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YASKAWA FS100L, Инструкция по эксплуатации

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3-1

174512-1CD

HW1483164

Conveyor Coordinated 
Function

3     Conveyor Coordinated Axis Operation
  

3

Conveyor Coordinated Axis Operation

The conveyor coordinated axis can be operated by the jog operation or 
the move instruction (MOVJ) in the same way as the usual station axis.

The position pulse of the conveyor coordinated axis is automatically 
changed to a value between -180 degrees and +180 degrees when one 
rotation of the conveyor is regarded as 360 degrees.

 

Even though the axis moves in one direction continuously, the value does 
not exceed the range between -180 degrees and +180 degrees.

Therefore, the conveyor coordinated axis can move continuously without 
exceeding the pulse limit even though the axis moves in one direction 
continuously.

When using MOVJ instruction, the axis automatically moves in the nearer 
direction; in the direction where the moving amount is 180 degrees or 
less.  Therefore, when using the move instruction of the job (MOVJ) to 
make the conveyor coordinated axis move continuously, divide one 
conveyor rotation into at least three to teach.

(Example) When executing such jobs as follows, the axis moves 
continuously in the + direction.

    NOP

    *0

    MOVJ EX000    // 0 deg

    MOVJ EX001    // 120deg

    MOVJ EX002    // -120deg

    JUMP *0

    END

Fig. 3-1: Continuous Motion of the Conveyor Coordinated Axis

(;

GHJ

(;

GHJ

(;

GHJ

21 of 28

Содержание FS100L

Страница 1: ...rence This instruction is applicable to both FS100 and FS100L controllers MOTOMAN INSTRUCTIONS FOR SMALL SIZED MANIPULATORS MOTOMAN INSTRUCTIONS FS100 INSTRUCTIONS FS100 OPERATOR S MANUAL FS100 MAINTENANCE MANUAL FOR LARGE AND MEDIUM SIZED MANIPULATORS MOTOMAN INSTRUCTIONS FS100L INSTRUCTIONS FS100L OPERATOR S MANUAL FS100L MAINTENANCE MANUAL The FS100 OPERATOR S MANUAL above is applicable to both...

Страница 2: ... is copyrighted property of Yaskawa and may not be sold or redistributed in any way You are welcome to copy this document to your computer or mobile device for easy access but you may not copy the PDF files to another website blog cloud storage site or any other means of storing or distributing online content Printed in the United States of America First Printing 2015 Yaskawa America Inc Motoman R...

Страница 3: ...t between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications 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 t...

Страница 4: ...r is responsible for providing adequately trained personnel to operate program and maintain the equipment NEVER ALLOW UNTRAINED PERSONNEL TO OPERATE PROGRAM OR REPAIR THE EQUIPMENT We recommend approved Yaskawa training courses for all personnel involved with the operation programming or repair of the equipment This equipment has been tested and found to comply with the limits for a Class A digita...

Страница 5: ...situation which if not avoided could result in death or serious injury to personnel WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury to personnel CAUTION Indicates a potentially hazardous situation which if not avoided could result in minor or moderate injury to personnel and damage to equipment It may also be used to alert against un...

Страница 6: ... cable in the dummy connector To use the signal make sure to supply a new connector and then input it If the signal is input with the jumper cable connected it does not function which may result in personal injury or equipment damage Once the emergency stop button is released clear the cell of all items which could interfere with the operation of the manipulator Then turn the servo power ON Injury...

Страница 7: ...n the programing pendant CAUTION Perform the following inspection procedures prior to teaching the manipulator If problems are found correct them immediately and be sure that all other necessary tasks have been performed Check for problems in manipulator movement Check for damage to the insulation and sheathing of external wires Return the programming pendant to a safe place after use If the progr...

Страница 8: ...nation Programming Pendant Character Keys The keys which have characters printed on them are 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 ex PAGE key The Cursor is an exception and a picture is not shown Axis Keys Numeric Keys Axis Keys and Numeric Keys are generic names for the keys for axis operation and num...

Страница 9: ...re the expression Select means that the cursor is moved to the object item and the SELECT key is pressed or that the item is directly selected by touching the screen Registered Trademark In this manual names of companies corporations or products are trademarks registered trademarks or brand names for each company or corporation The indications of R and TM are omitted 9 of 28 ...

Страница 10: ...urs for a response to your inquiry Please have the following information ready before you call Customer Support techsupport motoman com NOTE Please use e mail for routine inquiries only If you have an urgent or emergency need for service replacement parts or information you must contact Motoman Customer Support at the telephone number shown above System Conveyor Coordinated Function Robots _______...

Страница 11: ...on of the Mechanical Specifications of the Station Axis 2 1 2 1 2 Setting Conveyor Coordinate Mechanical Specification 2 3 2 2 Setting for the Conveyor Synchronization Operation 2 5 2 2 1 Conveyor Condition File 2 5 2 2 2 Conveyor Home Position Signal LS Signal 2 6 3 Conveyor Coordinated Axis Operation 3 1 4 Job Example 4 1 4 1 System Configuration 4 1 4 2 Conveyor Coordinated Axis Job 4 2 4 3 Man...

Страница 12: ...ded It became possible to use a station axis of the FS100 as a conveyor axis Hereinafter a station axis used as a conveyor is described as a conveyor coordinated axis In the same way as the usual station axis a conveyor coordinated axis is moved by the move instruction of the job Set the conveyor condition file to register the conveyor coordinated axis as the conveyor before use To make the manipu...

Страница 13: ...ernal conveyor and the conveyor coordinated axis CNTR 01R is necessary Fig 1 1 External Conveyor and Conveyor Coordinated Axis When using only the conveyor coordinated axis CNTR 01R is not necessary Fig 1 2 Conveyor Coordinated Axis Only CV 2 Conveyor CV 1 Conveyor Coordinated Axis S1 CV 2 Conveyor Coordinated Axis S1 CV 1 Conveyor Coordinated Axis S1 13 of 28 ...

Страница 14: ...the conveyor coordinated function For the conventional conveyor synchronized function refer to the following manuals FS100 OPTIONS INSTRUCTIONS FOR CONVEYOR SYNCHRONIZED FUNCTION 161365 1CD FS100 OPTIONS INSTRUCTIONS FOR CONVEYOR SYNCHRONIZED FUNCTION SUPPLEMENTARY FOR CONVEYOR SYNCHRONIZED FUNCTION WITH SHIFT FUNCTIONS 161595 1CD FS100 OPTIONS INSTRUCTIONS FOR CONVEYOR SYNCHRONIZED FUNCTION SUPPL...

Страница 15: ... and the conveyor coordinated axis accurately the conveyor coordinated axis is registered as a specific station type Set the mechanical specifications of the conveyor coordinated axis as follows 2 1 1 Confirmation of the Mechanical Specifications of the Station Axis Select SYSTEM and SETTING to display CONTROL GROUP window in the maintenance mode Select DETAILE at CV MPP0003 A0 of S1 or S2 Press E...

Страница 16: ...veyor Coordinated Axis 2 2 174512 1CD HW1483164 Conveyor Coordinated Function MECHANICAL SPEC window appears Confirm the following values are set MOTION RANGE 360 000 deg MOTION RANGE 360 000 deg REDUCTION RATIO NUMER 1 000 REDUCTION RATIO DENOM 9999 000 16 of 28 ...

Страница 17: ...e setting Set the following values for the gear ratio rotation ratio and load inertia ratio GEAR RATIO Reduction ratio of the speed reducer etc If there is a sprocket set the rotation ratio between the sprocket and the motor ROTATION RATIO Rotation ratio between the conveyor and the motor How many times the motor rotates per one whole rotation of the conveyor operated as the conveyor coordinated a...

Страница 18: ... pulse is 0 in the jog operation the axis comes where the pulse is 0 In case of a half rotation the axis comes where the pulse is 4096 x rotation ratio 2 In the example 4096 x 98437 1000 2 201599 pulse When the values are different from the above confirm the rotation ratio because it may be wrong NOTE Gear Ratio and Load Inertia Ratio When the gear ratio and load inertia ratio are wrong the convey...

Страница 19: ...e usual conveyor CN1 or CN2 is set for PORT NO In the case of registering the conveyor coordinated axis register S1 or S2 there For other settings than PORT NO set values in the same way as the conventional conveyor synchronized control Example As shown in the following figure when using CV 1 as the conveyor coordinated axis and CV 2 as the external conveyor set S1 for the PORT NO in the conveyor ...

Страница 20: ...nated axis moves to the home position Refer to chapter 4 Job Example Also conveyor home position signal for the external conveyor can be turned ON by the specific input Instead of using the specific input the external LS signal can be also used as usual 40660 40661 40662 Conveyor Conveyor Conveyor Home position signal Home position signal Home position signal S1 S2 S3 40670 40671 40672 40673 40674...

Страница 21: ...e between 180 degrees and 180 degrees Therefore the conveyor coordinated axis can move continuously without exceeding the pulse limit even though the axis moves in one direction continuously When using MOVJ instruction the axis automatically moves in the nearer direction in the direction where the moving amount is 180 degrees or less Therefore when using the move instruction of the job MOVJ to mak...

Страница 22: ... the workpiece throwing device the FS100 moves the bucket conveyor for one bucket amount and sends the bucket sending completion signal to the workpiece throwing device When the workpiece throwing device receives the bucket sending completion signal the device turns OFF the bucket sending request and puts workpieces in the empty buckets This procedure is repeated The manipulator picks up the workp...

Страница 23: ...veyor for one bucket amount and outputs the bucket sending completion signal This is a job configuration example when the setting is as follows Conveyor home position signal S1 OUT 2 Such CIO ladders as follows are added Bucket sending request signal IN 2 Bucket sending completion signal OUT 3 By inputing the conveyor home position signal every time one bucket is moved each bucket position on the ...

Страница 24: ...ಙྕࠖࢆ 21 029 GHJ ࢥࣥ ࣖࢆ㸯ࣂࢣࢵࢺศືస 287 27 21 ࠕ ࡾ ࠖࢆ 21 7 1 2 ࠕ ࡾせồࠖ2 ࢆᚅࡘ 287 27 2 ࠕ ࡾ ࠖࢆ 2 GHJ 7 1 21 38 6 27 7 029 GHJ 287 27 21 7 1 2 287 27 2 GHJ 7 1 21 38 6 27 7 029 GHJ 287 27 21 7 1 2 287 27 2 㸸 㸸 GHJ 7 1 21 38 6 27 7 029 GHJ 287 27 21 7 1 2 287 27 2 GHJ 7 1 21 38 6 27 7 029 GHJ 287 27 21 7 1 2 287 27 2 㸸 㸸 GHJ 7 1 21 38 6 27 7 029 GHJ 287 27 21 7 1 2 287 27 2 803 1 Wait for Sending request to be...

Страница 25: ...ed Whether the conveyor is the usual conveyor or the conveyor coordinated axis the manipulator job is the same 2 1 0 5 027 21 㸸 㸸 㸸 㸸 5283 5 9 56 123 723 029 9 సᴗཎⅬ 3 9 6 67 57 9 673 217 2 75 3 75 3 6 029 9 9 73 287 27 21 DQG 6 029 9 9 73 7 0 5 7 6 029 9 9 73 6 1 9 217 948 9 3 9 6 67 57 9 673 217 2 75 3 75 3 6 029 9 9 73 6 029 9 9 73 287 27 2 DQG 7 0 5 7 6 029 9 9 73 6 1 9 217 948 9 803 3 9 75 3 9...

Страница 26: ...ed axis job and manipulator job should be operated independently Start respective jobs from the master job by the independent control function In the actual system the home positioning of the manipulator and conveyor should be taken into consideration when the system starts 2 1 0 0 67 5 㸸 㸸 123 367 57 2 9 68 367 57 2 52 27 68 1 26 of 28 ...

Страница 27: ...ed function can produce enough accuracy Therefore set 0 in the normal use Setting the value may lead to less accuracy because of the excess correction 1 Select the teach mode and the maintenance mode or higher for the security mode and then select Manipulator and Conveyor coordinated set 2 When the conveyor synchronized operation starts and the manipulator moves slower than the conveyor coordinate...

Страница 28: ...6 10 6788 2878 YASKAWA SHOUGANG ROBOT Co Ltd 426 Udyog Vihar Phase IV Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electric China Co Ltd 22 F One Corporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 㧗86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 252 125 126 27th Floor Tower B Mu...

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