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YASKAWA MOTOMAN DX100, Инструкция по эксплуатации

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Introduction

  

3 

 
Multiple Environment Software/Multiple Language Software/Dual Media Software/Multiple 
Copies/Upgrades. 
If this package contains, or, if in connection with the acquisition of the Software contained in 
this package you receive, two or more operating environment versions of the Software (e.g. 
Windows95 and WindowsNT), two or more language translation versions of the Software, the 
same Software on two or more media (e.g., diskettes and a CD-ROM), and/or you otherwise 
receive two or more copies of the Software, the total aggregate number of computers on 
which all versions of the Software are used may not be more than one (1), see text above. You 
may make one back-up copy, in accordance with the terms of this Agreement, for each ver-
sion of the Software you use. You may not rent, lease, sublicense, lend or transfer versions or 
copies of the Software you do not use, or Software contained on any unused media, except as 
part of the permanent transfer of all Software and Documentation as described above. 
 
YASKAWA Europe GmbH AND ITS SUPPLIERS DO NOT AND CANNOT WARRANT 
THE PERFORMANCE OR RESULTS YOU MAY OBTAIN BY USING THE SOFTWARE 
OR DOCUMENTATION. THE FOREGOING STATES THE SOLE AND EXCLUSIVE 
REMEDIES FOR YASKAWA Europe GmbH'S OR ITS SUPPLIERS' BREACH OF WAR-
RANTY, YASKAWA Europe GmbH AND ITS SUPPLIERS MAKE NO WARRANTIES 
OR CONDITIONS, EXPRESS OR IMPLIED, AS TO NONINFRINGEMENT OF THIRD 
PARTY RIGHTS, MERCHANTABILITY, SATISFACTORY QUALITY OR FITNESS 
FOR ANY PARTICULAR PURPOSE. IN NO EVENT WILL YASKAWA Europe GmbH 
OR ITS SUPPLIERS BE LIABLE TO YOU FOR ANY DAMAGES WHATSOEVER (IN-
CLUDING, WITHOUT LIMITATION CONSEQUENTIAL, INCIDENTAL OR SPECIAL 
DAMAGES, INCLUDING ANY LOST PROFITS OR LOST SAVINGS) ARISING OUT 
OF THE USE OR INABILITY TO USE THE SOFTWARE EVEN IF AN YASKAWA 
Europe GmbH REPRESENTATIVE  HAS BEEN ADVISED OF THE POSSIBILITY OF 
SUCH DAMAGES, OR FOR ANY CLAIM BY ANY THIRD PARTY. WHERE LEGALLY 
LIABILITY CANNOT BE EXCLUDED, BUT IT MAY BE LIMITED, YASKAWA Europe 
GmbH'S LIABILITY AND THAT OF ITS SUPPLIERS SHALL BE LIMITED TO THE 
AMOUNT PAID FOR THE SOFTWARE. 
 
Nothing contained in this Agreement shall prejudice the statutory rights of any party dealing 
as a consumer. Nothing contained in this Agreement limits YASKAWA Europe GmbH's li-
ability to you in the event of death or personal injury resulting from YASKAWA Europe 
GmbH's negligence. 
YASKAWA Europe GmbH is acting on behalf of its suppliers for the purpose of disclaiming, 
excluding and/or restricting obligations, warranties and liability as provided in this Clause 7, 
but in no other respects and for no other purpose. 
 
Please note that you may not decompile the Software unless it is essential to do so in order to 
achieve operability of the Software with another software program and you have first re-
quested YASKAWA Europe GmbH to provide the information necessary to achieve such 
operability. YASKAWA Europe GmbH has the right to impose reasonable conditions and to 
request a reasonable fee before providing such information. Any information supplied by 
YASKAWA Europe GmbH or obtained by you, as permitted hereunder, may only be used by 
you for the purpose stated in the Directive and may not be disclosed to any third party or used 
to create any software which is substantially similar to the expression of the Software. 
Requests for information should be directed to the Customer Support: 
YASKAWA Europe GmbH 
Kammerfeldstrasse 1 

Yaskawa Europe GmbH 

 

22.08.2011 

16/55

Содержание MOTOMAN DX100

Страница 1: ...initial operation or maintenance read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS DX100 NX100 or XRC INSTRUCTIONS DX100 NX100 or XRC OPERATOR S MANUAL DX100 NX10...

Страница 2: ...the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such a modification is made the manual numbe...

Страница 3: ...tes 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...

Страница 4: ...cted positioner motion Figure 2 Release of EMERGENCY STOP Button TURN Observe the following precautions when performing teaching operations within the working envelope of the positioner View the posit...

Страница 5: ...m immediately and be sure that all other necessary processing has been performed Check for problems in positioner movement Check for damage to insulation and sheathing of external wires Always return...

Страница 6: ...em are denoted with e g ENTER Symbol Keys The keys which have a symbol printed on them are not denoted with but depicted with a small picture e g PAGE key The cursor key is an exception and a picture...

Страница 7: ...on of the MotoAdmin Program Chapter 3 MotoAdmin This chapter provides detailed descriptions of the MotoAdmin Program 1 2 Reference to Other Documentation For additional information refer to the follow...

Страница 8: ...e contact information Please allow approximately 24 to 36 hours for a response to your inquiry Please have the following information ready before you call techsupport motoman com NOTE Please use e mai...

Страница 9: ...ly trained to operate program and 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...

Страница 10: ...the robot I O Inputs and Outputs 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 proce...

Страница 11: ...nel involved with the operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications to PART 1 of the controller PLC can cause severe perso...

Страница 12: ...safety equipment 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...

Страница 13: ...program changes 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...

Страница 14: ...MotoAdmin 14 55...

Страница 15: ...single location on a hard disk or other storage device of one 1 computer 2 Make one backup copy of the Software provided your backup copy is not installed or used on any computer 3 Home Use The prima...

Страница 16: ...TIAL INCIDENTAL OR SPECIAL DAMAGES INCLUDING ANY LOST PROFITS OR LOST SAVINGS ARISING OUT OF THE USE OR INABILITY TO USE THE SOFTWARE EVEN IF AN YASKAWA Europe GmbH REPRESENTATIVE HAS BEEN ADVISED OF...

Страница 17: ...re technology yaskawa eu com MOTOMAN is a trademark of Yaskawa Electric Corporation Windows is a registered trade mark of Microsoft Corporation YOUR ACCEPTANCE OR DECLINE OF THE FOREGOING AGREEMENT WA...

Страница 18: ...2 XRC 14 3 MANAGEMENT FUNCTIONS IN MAIN MENU 16 3 1 File menu 16 3 2 Settings menu 16 3 2 1 Robot Setup 16 3 3 View menu 17 3 4 Tools menu 18 3 4 1 Check connection 18 3 4 2 Select language 18 3 4 3...

Страница 19: ...4 13 Edit Jobs 27 4 14 Job Liste laden 28 4 15 Access variables 29 4 16 Watch I O Signals 32 4 17 Saving Loading and Deleting files 33 4 17 1 Jobs 34 4 17 2 System data 35 4 17 3 One Button Backup 36...

Страница 20: ...ob list 28 Figure 19 Global variables 29 Figure 20 Edit variables 30 Figure 21 Initialization of position variables 30 Figure 22 Confirm initialization 31 Figure 23 Select type of position variable 31...

Страница 21: ...e necessary hardware is not part of MotoAdmin Figure 1 Main window MotoAdmin To get the full functionality of MotoAdmin the robot controller must run in CommandRe mote mode MotoAdmin supports the foll...

Страница 22: ...e grouped into 3 different security zones It must be considered that depend ing on selected security level there are some functions which can cause danger to human and machine Therefore it is importan...

Страница 23: ...irectly om CDROM After splash screen is displayed select installation of MotoAdmin corresponding message appears restart your computer computer Please confirm selected interface is a parallel interfac...

Страница 24: ...c attach one end of the cable to a RS232 port of your pc the other end of the cable connect to the serial port of robot controller In case of XRC it is not possible to use RS232 port of Teachbox Ether...

Страница 25: ...Rate 8 19200 Baud 7 9600 Baud 6 4800 baud 5 7 RS034 Timer A No in 0 1s 30 RS035 Timer B No in 0 1s 200 RS036 ENQ Retry Count No 10 RS037 Data Retry Count No 3 RS038 Block Check Meth 0 Checksum 0 RS07...

Страница 26: ...al Functions Network System Setup Optional Functions Ethernet Detail Using right TCP IP address data The displayed TCP IP data should be seen as an example If PC has the address 192 168 100 11 and a s...

Страница 27: ...RS076 255 RS077 Subnet mask 0 RS078 192 RS079 168 RS080 100 RS081 Default Gateway 100 Table 4 Basic settings XRC Ethernet or serial RS232 Parts of the table are marked grey These are additional setti...

Страница 28: ...f PC has the address 192 168 100 11 and a subnet mask of 255 255 255 0 a communication would be possible if proper cabeling Hub Switch or direct connection with crosslink cable is assumed Physical con...

Страница 29: ...profiles can be added or removed For each profile a unique name must be inserted In the second step the transfer type must be selected Basically Ethernet or serial communica tion can be used dependen...

Страница 30: ...d robot ini So after application is closed data is still present The name of the currently selected robot profile can be seen in the toolbar of MotoAdmin The list contains all available robot profiles...

Страница 31: ...on dialog is shown at application start by default Figure 6 Language selection To prevent MotoAdmin from displaying the language selection dialog at every application start select option Ignore langua...

Страница 32: ...8 Mode Menu To change to a different level select desired level and enter password Figure 9 Change security level If the entered password is valid for the selected security level the level will be cha...

Страница 33: ...tem In the dis played dialog the new password must be entered twice The new password must be entered twice Figure 10 Change password To change the password your security level must be higher then the...

Страница 34: ...Management functions in main menu 21 3 6 Men Hilfe The help menu should be accessed if there are problems or questions concerning the functions of MotoAdmin Yaskawa Europe GmbH 22 08 2011 34 55...

Страница 35: ...same or different PC s If the connection protocol is siehe Figure 2 Ethernet http multiple instances can connect to the same robot controller In contrast Ethernet Bsc allows only one client Innerhalb...

Страница 36: ...em File Exit 4 6 Display working directory In the working directory all data of the robot is stored To display contents of working direc tory in a windows explorer window push the corresponding button...

Страница 37: ...or an error graphically You have to click on the Reset button to reset an alarm To confirm an error you have to click the Cancel button Another status item is the Emergency Stop signal which is displ...

Страница 38: ...Remote Teach mode if parameter S2C177 NX100 respec tively S2C225 DX100 is set to 0 4 10 Cycle mode There are 3 different Cyle modes Die Zyklus Auswahl gestattet die Auswahl des Operations zyklus d h s...

Страница 39: ...ing task selection The Job button always displays the currently selected task Job status line The job status line shows the active job of the selected task in addition to current line and Step number...

Страница 40: ...b window 4 13 Edit Jobs Editing job which can be initiated by selecting menu Edit in context menu of job window is done without checking syntax Therefore it is only suitable for experienced programmer...

Страница 41: ...a list of jobs stored in the robot controller click on the Job List button Figure 18 Display Job list Context menu of job list Context menu of job list can be used to select a job for execution or to...

Страница 42: ...ariable Station String h the variables use the arrow button or click on variable and insert desired ariable number f you want to cancel editing without ansmitting the entered value to the robot press...

Страница 43: ...ll appear instead of the values Figure 21 Initialization of position variables Position variables can be initialized by clicking on the type of the variable Pulse Ro bot Base etc If a position variabl...

Страница 44: ...ext step the type of position variable has to be selected Figure 23 Select type of position variable The display is static To update the variable values you have to click on the Refresh button Press C...

Страница 45: ...ad AUX Relais System Status Pseudo Input Sign Network Inputs Use the arrow buttons to navigate through the outputs or inputs All outputs are read only You can only write Network IN signals So if there...

Страница 46: ...on the current secu rity level the following operations are possible Figure 25 Floppy function In the first step you have to select the desired operation Save Transmit data from Robot to PC Load Tran...

Страница 47: ...troller save or all available jobs in the working directory of the current robot configuration load are displayed Figure 27 Job selection for saving jobs You can select the desired jobs by clicking on...

Страница 48: ...owing dialog you can mark the available files You have to take into account that depending on the Robot controller software installed options there might be files which cannot be loaded or saved Figur...

Страница 49: ...ler Backup definition files can only be used in case of saving data For one controller mul tiple backup definition files can be defined see Figure 26 The files must be stored in the working directory...

Страница 50: ...7 4 17 4 Deleting data If the Floppy menu item Delete is selected you can choose whether to delete a file on Robot or on PC Figure 32 Deleting data Only jobs can be deleted on Robot side Yaskawa Europ...

Страница 51: ...displayed after slecting Info button This dialog contains basic information of selected robot controller Software version Robot type Base axis and external axis Current pulse and cartesian position In...

Страница 52: ...4 19 Read Alarm History Alarm History can be accessed by selecting AlarmHistory button The Alarm History is sorted by date time so that newest item are listed on top Figure 34 Alarm History Yaskawa Eu...

Страница 53: ...inenumber display of DX100 controllers is disabled by default To enable linenumber display a specific entry has to be added to the corresponding configura tion section in file robot ini Boot Name defa...

Страница 54: ...Known Limitations 41 Imprint Yaskawa Europe GmbH Kammerfeldstra e 1 85391 Allershausen Germany Phone 00498166900 Fax 0049816690103 Yaskawa Europe GmbH 22 08 2011 54 55...

Страница 55: ...1 150880 1CD MANUAL NO Specifications are subject to change without notice for ongoing product modifications and improvements MOTOADMIN DX100 NX100 AND XRC MANUAL 55 55...

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