Motoman 142645-1 Manual Download

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Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200

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HQT725-:5GTKGU4QDQVU

Part Number:

142645-1

Release Date:

August 31, 2003

Document Version:

Document Status:

Final

Summary of Contents for 142645-1

Page 1: ...Carrollton OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 Hour Service Hotline 937 847 3200 QVQOCP 4 QPVTQNNGT 5GPUQT WPEVKQP CPWCN HQT 72 5 5GTKGU 4QDQVU Part Number 142645 1 Release Date August 31 20...

Page 2: ...produced or transmitted to other parties without the expressed written authorization of Motoman Inc 2003 by MOTOMAN All Rights Reserved Because we are constantly improving our products we reserve the...

Page 3: ...feguarding Tips 2 4 2 4 Mechanical Safety Devices 2 4 2 5 Installation Safety 2 5 2 6 Programming Safety 2 5 2 7 Operation Safety 2 6 2 8 Maintenance Safety 2 7 3 SENSOR FUNCTION 1 Sensor Function 1 1...

Page 4: ...Sensor Function ii MOTOMAN NOTES...

Page 5: ...nual P N 142102 1 Operator s Manual for General Purpose P N 142099 1 Operator s Manual for Handling P N 142100 1 Operator s Manual for Spot Welding P N 142101 1 Operator s Manual for Arc Welding P N 1...

Page 6: ...INTRODUCTION Sensor Function 1 2 MOTOMAN NOTES...

Page 7: ...maintain the robot cell The robot must not be operated by personnel who have not been trained We recommend that all personnel who intend to operate program repair or use the robot system be trained in...

Page 8: ...imminent hazards that if not avoided will result in immediate serious personal injury or loss of life in addition to equipment damage WARNING Information appearing under the WARNING caption concerns t...

Page 9: ...utputs The robot must be placed in Emergency Stop E STOP mode whenever it is not in use In accordance with ANSI RIA R15 06 section 6 13 4 and 6 13 5 use lockout tagout procedures during equipment main...

Page 10: ...e operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications to PART 1 of the MRC controller PLC can cause severe personal injury or de...

Page 11: ...for proper operation Repair or replace any non functioning safety equipment immediately Inspect the robot and work envelope to ensure no potentially hazardous conditions exist Be sure the area is clea...

Page 12: ...are made A backup must always be made before any servicing or changes are made to options accessories or equipment to avoid loss of information programs or jobs Do not enter the robot cell while it is...

Page 13: ...eration read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN SETUP MANUAL MOTOMAN INSTRUCTIONS YASNAC XRC INSTRUCTIONS YASNAC XRC OPERATOR S MANUAL YASNAC XR...

Page 14: ...duct The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due...

Page 15: ...a potentially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or m...

Page 16: ...k envelope to teach a job Operator injury can occur if the Teach Lock is not set and the manipulator is started from the playback panel Observe the following precautions when performing teaching opera...

Page 17: ...pair them immediately and be sure that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Alway...

Page 18: ...h ex ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture ex page key The cursor key is an exception and a picture is not shown Axis Ke...

Page 19: ...3 6 3 4 Instructions for the Real time Path Correction Function 3 7 3 4 1 ACORON and SACORON Instructions 3 7 n Registration of the ACORON Instruction 3 8 3 4 2 ACOROF and SACOROF Instructions 3 9 n R...

Page 20: ...4 7 Calibration 7 1 SCALIB Instruction 7 1 7 1 1 Registration of the SCALIB Instruction 7 2 7 2 Entering an Offset Value 7 3 7 3 All Channels Calibration 7 3 8 Sensor Output Status Display 8 1 Calling...

Page 21: ...on corrects the motion path of the manipulator according to the input signals from a sensor Normally a manipulator moves along the taught path However when the manipulator cannot move along the taught...

Page 22: ...Example A manipulator performs a handling operation of panels 1 The manipulator moves to the search starting position 2 The manipulator moves to the goal position in the search operation at low speed...

Page 23: ...1 4 Search Function 1 3 3 According to the calculated difference the program is modified to proceed the opera tion...

Page 24: ...1 4 Search Function 1 4...

Page 25: ...ard Connect the signals to the sensors in the following manner 1 Provide an analog input cable for the connection between the sensor and the XRC Connect the cables as shown below 2 Turn OFF the main p...

Page 26: ...nalog voltage output Sensor 2 Analog output GND GND AIN 2 Analog voltage output Sensor 3 Analog output GND GND AIN 3 Analog voltage output Sensor 4 Analog output GND GND 7 AIN 4 Analog voltage output...

Page 27: ...ng only when the direct IN signals are to be changed If the signals are to be changed rewire in the following manner 1 Turn OFF the main power supply by turning the breaker handle on the XRC to the OF...

Page 28: ...IN Signal Connection 2 4 Fig 2 Direct IN Signal Connection Diagram Before Shipment DIN4 DIN4 DIN2 DIN3 DIN3 DIN1 DIN2 DIN1 1 2 3 4 5 6 7 8 CN06 POUTCOM POUT2 POUTCOM POUT1 14 15 16 17 CN04 XCP02 XIU0...

Page 29: ...performed during path correction 1 To obtain a smooth travelling motion processes such as averaging the travel amount of the manipulator are executed in the servo control section Job Example 001 NOP 0...

Page 30: ...following for mula Where V Vnosens Voffset Cout R V Vnosens Voffset Where Vnosens Voffset V Vnosens Voffset Cout 0 Where V Vnosens Voffset Cout R V Vnosens Voffset Cout Correction amount R Resolution...

Page 31: ...nd SACORON instructions real time path correction start instructions 3 2 1 Tool Coordinate The correction is performed using a tool mounted on the wrist flange of the manipulator as a reference point...

Page 32: ...l coordinate system Correction Direction Sensor Input Channel specify at registration of instruction Forward direction CH1 Correction Direction Sensor Input Channel specify at registration of instruct...

Page 33: ...l can be set When the input voltage of an analog signal exceeds these values an error occurs 3 3 1 Sensor Monitor Condition File COND NO 1 to 16 Displays the file number MAX VOL MIN VOL 10 000 to 10 0...

Page 34: ...ion File 3 3 3 Editing of Sensor Monitor Condition File Select ROBOT under the top menu Select SENS MON COND Select an item to be changed Enter a value using the number keys Press ENTER STEP N STEP N...

Page 35: ...condition file Sets a condition file when the input voltage from the sensor is monitored When this setting is omitted monitoring is not performed For details on the file refer to Section 3 3 1 Sensor...

Page 36: ...buffer line 4 The detail edit display appears Move the cursor to the address area Press INFORM LIST 1 Select SENSOR 2 Select ACORON 3 Press SELECT 4 Set the conditions in the detail edit display 5 Pr...

Page 37: ...The ACOROF and the SACOROF are instructions to end the real time path correction Use the SACOROF in a coordinated job Format n Registration of the ACOROF Instruction 1 The instruction list dialog box...

Page 38: ...Sets a condition file when the input voltage from the sensor is monitored Threshold channel No Specifies a sensor input channel for path correction For details on the input channels refer to Section 3...

Page 39: ...ion appears in the input buffer line 4 The detail edit display appears Move the cursor to the address area Press INFORM LIST 1 Select SENSOR 2 Select ACORCH 3 Press SELECT 4 Set the conditions in the...

Page 40: ...rsor to either the THRESHOLD CH or THRESHOLD VOLT The fol lowing selection dialog box appears Select a condition to be changed Editing other items Select an item to be edited and enter a value using t...

Page 41: ...ed correction end instruction AOVROF To execute speed correction correct the override ratio This function only decreases the speed for the correction Job Example 001 NOP 002 MOVJ VJ 25 00 003 MOVL V 1...

Page 42: ...nosens Voffset Oout 100 Where Vnosens Voffset Vin Vnosens Voffset Oout R Vin Vnosens Voffset 100 Where Vin Vnosens Voffset Oout 0 Oout Override ratio R Resolution Vin Input voltage Vnosens Dead zone V...

Page 43: ...V Setting Range 10 000 to 10 000 n Registration of the AOVRON Instruction 1 The instruction list dialog box appears Instruction List Dialog Box 2 The sensor instruction list dialog box appears Sensor...

Page 44: ...tion list dialog box appears Instruction List Dialog Box 2 The sensor instruction list dialog box appears Sensor Instruction List Dialog Box 3 An AOVROF instruction appears in the input buffer line Mo...

Page 45: ...Coordinate System and Sensor Input Channel for Shift Amount Creation Select a coordinate system and a sensor input channel for the shift amount creation in the same manner as for the correction amoun...

Page 46: ...the specified coordinate system are averaged to calculate a shift amount Threshold Sets a threshold for excuting the creation of the shift amount When this setting and the threshold channel No are bot...

Page 47: ...diting other items Select an item to be edited and enter a value using the number keys Move the cursor to the address area Press INFORM LIST 1 Select SENSOR 2 Select GETSFT 3 Press SELECT 4 Set the co...

Page 48: ...5 3 GETSFT Instruction 5 4...

Page 49: ...cuted with a move instruction that has a specified search opera tion tag ASRCH The following move instructions start the search operation MOVL SMOVL Job Example 001 NOP 002 MOVJ VJ 25 00 003 MOVL V 10...

Page 50: ...operation one search detection channel is monitored But monitoring more than one channel at the same time is also possible In this case a detection is executed when a channel exceeds the threshold Se...

Page 51: ...Unit V Setting Range 10 000 to 10 000 Rising Falling Sets the direction in which the analog input signal passes the threshold RISE Rising detection Direction that the input voltage absolute value inc...

Page 52: ...he following dialog box appears Editing other items Select an item to be edited and enter a value using the number keys Move the cursor to the instruction area Move the cursor to a move instruction wh...

Page 53: ...lue Effective value Analog input voltage value Offset value When calibrating set the analog input voltage value to the offset value Offset value Analog input voltage value Set the offset value in the...

Page 54: ...display appears 5 Editing other items Editing in THRESHOLD CH Select THRESHOLD CH and enter a value using the number keys Move the cursor to the address area Press INFORM LIST 1 Select SENSOR 2 Select...

Page 55: ...alue 7 3 7 2 Entering an Offset Value Follow the explanation in Section 8 2 Editing in Sensor Output Status Display 7 3 All Channels Calibration Follow the explanation in Section 8 3 Calibration of Al...

Page 56: ...7 3 All Channels Calibration 7 4...

Page 57: ...ys the analog input port for the sensor input channel 8 1 Calling Sensor Output Status Display 8 2 Editing in Sensor Output Status Display Select ROBOT under the top menu Select SENS OUT STATUS Select...

Page 58: ...s for all the sensor input channels are set Select DATA under the top menu 1 Select ALL CH CALIBRATION 2 Operation Explanation SENS OUT STATUS SL1 CH INPUT OFFSET DEAD ZONE CONNECT 01 0 000 0 000 0 00...

Page 59: ...ion 0 No specification 1 AN0 5 AN4 2 AN1 6 AN5 3 AN2 7 AN6 4 AN3 8 AN7 CH1 0 21 CH2 0 22 CH3 0 23 CH4 0 24 CH5 0 25 CH6 0 26 Resolution For real time path correction 0 01 mm V For real time speed corr...

Page 60: ...to 10 57 General purpose output signal No at search detection 2 58 Direct IN signal No at search detection 2 59 Combination at execution of search operation by multiple sensors D0 CH1 D3 CH4 D1 CH2 D...

Page 61: ...he XCP02 board 5030 SYSTEM ERROR SEN SOR Decimal Data An error occurs in the sensor sys tem of the sensor function The decimal data indicates the type of error Needs investigation Contact your Yaskawa...

Page 62: ...10 2...

Page 63: ......

Page 64: ...BEIJING OFFICE Room No 301 Office Building of Beijing Intemational Club 21 Jianguomenwai Avenue Beijing 100020 China SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China YASKAWA JASON HK COMPANY LIMI...

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