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Interface with an Easy Offline Teaching System

DX100

4.3

Configuration of Position Data

4-22

156191-1CD

HW0482494

4.3.2 Position Data of Each Coordinate System

The position data of a robot axis, base axis, and station axis in each
coordinate system is as follows.

4.3.2.1 Base Coordinate System

4.3.2.2 Robot Coordinate System

Robot Axis Coordinate Values
(Xb,Yb,Zb,RXb,RYb,RZb)

Base Axis Coordinate Values

Base Coordinate System

Station Axis Pulse Values(W1,W2)

Robot Axis Coordinate Values
(Xr,Yr,Zr,RXr,RYr,RZr)

Base Axis Coordinate Values
(X0,Y0,Z0)

Base Coordinate System

Station Axis Pulse Values(W1,W2)

Robot Coordinate System

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Содержание MOTOMAN-DX100

Страница 1: ...uct and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN DX100 INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR S MANUAL DX100 M...

Страница 2: ...operating this product 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...

Страница 3: ...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 c...

Страница 4: ...otion Fig Release of EM TURN Observe the following precautions when performing teaching operations within the P point maximum envelope of the manipulator View the manipulator from the front whenever p...

Страница 5: ...all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant to the...

Страница 6: ...t 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 pictur...

Страница 7: ...1 3 2 Verification of Information Related to Relative Job 3 4 3 2 1 Verifying Coordinate System 3 4 3 2 2 Verifying Command Positions 3 5 3 3 Instructions Related to Relative Job 3 6 3 3 1 CALL JUMP 3...

Страница 8: ...Coordinate System Coordinate Job 4 17 4 2 7 Job for Robot Axis 7 Axis Robot Axis 6 Axis Base Coordinate System Coordinate Job 4 19 4 3 Configuration of Position Data 4 21 4 3 1 Position Data of Each...

Страница 9: ...of coordinate systems can be used Base coordinate system Robot coordinate system User coordinate system 63 systems available 1 2 Relative Job Shift Functions In a relative job that uses a user coordin...

Страница 10: ...system or varying the coordinate system number without due consideration may cause the manipulator to move in an unexpected direction when the job is executed Be careful when changing the coordinate s...

Страница 11: ...Workpiece Position Error After teaching a standard job for a workpiece placed at a reference point the job is converted into a relative job in a user coordinate system With a shift function and senso...

Страница 12: ...ystem No 1 created in step 2 Z Coordinate Y Coordinate X Coordinate External Computer Vision Controller etc Camera a b c Position Data of a b c ON RESET T I HOLD START PLAY TEACH REMOTE T Z T Z B Y R...

Страница 13: ...1 P000 P001 P002 MOVJ VJ 50 0 CALL JOB RELATIVE 1 END User coordinate system created Moving to waiting position RELATIVE 1 of user coordinate system No 1 executed Z coordinate Y coordinate X coordinat...

Страница 14: ...h location fine adjustment at each position is possible 1 Create a job for a single workpiece 2 Teach a user coordinate system for instance UF 1 for the workpiece in that location 3 Convert the job cr...

Страница 15: ...ng the user coordinate system taught in step 2 4 Move the workpiece to another location and teach another user coordinate system for instance UF 2 for the workpiece in that location 5 Specify the oper...

Страница 16: ...step 1 into a relative job using the user coordinate system taught in step 2 4 Save the created relative job in an external memory device 5 Set workpieces to manipulators No 2 and No 3 to which the j...

Страница 17: ...B under the main menu 2 Select JOB CONTENT 3 Select UTILITY under the menu 4 Select RELATIVE JOB Relative job conversion window appears A SOURCE JOB Selects the job to be converted 1 Select SOURCE JOB...

Страница 18: ...played 2 Select one either BASE ROBOT or USER for the conversion destination When selecting USER press ENTER after inputting user coordinate numbers D DESTINATION JOB Sets a destination job 1 Select D...

Страница 19: ...display shows that when a relative job has been converted into a standard job OV appears in the programming steps when the new position is beyond the P point maximum envelope of the manipulator When O...

Страница 20: ...d for teaching can be verified in the job header window 1 Select JOB under the main menu 2 Select JOB CONTENT 3 Select DISPLAY under the menu 4 Select JOB HEADER The job header window appears The wind...

Страница 21: ...2 Verifying Command Positions The command position of XYZ type can be verified by calling up the command position window for the relative job 1 Select ROBOT under the main menu 2 Select COMMAND POSIT...

Страница 22: ...job was taught using a user coordinate system the job can be carried out using another user coordinate system when called by CALL or JUMP Example A relative job JOB 1 which was taught using the user...

Страница 23: ...points of the user coordinate system is stored as position variables A user coordinate system is created using the position variables MFRAME UF 1 P000 P001 P002 ORG XX XY Position variables and positi...

Страница 24: ...move the cursor to the line immediately above the place where an instruction is to be registered In the job content window in the teach mode move the cursor to the line immediately above the place wh...

Страница 25: ...to display an input line Move the cursor to the job to additionally register as a CALL instruction then press SELECT NOTE Notes on registering CALL and JUMP instructions When a relative job is starte...

Страница 26: ...right after calling the job and do nothing else even if the current and the commanded manipulator positions match 3 4 2 Addition and Modification of Steps 3 4 3 Cut Paste Function Cutting and pasting...

Страница 27: ...tandard job the method specified by this parameter is also used Previous Step Regarded Constant B axis sign Effective for a job of which the B axis does not pass the point 0 i e in case of an operatio...

Страница 28: ...the B axis angle of the previous step During operation movement is made keeping the B axis angle sign constant so that it does not change Therefore it is used for a job of which the B axis does not p...

Страница 29: ...ndard job where the B axis does not pass 0 When converting a relative job into a standard job the manipulator s current posture is referred To perform a conversion posture the manipulator in a similar...

Страница 30: ...ly when the shift amount is large This method can not be applied to such cases use the method 3 5 1 Previous Step Regarded Constant B axis Sign NOTE When converting a standard job into a relative job...

Страница 31: ...ion special attention must be paid If the teaching position is near the pole changing point the movement may not be made for the specified type when the position is shifted according to the workpiece...

Страница 32: ...he final tool position and stance are not changed before and after shifting 0 180 90 90 0 180 90 90 The position after shifting when the R axis movement is minimum R Axis 180 90 90 180 90 90 The posit...

Страница 33: ...Job Data Format When a relative job is saved in FD PC card or output by data transmission the output file contents are as follows FILE NAME JBI JOB NAME JOB NAME POS NPOS C BC EC P BP EX USER N TOOL...

Страница 34: ...tion is distinguished by a single slash at its beginning Each level of individual instructions are marked with a double slash a triple slash and a fourfold slash A pseudo instruction related to the jo...

Страница 35: ...positions P Number of robot axis position variables BP Number of base axis position variables EX Number of external station axis position variables USER Function Represents the currently selected use...

Страница 36: ...obot axis teaching position BCxxxxx Base axis teaching position ECxxxxx External station axis teaching position Pyyyy Robot axis position variables BPyyyy Base axis position variables EXyyyy External...

Страница 37: ...xis Cartesian data Y Y axis Cartesian data Z Z axis Cartesian data Rx Rx axis Cartesian data Ry Ry axis Cartesian data Rz Rz axis Cartesian data Re Re axis Cartesian data 1 1 axis Cartesian data 2 2 a...

Страница 38: ...to 32 characters ATTR Function Represents the job attribute Format ATTR Attribute 1 Attribute 2 Attribute16 Attribute JD DD SC RO WO RW RJ JD Job Destroy DD Directory Destroy SC Save Complete RO WO R...

Страница 39: ...tion 3 RB4 robot 4 ST4 station 4 RB5 robot 5 ST5 station 5 RB6 robot 6 ST6 station 6 RB7 robot 7 ST7 station 7 RB8 robot 8 ST8 station 8 BS1 base 1 ST9 station 9 BS2 base 2 ST10 station 10 BS3 base 3...

Страница 40: ...tion 3 RB4 robot 4 ST4 station 4 RB5 robot 5 ST5 station 5 RB6 robot 6 ST6 station 6 RB7 robot 7 ST7 station 7 RB8 robot 8 ST8 station 8 BS1 base 1 ST9 station 9 BS2 base 2 ST10 station 10 BS3 base 3...

Страница 41: ...tion 3 RB4 robot 4 ST4 station 4 RB5 robot 5 ST5 station 5 RB6 robot 6 ST6 station 6 RB7 robot 7 ST7 station 7 RB8 robot 8 ST8 station 8 BS1 base 1 ST9 station 9 BS2 base 2 ST10 station 10 BS3 base 3...

Страница 42: ...ation 3 RB4 robot 4 ST4 station 4 RB5 robot 5 ST5 station 5 RB6 robot 6 ST6 station 6 RB7 robot 7 ST7 station 7 RB8 robot 8 ST8 station 8 BS1 base 1 ST9 station 9 BS2 base 2 ST10 station 10 BS3 base 3...

Страница 43: ...Number of byte type local variables LI Number of integer type local variables LD Number of double precision type local variables LR Number of real number type local variables LS Number of character ty...

Страница 44: ...ER RECTAN RCONF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 C00000 2 605 3 745 2 487 67 4787 39 3194 30 6741 C00001 263 527 101 601 209 722 67 0846 39 4051 31 2718 C00002 91 821 100 624 96 994 67...

Страница 45: ...0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 C00000 1 516 0 379 0 800 168 5608 2 1509 55 2154 0 1459 C00001 103 781 7 954 128 240 166 1249 1 1481 56 7026 0 2007 C00002 91 337 25 556 125 652 166 1254 1 1503 56 7031 2...

Страница 46: ...0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 C00000 820 000 0 000 614 000 180 0000 0 0000 0 0000 C00001 938 810 115 601 612 394 180 0000 0 1362 0 8904 C00002 1030 204 460 007 454 071 179 9986 0 1269 0 8976 RCONF...

Страница 47: ...ECTAN RCONF 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 C00000 820 000 0 000 614 000 180 0000 0 0000 0 0000 C00001 1120 945 125 866 693 276 174 9881 5 2855 4 3206 RCONF 0 0 0 0 0 0 0 0 0 0 0 0 0 0...

Страница 48: ...000 614 000 180 0000 0 0000 0 0000 C00001 310 699 189 229 878 797 129 5429 3 6290 6 7380 C00002 645 072 351 344 537 037 129 5434 3 6303 6 7375 RCONF 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 BC0...

Страница 49: ...0 180 0000 0 0000 0 0000 TOOL 0 C00002 902 507 80 143 654 194 173 2600 5 5468 5 0081 TOOL 1 C00003 819 450 2 043 613 932 179 7161 0 2478 0 2509 TOOL 0 C00004 896 573 78 209 654 051 172 4974 6 8732 5 6...

Страница 50: ...e Teaching System DX100 4 2 Relative Job Data Examples 4 18 156191 1CD HW0482494 SMOVL C00002 V 46 0 MOVL C00003 SMOVL C00004 V 46 0 MOVL C00005 MOVL C00006 V 46 0 MOVL C00007 V 11 0 MOVL C00008 V 46...

Страница 51: ...OOL 0 C00002 793 954 422 714 861 754 171 6558 30 9222 1 2583 4 5765 TOOL 1 C00003 714 876 195 197 968 938 104 5394 7 2542 82 4590 0 0000 TOOL 0 C00004 778 995 426 244 865 671 171 3396 31 1937 1 4285 3...

Страница 52: ...e Teaching System DX100 4 2 Relative Job Data Examples 4 20 156191 1CD HW0482494 SMOVL C00002 V 46 0 MOVL C00003 SMOVL C00004 V 46 0 MOVL C00005 MOVL C00006 V 46 0 MOVL C00007 V 11 0 MOVL C00008 V 46...

Страница 53: ...coordinate system with roll pitch or yaw By rotating the specified coordinate system in the order of Rz Ry and Rx it takes the coordinate system posture of the control point 4 3 1 2 Station Axis S1 W1...

Страница 54: ...oordinate system is as follows 4 3 2 1 Base Coordinate System 4 3 2 2 Robot Coordinate System Zb Xb 0b Yb Robot Axis Coordinate Values Xb Yb Zb RXb RYb RZb Base Axis Coordinate Values Base Coordinate...

Страница 55: ...Zu RXu RYu RZu Base Axis Coordinate Values X0 Y0 Z0 Base Coordinate System Station Axis Pulse Values W1 W2 Yu Xu Zu User Coordinate System NOTE The user coordinate system of 7 axis manipulator takes X...

Страница 56: ...each axis while sharing the same coordinate system at the control point In consequence apart from the coordinate value the data to specify the manipulator s poseur should also be specified since the...

Страница 57: ...or exceeds 180 Note R is the angle when the R axis zero point position is assumed to be at 0 4 4 3 T axis Angle Specify whether the T axis angle is within 180 or exceeds 180 Note T is the angle when...

Страница 58: ...ion center either right or left side of the S axis rotation center If its center is at the right side of the S axis rotation center it is defined as front and left side is back The above figures show...

Страница 59: ...When it is 7 axis manipulator viewing the L axis and U axis from the right side specify the side of the U axis rotation center either right or left side of the S axis rotation If its center is at the...

Страница 60: ...s when the L axis and the U axis are viewed from the right side 4 4 6 S axis Angle Specify whether the S axis angle is within 180 or exceeds 180 Note s is the angle when the S axis zero point position...

Страница 61: ...2 THREE STEPS SAME LINE No data display The three points for creating the user coordinates lie on the same line Teach again so that the three points do not lie on the same line Error Number Message Co...

Страница 62: ...ecified job and executes it If a user coordinate system number is specified the job is executed using the coordinate system indicated by that number when calling a relative job Additional items JOB Jo...

Страница 63: ...2 HW0482494 MANUAL NO Specifications are subject to change without notice for ongoing product modifications and improvements DX100 INSTRUCTIONS FOR RELATIVE JOB FUNCTION 63 63...

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