YASKAWA MOTOMAN-SDA Instructions Manual Download | Manualshive

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2

Axis Operation

FS100

2.1

Control Point Fixed Motion During Base Axis Operation

2-2

HW1481025

HW1481025

Fig. 2-3: Control Point Fixed Rotation Base Axis Operation: Dual- Arm (R1
and R2)

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Summary of Contents for MOTOMAN-SDA

Page 1: ...R MOTOMAN SDA TYPE Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS FS100 INSTRUCTIONS FS100 OPERATOR S MANUAL FS100 MAINTENANCE MANUAL 1 15 Part Number 160765 1CD Revision 0 ...

Page 2: ...l Point Fixed Motion During Base Axis Operation 2 1 2 1 1 Control Point Fixed Base Axis Operation for Single Arm 2 3 2 1 2 Control Point Fixed Base Axis Operation for Dual Arm 2 5 2 2 Axis Operation in Cartesian Coordinate System 2 7 2 2 1 Setting Method 2 8 3 Job Configuration 3 1 4 Note 4 1 2 15 ...

Page 3: ...shows the control group configuration of the dual arm system in which the shared base axis is used Fig 1 1 Configuration of Dual Arm System in the FS100 System NOTE The job created by the former DX100 system configuration whose rotation axis is registered as S1 cannot be used in the FS100 system in which the shared base axis is employed NOTE Th In the FS100 system up to 4 axes can be controlled th...

Page 4: ...is by operating the rotation base axis in the cartesian coordinate the rotation axis can be kept moving with each manipulator s control point at fixed point Following figures fig 2 1 fig 2 2 and fig 2 3 show the manipulator s control point fixed operation during the base axis operation Fig 2 1 Control Point Fixed Rotation Base Axis Operation Single Arm R1 Fig 2 2 Control Point Fixed Rotation Base ...

Page 5: ...2 Axis Operation FS100 2 1 Control Point Fixed Motion During Base Axis Operation 2 2 HW1481025 HW1481025 Fig 2 3 Control Point Fixed Rotation Base Axis Operation Dual Arm R1 and R2 5 15 ...

Page 6: ... Point Fixed Motion During Base Axis Operation 2 3 HW1481025 HW1481025 2 1 1 Control Point Fixed Base Axis Operation for Single Arm 1 Select SETUP in the Main Menu 2 Select JOG CONDITION SETTING JOG CONDITION SETTING window appears 6 15 ...

Page 7: ...roup selecting method please refer to 2 2 0 3 Select Control Group in FS100 OPERATOR S MANUAL RE CSO A043 Also select cartesian coordinates for the operating coordinate system For its selecting method please refer to 2 2 0 4 Select Coordinate System in FS100 OPERATOR S MANUAL RE CSO A043 5 Turn the servo ON press X or X and then operate B1 or B2 axis At this time the rotation base axis moves while...

Page 8: ...l Point Fixed Motion During Base Axis Operation 2 5 HW1481025 HW1481025 2 1 2 Control Point Fixed Base Axis Operation for Dual Arm 1 Select SETUP in the Main Menu 2 Select JOG CONDITION SETTING JOG CONDITION SETTING window appears 8 15 ...

Page 9: ...group selecting method please refer to 2 2 0 3 Select Control Group in FS100 OPERATOR S MANUAL RE CSO A043 Also select cartesian coordinates for the operating coordinate system For its selecting method please refer to 2 2 0 4 Select Coordinate System in FS100 OPERATOR S MANUAL RE CSO A043 5 Turn the servo ON press X or X and then operate B1 or B2 axis At this time the rotation base axis moves whil...

Page 10: ... 2 4 Base Coordinate Based Axis Operation Direction the manipulator will move in accordance with the ground fixed base coordinate system In this case it might be difficult for the operator to confirm the manipulator s moving direction To clear this problem setting of the robot coordinate to the reference coordinate when the manipulator is operated in the cartesian coordinate is made possible As de...

Page 11: ...ation FS100 2 2 Axis Operation in Cartesian Coordinate System 2 8 HW1481025 HW1481025 2 2 1 Setting Method 1 Select SETUP in the Main Menu 2 Select JOG CONDITION SETTING JOG CONDITION SETTING window appears 11 15 ...

Page 12: ...For the control group selecting method please refer to 2 2 0 3 Select Control Group in FS100 OPERATOR S MANUAL RE CSO A043 Also select cartesian coordinates for the operating coordinate system For its selecting method please refer to 2 2 0 4 Select Coordinate System in FS100 OPERATOR S MANUAL RE CSO A043 5 Turn the servo ON At this time R1 or R2 moves in accordance with the coordinate set at RECTA...

Page 13: ...ing B1 movement Interpolation at R2 control point including B2 movement R2 coordinated interpolation movement on R1 tool coordinate 4 R1 B1 R2 B2 R2 master Interpolation at R1 control point including B1 movement Interpolation at R2 control point including B2 movement R1 coordinated interpolation movement on R2 tool coordinate NOTE The dual arm system in the FS100 system the rotation axis motor is ...

Page 14: ... be the same position Use text editor etc to edit the job s base axis position If the taught positions of B1 and B2 differ even in the same step follow ing alarm occurs at the time the moving instruction of this step is executed AL4523 SHARED BASE AXIS CONTROL ERROR 1 4 In the dual arm system in which the shared base axis is used the station twin synchronous function cannot be validated The follow...

Page 15: ...in Japan December 2011 11 12 C Specifications are subject to change without notice for ongoing product modifications and improvements YASKAWA ELECTRIC CORPORATION FS100 OPTIONS INSTRUCTIONS SUPPLEMENTARY FOR MOTOMAN SDA TYPE 15 15 ...

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