL DATA} and select.
Page 313 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.” – The selected files are loaded. Loading a Parameter 1. Select {FD/PC CARD} under the main menu. 2. Select {LOAD}.
Page 314 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 4. Select parameters to be loaded. – The selected parameters are marked with “ .” 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.” – The selected parameters are loaded.
Page 315 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Loading I/O Data 1. Select {FD/PC CARD} under the main menu. 2. Select {LOAD}. – The following window appears. 3. Move the cursor to {I/O DATA} and select. – The selection window for I/O data appears.
Page 316 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Loading System Data 1. Select {FD/PC CARD} under the main menu. 2. Select {LOAD}. – The following window appears. 3. Move the cursor to {SYSTEM DATA} and select. – The selection window for system data appears.
Page 317 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.” – The selected system data are loaded. 工控帮助教小舒QQ:2823408167 7-35...
Page 318 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Loading All User’s Programs 1. Select {FD/PC CARD} under the main menu. 2. Select {LOAD}. – The following window appears. 3. Move the cursor to {BATCH USER MEMORY} and select. 4. Select “EXECUTE.”...
Page 319 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Loading All CMOS Data 1. Select {FD/PC CARD} under the main menu. 2. Select {LOAD}. – The following window appears. 3. Move the cursor to {BATCH CMOS} and select. 4. The confirmation dialog box appears.
Page 320: Verifying Data
External Memory Devices DX100 Operation Flow 7.3.0.4 Verifying Data Follow the procedure below to verify data in the memory of the DX100 with data saved in the external memory device. This function cannot be executed with “BATCH USER NOTE MEMORY,“ “BATCH CMOS,” or “ALL CMOS AREA” speci- fied.
Page 321 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 4. Select a job to be verified. – The selected jobs are marked with “ .“ 5. Press [ENTER]. – The confirmation dialog box appears. 6. Select “YES.” – The selected jobs are verified.
Page 322 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Verifying a File 1. Select {FD/PC CARD} under the main menu. 2. Select {VERIFY}. – The following window appears. 3. Select the group of the file to be verified. 4. Select a file to be verified.
Page 323: Deleting Data
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow 7.3.0.5 Deleting Data Follow the procedure below to delete a file or files on an external memory device. Deleting a Job 1. Select {FD/PC CARD} under the main menu. 2. Select {DELETE}.
Page 324 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Deleting a File 1. Select {FD/PC CARD} under the main menu. 2. Select {DELETE}. – The following window appears. 3. Select the group of the file to be deleted. 4. Select a file to be deleted.
Page 325: Job Selection Mode
• Marker (*) Selection Loading: selects the files in the external memory device. Saving: selects the files in the memory of the DX100. Verifying: selects both the files in the external memory device and in the memory of the DX100.
Page 326 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Using Batch Selection 1. In either the external memory JOB LIST window or the file selection window, select {EDIT} under the menu. – The pull-down menu appears. 2. Select {SELECT ALL}.
Page 327 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ External Memory Devices DX100 Operation Flow Using Marker (*) Selection 1. In either the external memory JOB LIST window or the file selection window, select {EDIT} under the menu. – The pull-down menu appears. 2. Select {SELECT MARKER (*)}.
Page 328: Parameter
DX100 Parameter Configuration Parameter Parameter Configuration The parameters of DX100 can be classified into the following seven: Motion Speed Setting Parameter Determines the manipulator motion speed for jog operation at teaching, test operation, or playback operation. Mode Operation Setting Parameter Makes the setting for various operations in the teach mode or remote mode.
Page 329: Motion Speed Setting Parameters
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters Motion Speed Setting Parameters These parameters set the manipulator motion speed for jog operation at teaching, test operation, or playback operation. 8.2.0.1 S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED Units: 0.01% The upper speed limit is set for in-guard safe operation. While the in- guard safe operation command signal is being input, the TCP speed is limited to the TCPmax speed.
Page 330: S1Cxg010 To S1Cxg017: Linear Speed For Registration
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters 8.2.0.4 S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION Units: 0.1mm/s The value set in these parameters is registered as the linear speed for each speed level when teaching the position data with the programming pendant.
Page 331: S1Cxg030 To S1Cxg032: Inching Move Amount
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters 8.2.0.7 S1CxG030 to S1CxG032: INCHING MOVE AMOUNT These parameters specify the amount per move at inching operation by the programming pendant. The referenced parameter differs according to the operation mode at inching operation.
Page 332 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters Since operation will be turning inward during playback, as shown in the following diagram, use setting values taking safety aspects into consideration. This process becomes effective when change in direction of NOTE °...
Page 333: S1Cxg044: Low-Speed Start
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters 8.2.0.9 S1CxG044: LOW-SPEED START Units: 0.01% This parameter specifies max. speed at low speed start. Specify the starting method for “initial operation speed of manipulator” (S2C217). 8.2.0.10 S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED Units: 0.01%...
Page 334: S2C320: Controlled Group Job Teaching Position Change
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters Fig. 8-2: 1: When external reference point is selected 8.2.0.15 S2C320: CONTROLLED GROUP JOB TEACHING POSITION CHANGE This parameter is used to change only the job teaching position of controlled group axis.
Page 335: S2C424: Deviated Position
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters Table 8-2: S2C423 Parameter Setting Movement When Restarting Value Move to the next step. Movement Move to next step. when restarting After moving back to the deviated position, move to the indicated step.
Page 336: S2C425: Circular Interpolation Tool Position Control
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters When emergency stop is applied during high-speed motion, the deviated position differs from the robot current value (reference) position and feedback position as shown in the following. 8.2.0.19 S2C425: CIRCULAR INTERPOLATION TOOL POSITION CONTROL This parameter selects tool position control methods at circular interpolation operation.
Page 337: S2C654: Emergency Stop Cursor Advance Control
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters 8.2.0.21 S2C654: EMERGENCY STOP CURSOR ADVANCE CONTROL FUNCTION CONT PROCESS COMPLETION POSITION Units: % When the manipulator stops during moving inner corner by CONT process, this parameter specifies which position of the inner corner should be considered as the end of step.
Page 338 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Motion Speed Setting Parameters 8.2.0.24 S3C1098 to S3C1102: POSITION CORRECTING FUNCTION DURING PLAYBACK These parameters specify the necessary data for position correcting function (PAM) during playback operation. Specifies the limit of position correcting range (Units: μ m)
Page 339: Mode Operation Setting Parameters
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters Mode Operation Setting Parameters These parameters set various operations in the teach mode or remote mode. Some parameters can be set through {SETUP} {TEACHING COND} or {OPERATE COND}. 8.3.0.1 S2C195: SECURITY MODE WHEN CONTROL POWER SUPPLY IS TURNED ON The operation level when the control power supply is turned ON is set.
Page 340 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.5 S2C199: INSTRUCTION (EXCEPT FOR MOVE) EXECUTION AT “FORWARD” OPERATION This parameter specifies the method of instruction (except for move) execution at “FORWARD” operation by the programming pendant. : Executed by pressing [FWD] + [INTERLOCK]...
Page 341 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters Fig. 8-5: S2C206-1 (Between Instructions) 8.3.0.9 S2C207: MASTER JOB CHANGING OPERATION This parameter specifies whether to permit or prohibit master job changing operation. If “PROHIBIT” is specified, the master job cannot be changed (or registered) easily.
Page 342: S2C215: Address Setting When Control Power Is Turned On
8.3.0.13 S2C211: LANGUAGE LEVEL This parameter specifies the level of the robot language (INFORM III). The levels simplify the instruction registering operation. With the DX100, all robot instructions can be executed regardless of specification of instruction sets. The specification can be done on the TEACHING CONDITION window.
Page 343: S2C217: Initial Operation Of Manipulator
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.17 S2C217: INITIAL OPERATION OF MANIPULATOR This parameter specifies the operation speed level of the first section when starting. Specify the operation speed with the low-speed start (S1CxG044). When starting at low-speed, the manipulator stops after reaching the indicated step regardless of the cycle setting.
Page 344: S2C221: Speed Data Input Form
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.21 S2C221: SPEED DATA INPUT FORM This parameter specifies the units for speed data input and display. mm/s : in units of 0.1 mm/s cm/min : in units of 1cm/min inch/min : in units of 1 inch/min mm/min : in units of 1 mm/min The specification can be done on the OPERATING CONDITION window.
Page 345: S2C228: Programming Pendant Cycle Switching
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.26 S2C228: PROGRAMMING PENDANT CYCLE SWITCHING This parameter specifies whether cycle switching from the programming pendant is accepted or not. The specification can be done on the OPERATING CONDITION window. : Permitted : Prohibited 8.3.0.27 S2C229: SERVO ON FROM EXTERNAL PP PROHIBITION...
Page 346: S2C234: Step Registration At Tool No. Change
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.29 S2C234: STEP REGISTRATION AT TOOL NO. CHANGE The registration of the step when the tool number is changed allows the setting to be made as prohibited. If this parameter is set to “1” (prohibited), the following operations are prohibited.
Page 347: S2C313: Teach Mode First Cycle Mode
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.33 S2C313: TEACH MODE FIRST CYCLE MODE This parameter sets the cycle that changes from the play mode to the teach mode. The setting can be made on the OPERATING CONDITION window.
Page 348: S2C314: Play Mode First Cycle Mode
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.34 S2C314: PLAY MODE FIRST CYCLE MODE This parameter sets the cycle that changes from the teach mode to the play mode. The setting can be made on the OPERATING CONDITION window.
Page 349: S2C395: Signal Name Alias Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.36 S2C395: SIGNAL NAME ALIAS FUNCTION On the JOB CONTENT window, the name registered to the user input/ output signal number can be displayed as alias instead of the signal number itself.
Page 350: S2C396: Variable Name Alias Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.37 S2C396: VARIABLE NAME ALIAS FUNCTION On the JOB CONTENT window, the name registered to the variable (including local variables) can be displayed as alias instead of the variable number. Table 8-5: S2C396...
Page 351: S2C397: I/O Variable Customize Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.38 S2C397: I/O VARIABLE CUSTOMIZE FUNCTION This function enables registration of any particular input/output signal/ variable. Reference and editing of signals/variables are possible on the same window. Table 8-6: S2C397 Parameter Setting Value...
Page 352: S2C415 To S2C419: Time Reset
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.39 S2C415 to S2C419: TIME RESET These parameters specify whether resetting operation of the specified times is permitted or not. S2C415 : CONTROL POWER ON TIME S2C416 : SERVO POWER ON TIME...
Page 353 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters Fig. 8-7: 0 : Does not operate the synchronizing side while teaching the synchronized side. Synchronizing side Fig. 8-8: 1 : Links the synchronizing side while teaching the synchronized side. Synchronizing side 工控帮助教小舒QQ:2823408167...
Page 354: S2C437: Playback Operation Continuation Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Mode Operation Setting Parameters 8.3.0.43 S2C437: PLAYBACK OPERATION CONTINUATION FUNCTION This function is used to decide where to resume the playback on the start operation after suspending the playback and moving the cursor or selecting other jobs.
Page 355: Parameters According To Interference Area
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Interference Area Parameters according to Interference Area These parameters limit the P-point maximum envelope of the manipulator or set the interference area for axis interference or cubic interference. 8.4.0.1 S1CxG400 to S1CxG415: PULSE SOFT LIMIT Soft limit is set independently for each axis by pulse value setting.
Page 356: S2C002: S-Axis Interference Check
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Interference Area Soft Limit Soft limit is a software-type function to limit the range of movement of the manipulator. If the TCP reaches the soft limit during operation, the manip- ulator automatically stops and no longer moves in that same direction.
Page 357 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Interference Area 8.4.0.4 S2C003 to S2C066: CUBE/AXIS INTERFERENCE CHECK 1. Designation of checking These parameters specify the cube/axis interference to be used by bit. : Cube Interference/Axis Interference Not Used : Robot 1...
Page 358 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Interference Area Interference Area It is possible to output whether the TCP during operation is inside or outside as a status signal, and to set the area to control the position by parameters S2C003 to S2C194.
Page 359: S2C067 To S2C194: Cube Using Method
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Interference Area 8.4.0.5 S2C067 to S2C194: CUBE USING METHOD These parameters specify the coordinates for defining the cube. If the user coordinates are selected, also specify the user coordinate system numbers. Set cubic area referring to the cubic interference areas shown below.
Page 360 Parameters according to Interference Area Interference Prevention in Interference Area Processing to prevent interference is executed in the I/O processing section. The relation between the DX100 I/O signal and manipulator operation is shown below. In wait status with the entrance prohibit signal, the manipula- tor just barely enters the area for speed reduction process- ing and then stops.
Page 361: S3C000 To S3C047: Cube Soft Limit
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Interference Area 8.4.0.6 S3C000 to S3C047: CUBE SOFT LIMIT These parameters specify auxiliary functions of S2C001 parameter. For details, see chapter 8.4.0.2 "S2C001: CUBE SOFT LIMIT CHECK" at page 8-28. 8.4.0.7 S3C048 to S3C063: S-AXIS INTERFERENCE AREA These parameters specify auxiliary functions of S2C002 parameter.
Page 362 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Status I/O Parameters according to Status I/O These parameters set the parity check or I/O setting for user input/output signals. 8.5.0.1 S2C235: USER OUTPUT RELAY WHEN CONTROL POWER IS ON This parameter specifies the state of the user output relays when the control power is turned ON.
Page 363: S4C016 To S4C031: Parity Of User Output Groups
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Status I/O 8.5.0.3 S4C016 to S4C031: PARITY OF USER OUTPUT GROUPS These parameters specify whether the output group instruction is executed with parity check (even parity). S4C016 S4C017 OG#01 OG#17 OG#02 OG#18...
Page 364: S4C032 To S4C047: Data Of User Input Groups
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Status I/O 8.5.0.4 S4C032 to S4C047: DATA OF USER INPUT GROUPS These parameters specify whether to handle the input group data as binary data or as BCD data when an instruction for the input group (1G#) is executed.
Page 365 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Status I/O 8.5.0.5 S4C048 to S4C063: DATA OF USER OUTPUT GROUPS These parameters specify whether the output group instruction is executed with binary data or BCD data. S4C048 S4C049 OG#01 OG#17 OG#02...
Page 366 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Status I/O 8.5.0.6 S4C064 to S4C079: USER OUTPUT GROUP TO BE INITIALIZED AT SWITCHING MODE Set the user output group with bit to be initialized at switching mode. Use these parameters when using user output signals as work instructions for peripheral devices.
Page 367: Parameters According To Coordinated Or Synchronized Operation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Coordinated or Synchronized Operation Parameters according to Coordinated or Synchronized Operation These parameters make the settings for coordinated or synchronized operations between manipulators or between manipulators and stations. 8.6.0.1 S2C212: +MOV or +SMOV INSTRUCTION SPEED INPUT This parameter specifies whether the speed inputting for move instructions of the master robot in a coordinated job is permitted or not.
Page 368: S2C264: Station Axis Current Value Display Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Coordinated or Synchronized Operation When master task is currently displayed: : Not operating Sub task 1 Sub task 1 Master task : Operating Sub task 2 When sub task 1 is currently displayed:...
Page 369: S2C420: Posture Control Of Synchronized Manipulator
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Coordinated or Synchronized Operation Setting Method Set a numerical value (decimal) where the bit of the axis to be displayed in the units of distance becomes 1. Decimal (32) (16) Station 1st axis...
Page 370: S2C687: Operation Of Job Without Control Group Specification
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters according to Coordinated or Synchronized Operation 8.6.0.9 S2C687: OPERATION OF JOB WITHOUT CONTROL GROUP SPECIFICATION When the servo power supply is individually turned OFF where jobs in multiple number of tasks are operated using the independent control function, the job execution of the control group whose servo power supply is turned OFF is interrupted.
Page 371: Parameters For Other Functions Or Applications
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters for Other Functions or Applications Parameters for Other Functions or Applications These parameters make the settings for other functions or applications. 8.7.0.1 S1CxG049 to S1CxG051: SMALL CIRCLE CUTTING These parameters prescribe cutting operation at small circle cutting.
Page 372: S3C1111 To S3C1190: Analog Output Filter
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Parameters for Other Functions or Applications 8.7.0.7 S3C1111 to S3C1190: ANALOG OUTPUT FILTER CONSTANT (When analog output corresponding to speed function is used) By setting a constant to filter, a filter processing can be performed for the output analog signal.
Page 373: Hardware Control Parameters
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Hardware Control Parameters Hardware Control Parameters These parameters make the hardware settings for fan alarm or relay operation, etc. 8.8.0.1 S2C646: ANTICIPATOR FUNCTION This parameter specifies anticipation output. : Invalid : Valid The anticipator function is a function to quicken or slow the ON/OFF timing of four user output signals and two user output groups.
Page 374 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Hardware Control Parameters 8.8.0.2 S2C786 to S2C788: COOLING FAN ALARM DETECTION This parameter specifies a detection for cooling fan 1 to 3 with alarm sensor, connected to power ON unit. : No detection : Detected with message display : Detected with message and alarm display 8.8.0.3 S4C327 to S4C390: SETTING OF OPERATING RELAY NO.
Page 375 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 Hardware Control Parameters 8.8.0.5 S2C789 to S2C792: COOLING FAN ALARM 1 OPERATION 8.8.0.6 S2C793 to S2C796: COOLING FAN ALARM 2 OPERATION 8.8.0.7 S2C797 to S2C800: COOLING FAN ALARM 3 OPERATION These parameters specify the operation of cooling fan 1 to 3 with alarm sensor, connected to power ON unit.
Page 376: Application Parameters
DX100 TRANSMISSION PARAMETERS TRANSMISSION PARAMETERS These parameters are used when the optional FC1, FC2, or data transmission function is used. For details, refer to the optional manual “DX100 DATA TRANSMISSION FUNCTION.” 8.10 Application Parameters 8.10.1 Arc Welding 8.10.1.1 AxP000: APPLICATION This parameter specifies the application.
Page 377: Axp010: Welding Instruction Output
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 8.10 Application Parameters 8.10.1.6 AxP010: WELDING INSTRUCTION OUTPUT This parameter specifies the beginning number (0 to 12) of the analog output channel to the Power Source. “0” indicates that no Power Source exists. 8.10.1.7 AxP011, AxP012: MANUAL WIRE OPERATION SPEED These parameters specify the manual wire operation speed as a percentage of the maximum instruction value.
Page 378: Axp004: Gun Full Open Stroke On/Off Signal
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 8.10 Application Parameters 8.10.3.2 AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL This parameter specifies which stroke switching signal is output ON or OFF to make the gun fully-opened for each gun. Bit specification (1 for 01) for 8 guns. The initial setting is “0.”...
Page 379: General-Purpose Application
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Parameter DX100 8.10 Application Parameters 8.10.4 General-purpose Application 8.10.4.1 AxP009: WORK CONTINUE PROHIBIT This parameter specifies whether to output TOOLON instruction or not at restarting when the work is stopped for some reasons during the output of TOOLON instruction.
Page 380: Spot Welding Application Using A Motor Gun
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 System Overview Spot Welding Application Using a Motor Gun System Overview An I/O signal diagram of a typical system is shown below. Fig. 9-1: Spot Welding System I/O Signal Diagram...
Page 381 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 System Overview • Welding conditions (level signals) • Sets the welding conditions for the Power Source. • The output format can be set as binary or discrete. • Can handle up to 255 conditions in binary.
Page 382: Function Keys
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Function Keys Function Keys Each function used for spot welding is allocated on the Numeric keys of the programming pendant. PRESSURE RELEASE WELD WELD ALM COMPLETE RESET WELD ON/OFF...
Page 383 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Function Keys The FULL OPEN POSITION SETTING window appears the first time the key is pressed. The selection No. for the full open position is replaced by pressing this key while the SHORT OPEN POSITION FULL SETTING window is appeared.
Page 384: Before Teaching
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Before Teaching Before Teaching Before using the motor gun, execute the following operation instructions. 9.3.1 Manual Welding For manual welding, perform the following operations. 1. Press [0/MANUAL SPOT] of the Numeric keys.
Page 385: Open/Close Of A Motor Gun
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Before Teaching 9.3.3 Open/Close of a Motor Gun Open and close the motor gun in the following operations. 1. Press [EX. AXIS]. EX.AXIS – The LED on [EX. AXIS] is lit.
Page 386: Mounting Electrodes
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Before Teaching 9.3.4 Mounting Electrodes Mount the electrodes in a dry spotting motion. For dry spotting, refer to chapter 9.3.2 "Manual Dry Spotting" at page 9- NOTE For teaching, be sure to use a new electrode.
Page 387: When Using A Double Gun
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Before Teaching 9.3.5.2 When Using a Double Gun Register the tool coordinate value of the both fixed side and movable side electrode contact position of as TCP. Set the tool posture data so that the direction from the lower side electrode to the upper side electrode is positive (+) side of Z-axis.
Page 388: Teaching
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Before Teaching 9.3.6 Teaching This section explains how to prepare a job with a robot axis and a gun axis to use the motor gun. 9.3.6.1 Preparing a Pressure Instruction Job 1.
Page 389: Registering Steps
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Before Teaching 9.3.6.2 Registering Steps Register the steps in the following operations Electrode on the movable side Workpiece Electrode on the fixed side 1. Register the positions from A to D as steps 1 to 4.
Page 390: Registering The Svspot Instruction
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Before Teaching 9.3.6.3 Registering the SVSPOT Instruction Register a SVSPOT instruction by pressing [./SPOT]. SVSPOT GUN#(1) PRESS#(1) WTM=1 WST=1 A. Gun No. Specifies the gun No. to be used for welding.
Page 391: Setting Welding Conditions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Setting Welding Conditions Setting Welding Conditions 9.4.1 Setting of MANUAL SPOT Window Manual Setting window A. TWO GUN CONTROL For two gun control, selects “ON” or “OFF” of synchronous control.
Page 392 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Setting Welding Conditions Operation 1. Press [0/MANUAL SPOT] of the Numeric keys. MANUAL STOP – Manual spot window appears. 2. Select the item to be set. 3. Enter a numerical value and press [ENTER].
Page 393: Pressure Setting
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Setting Welding Conditions 9.4.2 Pressure Setting The pressure used for welding is specified by the gun pressure file selected for the SVSPOT. Gun Pressure Display A.　CONDITION NO. Expresses the No. of the gun pressure file.
Page 394 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Setting Welding Conditions Operation 1. Select {SPOT WELDING} from the main menu. 2. Select {GUN PRESSURE}. – Gun pressure display appears. GO BACK 3. Select the file No. by pressing the page key PAGE 4.
Page 395 Setting Welding Conditions 6. Select “SETTING”. – The display for “SETTING” changes from “NOT DONE” to “DONE”. For C : Yaskawa recommends the setting to 5%. For D and E : Request settings so that the touch pressure is NOTE less than or equal to the 1st pressure.
Page 396: Welding Current And Welding Time Settings
Spot Welding Application Using a Motor Gun DX100 Setting Welding Conditions • For pressure setting, Yaskawa recommends 5% or less for the touch speed (C), and a value greater than the friction torque (generally 1000N or more) for the touch pressure NOTE (D).
Page 397: Playback (Motor Gun)
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Playback (Motor Gun) Playback (Motor Gun) This section explains the check run and the actual welding. 9.5.1 Check Run Confirm the taught path in a check run. The check run is a dry run, so welding instructions such as SVSPOT are not carried out.
Page 398: Dry Spotting (Motor Gun)
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Dry Spotting (Motor Gun) Dry Spotting (Motor Gun) For dressing a tip and mounting an electrode, a gun motion to apply pressure without welding (dry spotting) is required. Dry spotting can be also registered in a job to be executed.
Page 399 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Dry Spotting (Motor Gun) E. PRESS UNIT Shows the units for dry spotting pressure. Select “N” or “% (TORQUE).” F. TOUCH PRESS Shows the pressure when electrode touches a workpiece. When the pressure reaches the touch pressure value after the electrode touched the workpiece, the first pressure that is set in G is applied.
Page 400 For “PRESS UNIT,” press [SELECT] to display “N” and “% (TORQUE)” alternately. For “OUT,” press [SELECT] to display “ON” and “OFF” alternately. For D : Yaskawa recommends the setting to 5%. For F and G : Request the settings so that the touch pres- NOTE sure is less than or equal to the 1st pressure.
Page 401 For a tip dresser synchronizing signal, select the No. in the NOTE output allocation window. • For pressure setting, Yaskawa recommends 5% or less for the touch speed (D), and a value greater than the friction torque (generally 1000N or more) for the touch pressure NOTE (G).
Page 402: Electrode Wear Detection And Wear Compensation
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Page 403: Wear Detection
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation 9.7.2 Wear Detection This section explains the method to detect the amount of the electrode wear by dry spotting touch motion and sensor detection.
Page 404: Example Of Wear Detection
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation 9.7.2.3 Example of Wear Detection Touching during dry spotting Sensor detection Movable side electrode Sensor Sensor (Light emitting side) (Light receiving side) Fixed side electrode <Job Example>...
Page 405: Spot Weld Diagnosis
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation 9.7.3 SPOT WELD DIAGNOSIS The amount of electrode wear is displayed. The allowable wear amount can also be set. Welding Diagnosis Window A. GUN NO.
Page 406 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation Operation 1. Select {SPOT WELDING} from the main menu. 2. Select {WELDING DIAGNOSIS}. – The SPOT WELD DIAGNOSIS window appears. GO BACK GO BACK 3.
Page 407 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation Clearing Operation of Each Current Value 1. Select {DATA} from the menu. 2. Select {CLEAR CURRENT POS}. 3. Select “YES.” 工控帮助教小舒QQ:2823408167 9-28...
Page 408: Wear Compensation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation 9.7.4 Wear Compensation The manipulator motion and the gun stroke are adjusted according to the amount of electrode wear. The step registered immediately before the SVSPOT instruction compensates for the amount of wear.
Page 409: Teaching Positions With A Worn Electrode
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation 9.7.5 Teaching Positions with a Worn Electrode When teaching positions with a worn electrode, the position is registered according to the electrode wear amount.
Page 410: Wear Amount Loading
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Electrode Wear Detection and Wear Compensation 9.7.6 Wear Amount Loading Detected wear amount can be loaded in a job. The wear amount is stored in the system D variable ($D). Use the GETS instruction and load the wear amount.
Page 411: Other Functions Using A Motor Gun
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun Other Functions Using a Motor Gun 9.8.1 Motor Gun Stroke The motor gun stroke is classified into two; full open and short open.
Page 412 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.1.2 Registering the current position 1. Press [3/FULL OPEN] or [-/SHORT OPEN] of the Numeric keys. – The FULL OPEN POS SET window (or the SHORT OPEN POS SET window) appears.
Page 413 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.1.4 Moving to Full-open/Short-open Position 1. Press [3/FULL OPEN] or [-/SHORT OPEN] of the Numeric keys. – The FULL OPEN POS SET window (or the SHORT OPEN POS SET window) appears.
Page 414 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.2 Gun Change This section explains the gun change function. 9.8.2.1 Gun Change Instruction Remove or mount a gun with the GUNCHG (gun change) instruction.
Page 415 Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun The signals listed in the table above are confirmed when the DX100 control power supply is turned ON. If the gun is connected, the servo power supply for the gun motor turns ON when the servo is turned ON.
Page 416 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.2.3 Gun Change Job The following example explains the gun change job. <Example of I/O Allocation> Input Signal Output Signal Chucking confirmation Gun PICK/PLACE SOL...
Page 417 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun <Example of Removing a Gun> Job name: GUN 1 PLACE Control group: R1 MOVJ VJ=30 Moves to the standby position. WAIT IN#(3)=ON Confirms ATC coupling.
Page 418 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.2.4 Gun Changing Timing The timing to change a gun is illustrated below. PLACE Gun status PICK Coupling confirmation Gun identification signal CHUCK...
Page 419 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.3 Electrode Touch Position Teaching Function If the fixed electrode position cannot be visually confirmed at teaching, register the position where the fixed electrode touches the workplace by moving the movable electrode to touch the workpiece.
Page 420 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun Operation 1. Select {SPOT WELDING} from the main menu. 2. Select {WELDING DIAGNOSIS}. – The SPOT WELD DIAGNOSIS window appears. 3. Select a gun No. by pressing the page key...
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Page 422 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.3.2 Registering and Confirming Positions by Touch Motion Teaching 1. Select {JOB} from the main menu. 2. Select {JOB}. 3. Move the manipulator to the welding position.
Page 423: Forced Gun-Pressurizing Function
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Page 424 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun When the signal number “0” is selected, the forced gun- NOTE pressurizing function for dry spotting is disabled. DRY SPOT(FILE) • After the signal is input, pressurizing is started.
Page 425: Electrode Wear Compensation For Fixed Gun
The + direction of the Z-axis must be towards the movable electrode. User coordinates The DX100 has the External Reference Point Control Func- tion (the function to execute teaching or playback operation with the manipulator TCP set to a point in space).
Page 426: Parameters
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.5.2 Parameters Assign the numbers of user coordinates set for the guns. For the gun mounted on the manipulator, set “0.” (Initial value: 0) As for the wear-compensation user coordinates number for fixed gun (Gun 1), setting is possible with “WEAR COMPENSATION USER CORDINATE(FIXED...
Page 427: Example Of Wear Compensation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.5.3 Example of Wear Compensation The workpiece and the gun stroke are adjusted according to the amount of electrode wear. The step registered immediately before the SVSPOT instruction compensates for the amount of wear.
Page 428: Clearance Teaching Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.6 Clearance Teaching Function 9.8.6.1 Operation Flow Chart With the clearance teaching function, by specifying the clearance for the upper tip or the lower tip of the motor gun, the position taught at the welding point is automatically offset for the clearance and registered.
Page 429: Setting The Teaching Type
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.6.2 Setting the Teaching Type The following three types of settings are available; the lower-tip teaching, the upper-tip teaching, and the gun-close teaching.
Page 430 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 3. Select {CLEARENCE TEACHING METHOD}. – Move the cursor to the lowest line “CLEARENCE TEACHING METHOD” and press {SELECT} to display the selection dialog box for the teaching methods to appear.
Page 431: Setting The Clearance Files
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.6.3 Setting the Clearance Files In this section, setting procedures of various data for clearance files are explained. • Set the board thickness in the clearance file before teaching the welding point when selecting “UPPER TIP”...
Page 432 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun – This file is a file to be specified by the clearance tag of move instruction.(Up to 32 conditions ca be set.) 3. Select the desired item.
Page 433: Operations For Teaching Welding Points
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.6.4 Operations for Teaching Welding Points The following describes the outline of the procedure for teaching the welding point. 1. Select {JOB} from the main menu.
Page 434: Move Instruction For Clearance
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 5. Press [INSERT], then press [ENTER]. – The move instruction for clearance has been registered. 9.8.6.5 Move Instruction for Clearance The following describes the move instruction for clearance.
Page 435 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.6.6 Moving for Clearance The following describes moving operation for clearance. When moving with positioning specified using PLIN Table 9-3: Job Example: Work 1...
Page 436 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun When moving with positioning specified using PLOUT Table 9-4: Job Example: Work 1 0000 → A 0001 MOVJ VJ=100.0 0002 SVSPOTMOV V=1000.0 PLOUT=0 CLF#(1) GUN#(1) →...
Page 437: Teaching With Gun Pressure
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.7 Teaching with Gun Pressure With the teaching with gun pressure, the position is registered with pressure applied by the motor gun when teaching the position. This function is included in the clearance teaching function and valid only when “gun-close teaching”...
Page 438: Procedure For Registering The Position
In case it doesn’t appear, press [8] to change the indication. – The taught position is to be registered adding the compensation amount of wear of the gun axis. Yaskawa recommends that the pressure be applied with the gun axis not bent when teaching.
Page 439: Gun Pressure Compensation Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.8 Gun Pressure Compensation Function 9.8.8.1 Operation Flow Chart With the gun pressure compensation function, the gun pressure can be kept stable even when the motor gun posture changes.
Page 440: Overview
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.8.2 Overview The following describes outline of the gun pressure compensation function. The pattern 1 is shown in the fig. 9-2 ; applying pressure downwards, and the pattern 2 is shown in the fig.
Page 441 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun Fig. 9-4: GUN CONDITION File (For Pattern 1) Fig. 9-5: Pressure-to-torque Conversion (For Pattern 1) Torque Mesaured values Calculated by interpolation Pressure (kgf) For the pattern 2 shown in fig.
Page 442 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun Using the gun pressure compensation function, by setting one pressure compensation value (see fig. 9-6 ), the motor torque for motor gun is...
Page 443: Setting The Pressure Compensation Value
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.8.3 Setting the Pressure Compensation Value The following describes settings for pressure compensation value of pattern 2. For details on the data registration of pattern 1; applying pressure downwards (settings for pressure-to-torque conversion value), refer to chapter 9.10 "System Setting"...
Page 444 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun – Press [SELECT} to input the value for compensation. 4. Press [ENTER] after inputting the value. 工控帮助教小舒QQ:2823408167 9-65...
Page 445: Workpiece Transfer Function Using A Motor Gun
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Page 446: Setting The Conditions For Grasping/Releasing Workpieces
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.9.2 Setting the Conditions for Grasping/Releasing Workpieces The PRESSURE file is used to set the conditions for grasping/releasing workpieces. The following describes how to set the pressure to grasp a workpiece. Up to fifteen PRESSURE files can be used.
Page 447 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun – <Setting items> • TOUCH SPEED Moving speed for dry spotting. Ratio to rated motor speed: 0 to 100% • PRESS UNIT Specifies the dry spotting pressure in “N” or “%” (torque).
Page 448: Instruction For Grasping/Releasing Workpieces
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.9.3 Instruction for Grasping/Releasing Workpieces <Example> SVGUNCL 　 GUN#(1) PRESSCL#(1) ON A. Instruction for grasping/releasing workpieces B. GUN#(1) Specifies the gun number to grasp the workpiece.
Page 449 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 5. Select {SVGUNCL} and press it twice. – The following DETAIL window appears. For transferring workpieces, adding the transfer tag is required. – When selecting “UNUSED” for {WEAR DETECT}, the following dialog box appears.
Page 450 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 7. Press [INSERT} and then press [ENTER]. (1) The window returns to the JOB CONTENT window after pressing [ENTER]. (2) The instruction can be inserted while LED indicator is lit by press- ing [INSERT].
Page 451: Manual Operation For Grasping/Releasing Workpieces
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.9.4 Manual Operation for Grasping/Releasing Workpieces This section describes how to grasp/release workpiece by manual operation on the programming pendant. With this operation, the workpiece can be easily grasped/released when teaching the position for transferring workpieces.
Page 452: Individual Reset Function For Wear Amount
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.10 Individual Reset Function for Wear Amount 9.8.10.1 Operation Flow Chart With the individual reset function, the wear amount of the motor gun’s fixed/movable tip can be reset.
Page 453 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 3. Select {RESET WEAR OF LOWER TIP}. – Set the user input signal for clearing the wear amount. – When “0” is entered, “***” appears and the wear amount cannot be cleared by inputting the signal.
Page 454: Welding Conditions Group Output Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.11 Welding Conditions Group Output Function 9.8.11.1 Operation Flow Chart With the welding conditions group output function, a group signal is output to the Power Source during welding.
Page 455 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 3. Select [DISPLAY] from the menu select and [ALLOCATE OUTPUT] – The OUTPUT ALLOCATION window appears. 4. Select the desired item. – Set {GROUP OUTPUT (START)} / {GROUP OUTPUT (END)}.
Page 456: Setting The Group Output Tag
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.11.3 Setting the Group Output Tag The following describes the settings for the pressure conditions. When the job contents are displayed, by pressing [MOTION TYPE] +...
Page 457 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 6. Select {WELD GRP OUT}. – Press [SELECT] to display the selection dialog box . (The initial value is “UNUSED.”) (1) Select {WGO=}.
Page 458: Group Output
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.11.4 Group Output “0” can be used as the initial number for group output. Set AP parameter. AxP031 (group output number setting) AxP031=0 : group number range is from 1 to 16 AxP031=1 : group number range is from 0 to 15 工控帮助教小舒QQ:2823408167...
Page 459: Compensation Of Gun Arm Bend For C-Gun And X-Gun (Single Arm Motion)
如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.12 Compensation of Gun Arm Bend for C-Gun and X-Gun (SINGLE ARM MOTION) The gun arm bend at pressurizing can be compensated by the corrective manipulator motion.
Page 460: Compensation Example
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 4. Select “COEF. FOR GUN ARM BEND.” – COEF. FOR GUN ARM BEND Sets the compensation amount for gun arm bend per 1000N pressure.
Page 461: Gun Stroke Setting For Welding Start
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Page 462: Setting The Gun Stroke Motion Speed
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.13.2 Setting the Gun Stroke Motion Speed 1. Select {SPOT WELDING} from the main menu. 2. Select {GUN CONDITION}. – The GUN CONDITION window appears.
Page 463: Motion Example
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.13.3 Motion Example The below diagram shows an example of gun stroke motion in the following conditions: The gun stroke position when the welding start is 10.0 mm; the gun stroke motion speed is 100.0%;...
Page 464 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.14.1 Setting of gun pushing coefficient 1. Select [SPOT WELDING] from the main menu. 2. Select [GUN CONDITION]. – The GUN CONDITION window appears.
Page 465: Calculation Of Gun Pushing Coefficient
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.14.2 Calculation of Gun Pushing Coefficient Set a pressure per 1000N [mm] to GUN PUSHING COEFFICIENT. Fig. 9-8: Relation Between Pressure and Gun Axis Position [mm]...
Page 466: Tip Mounting Control Function
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.15 tip Mounting Control Function The cause of the pressure position error when pressure is applied can be sorted to two causes; tip wear and tip mounting error.
Page 467: Tip Mounting Error Detection Flow Chart
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun 9.8.15.1 tip Mounting Error Detection Flow Chart Mount a new tip Teach the manipulator moving positions Clear the reference position.(See 9.10.3) Register the reference position of the fixed tip by dry-spotting touch motion.
Page 468: Tip Installation
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun This function is available while wear detection tag TWC-A NOTE and TWC-B, but not available while TWC-C is executed. 9.8.15.2 Tip Installation The error for electrode mounting is displayed.
Page 469 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun Operation 1. Select [SPOT WELDING] from the main menu. 2. Select [TIP INSTALLATION]. – TIP INSTALLATION window appears. GO BACK 3. Select the gun number by pressing the [PAGE] key PAGE 4.
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Page 471: Tip Mounting Error Detection
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 Other Functions Using a Motor Gun read the position. Execute SVGUNCL. instruction for dry spotting touch motion opera- tion. <Example> SVGUNCL GUN#(1) PRESSCL# (1)TWC-AE • Plate touch motion (TWC-B) Bring the movable side of the electrode into contact with a plate and read its position.
Page 472: Monitoring Tip Mounting Errors
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Page 473: I/O Signals For A Motor Gun
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Page 475: Output Allocation Window
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Page 477: Pseudo Input Signal Window
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Page 478 The servo power supply stays ON. TRANS-THERMO This alarm signal from the gun transformer is input IN11 directly into the DX100. This signal is normally ON transformer (normally closed) and when it is OFF, an alarm occurs. The servo power supply stays ON.
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Page 480: System Setting
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 9.10 System Setting 9.10 System Setting The items to be determined at the system setting, such as the gun and the Power Source, are specified in the system setting files.
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Page 485: Entering Pulse To Stroke Conversion Data
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Page 486: Power Source Condition File
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Page 487 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 9.10 System Setting Power Source Start Timing • When the welding instruction output type is set to “LEVEL”: 1st pressurization 2nd pressurization Open Speed command Torque command Speed commnad &...
Page 488 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 9.10 System Setting • When the welding instruction output type is set to “PULSE”: 1st pressurization 2nd pressurization Open Speed command Torque command Speed commnad & Torque command Close...
Page 489 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 9.10 System Setting • When the welding instruction output type is set to “START SIGNAL”: 1st pressurization 2nd pressurization Open Speed command Torque command Speed commnad & Torque command...
Page 490: Clearing Reference Position Pulse For Wear Detection
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Page 492: Setting The Software Limit Value
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Page 493: Setting The Lost-Electrode Detection Value
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Spot Welding Application Using a Motor Gun DX100 9.10 System Setting 9.10.5 Setting the Lost-electrode Detection Value The gun-axis pulse can be monitored to output the signal when an electrode of motor gun is detached. <Setting Example>...
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Page 495: Table Of Basic Instructions
该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.1 Move Instructions 10 Table of Basic Instructions • <> indicates numerical or alphabetical data. • If multiple items are shown in one section, select one of the items. 10.1 Move Instructions...
Page 496 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.1 Move Instructions MOVS Function Moves to a taught point with spline interpolation type. Additional Position data, These data do not Item Base axis position data, appear on the Station axis position data screen.
Page 497 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.2 I/O Instructions 10.2 I/O Instructions DOUT Function Turns the external output signals ON and OFF. Additional OT# (<output number>), Item OGH# (<output group number>), OG# (<output group number>) Number of addressed output signals: OT#(xx)=1;OGH#(xx)=4(per group);...
Page 498 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.2 I/O Instructions WAIT Function Waits until the external input signal status matches the specified status. Additional IN# (<input number>), Item IGH# (<input group number>), IG# (<input group number>), OT# (<user output number>), OGH# (<output group number>),...
Page 499 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.3 Control Instructions 10.3 Control Instructions JUMP Function Jumps to the specified label or job. Additional * <label character string>, Item JOB:<job name>, IG# (<input group number>), B<variable number>, I<variable number>, D<variable number>...
Page 500 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.3 Control Instructions UNTIL Function Monitors the specified input signal during an action and stops the action when the specified signal status is observed. Described after an instruction statement that specifies a certain action.
Page 501 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.4 Shift Instructions 10.4 Shift Instructions SFTON Function Starts a shift operation. Additional P<variable number>, Item BP<variable number>, base coordinates EX<variable number>, BF,RF,TF, robot coordi- UF#(<user coordinate number>) nates tool coordinates user coordinates...
Page 502 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.5 Operating Instructions 10.5 Operating Instructions Function Adds Data1 and Data2, and stores the result in Data1. Format:ADD<Data1><Data2> Additional Data1 B<variable number>, Data1 must I<variable number>, always be a Item D<variable number>, variable.
Page 503 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.5 Operating Instructions Function Multiplies Data1 by Data2, and stores the result in Data1. Format:MUL<Data1><Data2> Data1 can be an element in a position variable. Pxxx(0):all axis data, Pxxx(1):X-axis data, Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,...
Page 504 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.5 Operating Instructions Function Obtains the AND of Data1 and Data2, and stores the result in Data1. Format:AND<Data1><Data2> Additional Data1 B<variable number> Item Data2 B<variable number>, Constant Example AND B012 B020 Function Obtains the OR of Data1 and Data2, and stores the result in Data1.
Page 505 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.5 Operating Instructions GETE Function Extracts an element in a position variable. Additional D<variable number> Item P<variable number> (<element number>), BP<variable number> (<element number>), EX<variable number> (<element number>) Example GETE D006 P012 (4)
Page 506 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.5 Operating Instructions CLEAR Function Starting with the variable number in Data1, clears (sets to zero) as many variables as specified by a number in Data2. Format:CLEAR<Data1><Data2> Additional Data1 B<variable number>, Item I<variable number>,...
Page 507 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.5 Operating Instructions MFRAME Function Creates a user coordinate using the position data for the given three points as definition points. <Data1> indicates the definition point ORG position data, <Data2> the definition point XX position data, and <Data3> the definition point XY position data.
Page 508 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ Table of Basic Instructions DX100 10.5 Operating Instructions Function Obtains the character code of the first letter of the character string (ASCII) of Data2, and stores the result in Data1. Format:ASC<Data1><Data2> Additional Data1 B <variable number>, Item I <variable number>,...
Page 509 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index Symbols ’ (comment) 10-6 * (label) 10-5 Actual Welding 9-18 10-8 additional items ADVINIT 10-6 ADVSTOP 10-6 Airgun condition data ALARM HISTORY 1-24 alarm history data ALL CMOS AREA alphanumeric input 1-19 ANALOG MONITOR 1-24...
Page 510 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index circular interpolation CLEAR 10-12 Clearance data clearance file 9-52 clearance teaching function 9-49 clearing reference position pulse for wear detection 9-111 ClO parameter CNVRT 10-11 COMMAND POSITION 1-24 COMMAND POSITION window 3-43 comments compensation of gun arm bend...
Page 511 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index E. STOP Button edit mode 1-14 , 1-22 editing comments 5-12 editing condition files 3-70 editing interpolation type 3-69 editing play speed 3-65 electrode touch position teaching function 9-40 electrode wear detection 9-23 emergency stop...
Page 512 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index gun connection (PICK) signal 9-35 GUN COOL WTR ERR 9-99 gun cooling water error 9-94 gun disconnection (PLACE) confirmation signal 9-35 gun identification signal 9-35 gun No. 9-12 gun pressure compensation function 9-60 gun pressure file 9-14 gun pressure file No.
Page 513 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index 1-23 , 7-7 JOB CAPACITY 1-23 JOB CAPACITY window 3-44 JOB CONTENT window 3-42 JOB HEADER window 3-41 joint coordinates 1-14 , 2-2 , 2-5 joint interpolation JUMP 10-5 KEY ALLOCATION 1-25 label search 3-93...
Page 514 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index manual welding MASTER JOB 1-23 max pressure 9-104 medium speed 1-14 menu area 1-2 , 1-11 , 1-16 MFRAME 10-13 MID$ 10-14 minor alarms 4-18 mirror shift function 6-45 MODE mode switch modification of speed type...
Page 515 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index PAGE PAGE key PAM function 6-37 parallel shift function parallel shift job conversion function 6-16 PARAMETER 1-24 , 7-7 , 7-8 PARAMETER BATCH pasting 3-62 PAUSE 10-6 PICK 9-35 PICK (gun mounted) 9-35 PLACE (gun removed)
Page 516 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index ROBOT 1-8 , 1-24 robot axis 1-13 robot matching parameter robot-coordinates mirror-shift funciton 6-45 SAVE 1-24 saving a condition file or general data 7-18 saving a job 7-12 , 7-16 saving a parameter 7-20 saving all CMOS data...
Page 517 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index spot gun characteristic data SPOT WELD DIAGNOSIS 9-26 Spot welding condition data spot welding Power Source characteristic data SQRT 10-12 START 1-4 , 3-1 start button station axis 1-13 status display area 1-11 , 1-13...
Page 518 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index undo 3-37 UNTIL 10-6 upper-tip teaching 9-50 USER COORDINATE 1-24 user coordinate data user coordinates 1-14 , 2-2 , 2-12 , 2-13 USER ID 1-25 user variables 3-71 user word registration user-coordinates mirror-shift function 6-45...
Page 519 该文档是极速PDF编辑器生成，如果想去掉该提示,请访问并下载： http://www.jisupdfeditor.com/ DX100 Index WRONG DATA LOG 1-25 9-11 9-11 10-10 Z-axis 工控帮助教小舒QQ:2823408167 Index-11...
Page 520 Fax +49-8166-90-103 YASKAWA ELECTRIC KOREA CORPORATION 1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Fax +82-53-382-7845 Phone +82-53-382-7844 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741 Fax +65-6289-3003 Phone +65-6282-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.

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