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Motoman XRC Instruction Manual

For up/skx-series robots
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XRC Controller
M-NET Instruction
Manual
for UP/SKX-Series Robots
Part Number 143136-1
June 15, 1999
MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-HOUR SERVICE HOTLINE: (937) 847-3200
The information contained within this document is the proprietary property of Motoman,
Inc., and may not be copied, reproduced or transmitted to other parties without the
expressed written authorization of Motoman, Inc.
©1999 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications
without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

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Summary of Contents for Motoman XRC

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

  • Page 3: Table Of Contents

    Programming Safety ..................... 2-5 Operation Safety ......................2-6 Maintenance Safety....................... 2-7 M-NET INSTRUCTIONS Outline ......................... 1-1 Hardware Specifications ....................2-1 Function Setting Method ....................3-1 Mounting JANCD-MIF05 Board ................... 4-1 Allocating I/O Signals....................5-1 Error Indication ......................6-1 MOTOMAN M-NET Instruction Manual...
  • Page 4 NOTES M-NET Instruction Manual MOTOMAN...

  • Page 5: Introduction

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

  • Page 7: Safety

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

  • Page 8: Standard Conventions

    NOTE: Information appearing in a NOTE caption provides additional information which is helpful in understanding the item being explained. M-NET Instruction Manual MOTOMAN...

  • Page 9: General Safeguarding Tips

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

  • Page 10: Installation Safety

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

  • Page 11: Operation Safety

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

  • Page 12: Maintenance Safety

    SAFETY Maintenance Safety All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. Maintenance tips are as follows: •...
  • Page 13 MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN-¨¨¨ INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR’S MANUAL YASNAC XRC OPERATOR’S MANUAL for BEGINNERS The YASNAC XRC operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA MANUAL NO. RE-CKI-A424...
  • Page 14 M A N D A T O R Y • This manual explains the JANCD-MIF05 board of the YASNAC XRC sys- tem and general operations. Read this manual carefully and be sure to understand its contents before handling the YASNAC XRC.
  • Page 15 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the YASNAC XRC. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”,or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, W A R N I N G could result in death or serious injury to personnel.
  • Page 16 Injury may result if anyone enters the working envelope of the manipulator during opera- tion. Always press an emergency stop button immediately if there are problems.The emergency stop button is located on the right side of both the YASNAC XRC playback panel and programming pendant.
  • Page 17 W A R N I N G • Before wiring, be sure to turn OFF the power supply and put up a warn- ing sign, such as “DO NOT TURN ON THE POWER”. Failure to observe this warning may result in a fire or an electric shock. •...
  • Page 18 -Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. • Always return the programming pendant to the hook on the XRC cabinet after use. The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures.
  • Page 19 Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the playback panel, the programming pen- dant, and supply cables. The MOTOMAN manipulator is the YASKAWA industrial robot product.
  • Page 20 Descriptions of the programming pendant and playback panel keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on them are Pendant denoted with [ ]. ex. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
  • Page 21 ........4-2 4.5 Closing the Front Door of the XRC .

  • Page 23: Outline

    1.1 Features of System with JANCD-MIF05 Board 1 Outline By using the JANCD-MIF05 board (M-NET) for the XRC, the cost for wiring between modules (sequencer, positioning unit, measuring unit, etc.) that configure a system, can be reduced. The JANCD-MIF05 board is one of I/O modules, which is to be mounted on an I/O expasion backboard.
  • Page 24 1.2 System Configuration Example...

  • Page 25: Hardware Specifications

    2.1 Board External View 2 Hardware Specifications Board External View MIF05 S W 9 S W 5 S W 8 S W 7 S W 6 S W 4 LED1 S W E R R LED2 I/O ERR LED3 LED6 LED5 LED4 P O W E R...

  • Page 26: Board Specifications

    2.2 Board Specifications Board Specifications Items Specifications Interface to external devices Interface between modules (M-NET) Board mounting position I/O expansion backboard slot inside the XRC Error indicator LED display Number of transmission I/O Maximum number of I/O points points Input: 112 points...

  • Page 27: Connector

    2.4 Connector The transmission cable specifications “JKEV-SB” is a standard of Japan Cable Industry Association. The following shows the cable name of each manufacturer: Sumitomo Electric Industries, Ltd.: DPEV-SB Fujikura Ltd.: IPEV-SB The Furukawa Electric Co., Ltd.: KPEV-SB The JANCD-MIF05 board is exclusive-use for a slave station. “Y-mode”...

  • Page 28: Connection Of Transmission Cable

    2.5 Connection of Transmission Cable Connection of Transmission Cable Connect the TM1 (terminal stand) on the JANCD-MIF05 board and an external sequencer with a transmission cable (refer to Section 2.3 “Communication Specifications”). The connection example between the JANCD-MIF05 board and the B2806 (Memocon-SC 2000 series) is shown below.

  • Page 29: Function Setting Method

    3.1 Function Setting Switches 3 Function Setting Method Function Setting Switches The switches to set the functions of the JANCD-MIF05 board are explained. Make a proper setting according to the explanations. For details of setting, refer to Section 3.2 “Switch List”. SW1: Sets a termination resistance.

  • Page 30: List Of Switches

    3.2 List of Switches SW6: Sets a transmission mode. In “T-mode”, a communication of interface specifications between modules is per- formed. Normally, set to “T-mode”. ”Y-mode” can be used only when the master station is a sequencer for YASKAWA M- NET and a communication is performed in the “Y-mode”.
  • Page 31 7: 56 [ 64] F: Setting error (SW error) The value in [ ] is the number of I/O points reserved for the JANCD-MIF05 board inside the XRC. (The area for the board sta- tus is included.) Short-cirduited between 1 and 2: Y-mode...
  • Page 32 3.2 List of Switches Switches Setting Method Sets the slave address of JANCD-MIF05 board. The following shows the relation between the switch set- Setting of slave address tings and the slave addresses. Move the nozzles to the numbers corresponding to the desired slave address.

  • Page 33: Mounting Jancd-Mif05 Board

    Mount the JANCD-MIF05 board in the following manner. Opening the Front Door of XRC 1. Turn the two door locks on the front face of the XRC clockwise for 90° by using a coin or a flat tipped driver. 2. With the door locks turned clockwise for for 90°, turn the main switch handle to the...

  • Page 34: Confirming The Switch Settings On The Board

    4.2 Confirming the Switch Settings on the Board Confirming the Switch Settings on the Board 1. Be sure that the main power supply is OFF. 2. Loosen the board fixing screws to remove the JANCD-MIF05 board from the I/O expansion backboard. 3.

  • Page 35: Closing The Front Door Of The Xrc

    4.5 Closing the Front Door of the XRC Closing the Front Door of the XRC 1. Turn the main switch handle, which is now in the “OFF” position, to the “OPEN RESET” position, then slowly close the door. 2. Turn the two door locks counterclockwise for 90°.
  • Page 36 4.5 Closing the Front Door of the XRC...

  • Page 37: Allocating I/O Signals

    In order to use the JANCD-MIF05 board on the XRC, the system configuration should be set in the following manner. Make sure that the power supply of the XRC is OFF. Then mount the JANCD-MIF05 boad, for which all of its switches have been set, in either slot CNB1 or CNB2 on the I/O expansion backboard.
  • Page 38 5.1 Setting I/O Module The setup display appears. S E T U P The items marked with n can not be used. LANGUAGE CONTROL GROUP APPLICATION IO MODULE OPTION BOARD CMOS MEMORY DATE CLOCK !Maintenance Mode The current mounted status of the I/O modules are shown as in the example below. IO MODULE ST#01 DI-008 DO-008...
  • Page 39 5.1 Setting I/O Module The following should be taken into consideration when reading the display. N OT E For the JANCD-MIF05 board, as the number of I/O points reserved for the board status exists other than the number of transmission I/O points set at SW5, the number of I/O points shown on the display is the number calculated by “the set value of SW5 + 1 (for the board status)”.

  • Page 40: Transmitting Data

    The procedures to add I/O modules are completed. Transmitting Data The data to be transferred from the JANCD-MIF05 board to inside of the XRC is not only the I/ O data from the external device connected to the M-NET, but also the status of the JANCD- MIF05 board.
  • Page 41 5.2 Transmitting Data Slot Board Input Output JANCD-MIO04 2060 to 2067 input data (1) 3060 to 3067 output data (1) 2070 to 2077 input data (2) 3070 to 3077 output data (2) 2080 to 2087 input data (3) 3080 to 3087 output data (3) JANCD-MIF05 3090 to 3097 cannot be used 2090 to 2097 board status...
  • Page 42 5.2 Transmitting Data [JANCD-MIF05 Board Status] The status of the JANCD-MIF05 board (the lead 8 points of the allocation area) means as fol- lows. The value “xx” of the allocated input signals in the table differs depending on the board config- uration at allocation.

  • Page 43: Error Indication

    6.1 LED Indicators 6 Error Indication LED Indicators The operation status and/or error occurrence is displayed by LEDs on the JANCD-MIF05 board. The LED indicator and its contents are explained below. Indication Meanings Classification • Incorrect switch setting LED1 Red ON (SW ERR) Error display •...

  • Page 44: Corrective Actions

    6.2 Corrective Actions Corrective Actions The corrective actions when a LED is lit or unlit at error occurrence are explained below. Error Contents Corrective Actions Incorrect switch LED 1 • Verify the switch settings on the board again. setting (SW ERR) Transmission error LED 2 •...
  • Page 46 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD. 30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083 Phone 86-10-6233-2782 Fax 86-10-6232-1536 SHOUGANG MOTOMAN ROBOT CO., LTD. 7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing 100076, P.R. China Phone 86-10-6788-0551...

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