vii
Setup • Diagnosis 15
1
Outline of Setting and Diagnosis
2
Security System
2.1
Protection Through Security Mode Settings
. . . . . . . . . . . . . . . . .2-1
2.1.1
Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
"
Modification of Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.1.2
User ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
"
Changing a User ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
3
System Setup
3.1
Home Position Calibration
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1
Home Position Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.2
Calibrating Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
"
Registering All Axes at On Time . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
"
Registering Individual Axes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
"
Changing the Absolute Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
"
Clearing Absolute Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.3
Home Position of the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2
Specified Point
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.1
Purpose of Position Check Operation . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.2.2
Specified Point Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.2.3
Procedure After an Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.3
Setting the Controller Clock
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.4
Setting Play Speed
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.5
All Limits Releasing
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.6
Overrun / Shock Sensor Releasing
. . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.7
Interference Area
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.7.1
Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.7.2
Cubic Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
"
Cubic Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
"
Setting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
"
Setting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.7.3
Axis Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
"
Axis Interference Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
"
Setting Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.7.4
Clearing Interference Area Data . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-29
3.8
Operation Origin Point Setting
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
3.8.1
What is the Operation Origin Point? . . . . . . . . . . . . . . . . . . . . . . . . .3-30
3.8.2
Setting Operation Origin Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
"
Operation Origin Point Display . . . . . . . . . . . . . . . . . . . . . . . . . .3-30
"
Registering/Changing the Operation Origin Point . . . . . . . . . . . .3-30
"
Returning to the Operation Origin Point . . . . . . . . . . . . . . . . . . .3-31
"
Output of the Operation Origin Point Signal . . . . . . . . . . . . . . . .3-31
Summary of Contents for PX2750
Page 2: ......
Page 4: ...PX2850 PX2750 Manipulator Manual ii MOTOMAN NOTES...
Page 20: ...viii...
Page 24: ...xii...
Page 40: ...1 7 Notes on MOTOMAN Disposal 1 16...
Page 58: ...4 3 Connection Methods 4 12...
Page 66: ...6 1 Movement of the Axes 6 4...
Page 72: ...8 2...
Page 73: ......
Page 99: ......
Page 100: ......
Page 282: ...2 8 General I O Signal Assignment 2 72...
Page 318: ...4 4 Recommended Spare Parts 4 30...
Page 333: ...xiv...
Page 334: ...Setup Diagnosis...
Page 335: ......
Page 337: ...1 2...
Page 345: ...2 1 Protection Through Security Mode Settings 2 8...
Page 443: ...3 17 File Initialize 3 98...
Page 465: ...4 2 Addition of Base and Station Axis 4 22...
Page 483: ...5 6 Position Data When Power is Turned ON OFF 5 18...
Page 484: ...Hardware...
Page 485: ......
Page 495: ...6 4 Equipment Configuration 6 10...
Page 497: ...7 2...
Page 505: ...8 8 Open Phase Check 8 8...
Page 525: ...9 4 Recommended Spare Parts 9 20...
Page 526: ...Alarm Error...
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