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YASKAWA MOTOMAN-MH50, Инструкция по эксплуатации

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xiii

163471-1CD

HW1481050

MH50/MH50-35/MH80/
MS80 Zeroing

     Table of Contents
  

Table of Contents

1   Zeroing Function ............................................................................................................................. 1-1

1.1   Outline ............................................................................................................................... 1-1

1.2   Details on Zeroing Function............................................................................................... 1-2

1.2.1   System Configuration ........................................................................................... 1-2

1.2.1.1   System Configuration of the Zeroing Device Using the CF Card ............ 1-2
1.2.1.2   System Configuration of the Zeroing Device Using the USB Connector. 1-3

1.2.2   Operational Procedure and Cautions ................................................................... 1-4

1.2.2.1   Before the Zeroing Operation.................................................................. 1-4
1.2.2.2   Connection of the Zeroing Devices ......................................................... 1-4
1.2.2.3   Zeroing Procedure for S-Axis .................................................................. 1-6
1.2.2.4   Zeroing Procedure for L-Axis ................................................................ 1-11
1.2.2.5   Zeroing Procedure for U-Axis................................................................ 1-16
1.2.2.6   Zeroing Procedure for R-Axis................................................................ 1-21
1.2.2.7   Zeroing Procedure for B-Axis ................................................................ 1-26
1.2.2.8   Zeroing Procedure for T-Axis ................................................................ 1-31

1.3   Errors in the Zeroing Operation and Solutions ................................................................ 1-36

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Содержание MOTOMAN-MH50

Страница 1: ...NG SPECIFICATION Upon receipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN MH50 INSTRUCTIONS MOTOMAN MH...

Страница 2: ...al 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 P...

Страница 3: ...e reading this manual CAUTION Some drawings in this manual are shown with the protective covers or shields removed for clarity Be sure all covers and shields are replaced before operating this product...

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 approv...

Страница 5: ...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 agains...

Страница 6: ...mum envelope of the manipulator Be sure to use a lockout device to the safeguarding when going inside Also display the sign that the operation is being performed inside the safeguarding and make sure...

Страница 7: ...gistered trademarks or brand names for each company or corporation The indications of R and TM are omitted CAUTION Perform the following inspection procedures prior to conducting manipulator teaching...

Страница 8: ...ollow the warnings on the labels Also an identification label with important information is placed on the body of the manipulator Prior to operating the manipulator confirm the contents Figure 3 Warni...

Страница 9: ...whenever it is not in use In accordance with ANSI RIA R15 06 2012 section 4 2 5 Sources of Energy use lockout tagout procedures during equipment maintenance Refer also to Section 1910 147 29CFR Part...

Страница 10: ...s or jobs a backup must always be made before any service procedures are done and before any changes are made to options accessories or equipment Any modifications to the controller unit can cause sev...

Страница 11: ...rained qualified personnel Summary of Warning Information This manual is provided to help users establish safe conditions for operating the equipment Specific considerations and precautions are also d...

Страница 12: ...o 36 hours 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...

Страница 13: ...n of the Zeroing Device Using the USB Connector 1 3 1 2 2 Operational Procedure and Cautions 1 4 1 2 2 1 Before the Zeroing Operation 1 4 1 2 2 2 Connection of the Zeroing Devices 1 4 1 2 2 3 Zeroing...

Страница 14: ...rmed at the normal operation However zeroing operation needs to be performed to restore the home position since the home position data disappear when you perform the following operations or the follow...

Страница 15: ...le 1 1 Components for Zeroing Device Using CF Card Slot Component Type Qty Manufacturer Sensor HW0381863 A 1 YASKAWA Electric Corporation Amplifier HW0381864 A 1 YASKAWA Electric Corporation Lead wire...

Страница 16: ...1863 A 1 YASKAWA Electric Corporation Amplifier HW0381864 A 1 YASKAWA Electric Corporation Lead wire HW0470652 A 1 YASKAWA Electric Corporation Communication cable C232N 915 1 YASKAWA Electric Corpora...

Страница 17: ...munication interface REX CF60 into the CF card slot of the programming pendant When using the USB slot Insert the communication interface REX USB60F into the USB slot of the programming pendant Fig 1...

Страница 18: ...C232N 915 3 Connect the lead wire to the amplifier Do not connect the sensor yet The installation locations of the zeroing sensors for each axis are shown in Fig 1 4 Installation Locations of the Zero...

Страница 19: ...st if they are found S axis NOTE Be sure to remove the cover If the zeroing operation is performed with the cover on the sensor may be damaged NOTE The plug cover and cover mounting screws are small p...

Страница 20: ...h on the programming pendant to TEACH 8 Select Robot Zeroing from Main Menu Then select S S axis on the touch panel 9 Turn ON the servo power by the SERVO ON READY button and Enable switch on the prog...

Страница 21: ...the message in the pop up window and the manipulator starts automatically NOTE Confirm that no persons are present in the P point maximum envelope of the manipulator and the operator is in a safe pla...

Страница 22: ...install the plug and cover onto the manipulator NOTE Be sure to turn OFF the servo power to approach the manipulator Injury may result from unintentional or unexpected manipulator motion NOTE After th...

Страница 23: ...witch on the programming pendant Then press FWD to move TCP to the second home position Check for any position deviation of the manipulator s second home position 21 Select Data from Main Menu Confirm...

Страница 24: ...ust if they are found L axis NOTE Be sure to remove the cover If the zeroing operation is performed with the cover on the sensor may be damaged NOTE The plug cover and cover mounting screws are small...

Страница 25: ...ch on the programming pendant to TEACH 8 Select Robot Zeroing from Main Menu Then select L L axis on the touch panel 9 Turn ON the servo power by the SERVO ON READY button and Enable switch on the pro...

Страница 26: ...the message in the pop up window and the manipulator starts automatically NOTE Confirm that no persons are present in the P point maximum envelope of the manipulator and the operator is in a safe pla...

Страница 27: ...install the plug and cover onto the manipulator NOTE Be sure to turn OFF the servo power to approach the manipulator Injury may result from unintentional or unexpected manipulator motion NOTE After th...

Страница 28: ...witch on the programming pendant Then press FWD to move TCP to the second home position Check for any position deviation of the manipulator s second home position 21 Select Data from Main Menu Confirm...

Страница 29: ...they are found U axis NOTE Be sure to remove the cover If the zeroing operation is performed with the cover on the sensor may be damaged NOTE The plug cover and cover mounting screws are small parts b...

Страница 30: ...ch on the programming pendant to TEACH 8 Select Robot Zeroing from Main Menu Then select U U axis on the touch panel 9 Turn ON the servo power by the SERVO ON READY button and Enable switch on the pro...

Страница 31: ...the message in the pop up window and the manipulator starts automatically NOTE Confirm that no persons are present in the P point maximum envelope of the manipulator and the operator is in a safe pla...

Страница 32: ...install the plug and cover onto the manipulator NOTE Be sure to turn OFF the servo power to approach the manipulator Injury may result from unintentional or unexpected manipulator motion NOTE After th...

Страница 33: ...witch on the programming pendant Then press FWD to move TCP to the second home position Check for any position deviation of the manipulator s second home position 21 Select Data from Main Menu Confirm...

Страница 34: ...th the cover on the sensor may be damaged NOTE The plug cover and cover mounting screws are small parts Be sure not to lose them during the operation NOTE Be sure that the servo power is OFF and no sa...

Страница 35: ...the sensor onto the mounting holes 5 Connect the lead wire to the sensor 6 Turn ON the amplifier power If the amplifier power has been turned ON for prolonged periods of time turn OFF the power once a...

Страница 36: ...s automatically NOTE Confirm that no persons are present in the P point maximum envelope of the manipulator and the operator is in a safe place Injury may result from unintentional or unexpected manip...

Страница 37: ...install the plug and cover onto the manipulator NOTE Be sure to turn OFF the servo power to approach the manipulator Injury may result from unintentional or unexpected manipulator motion NOTE After th...

Страница 38: ...witch on the programming pendant Then press FWD to move TCP to the second home position Check for any position deviation of the manipulator s second home position 21 Select Data from Main Menu Confirm...

Страница 39: ...ust if they are found B axis NOTE Be sure to remove the cover If the zeroing operation is performed with the cover on the sensor may be damaged NOTE The plug cover and cover mounting screws are small...

Страница 40: ...ch on the programming pendant to TEACH 8 Select Robot Zeroing from Main Menu Then select B B axis on the touch panel 9 Turn ON the servo power by the SERVO ON READY button and Enable switch on the pro...

Страница 41: ...the message in the pop up window and the manipulator starts automatically NOTE Confirm that no persons are present in the P point maximum envelope of the manipulator and the operator is in a safe pla...

Страница 42: ...install the plug and cover onto the manipulator NOTE Be sure to turn OFF the servo power to approach the manipulator Injury may result from unintentional or unexpected manipulator motion NOTE After th...

Страница 43: ...tch on the programming pendant Then press FWD to move TCP to the second home position 21 Check for any position deviation of the manipulator s second home position 22 Select Data from Main Menu Confir...

Страница 44: ...ust if they are found NOTE Be sure to remove the cover If the zeroing operation is performed with the cover on the sensor may be damaged NOTE The plug cover and cover mounting screws are small parts B...

Страница 45: ...ch on the programming pendant to TEACH 8 Select Robot Zeroing from Main Menu Then select T T axis on the touch panel 9 Turn ON the servo power by the SERVO ON READY button and Enable switch on the pro...

Страница 46: ...the message in the pop up window and the manipulator starts automatically NOTE Confirm that no persons are present in the P point maximum envelope of the manipulator and the operator is in a safe pla...

Страница 47: ...einstall the plug and cover onto the manipulator NOTE Be sure to turn OFF the servo power to approach the manipulator Injury may result from unintentional or unexpected manipulator motion NOTE After t...

Страница 48: ...witch on the programming pendant Then press FWD to move TCP to the second home position Check for any position deviation of the manipulator s second home position 21 Select Data from Main Menu Confirm...

Страница 49: ...ceeded ErrorCode 55550005 Error in the zeroing processing Possible causes False parameter settings for zeroing speed distance radius and etc false starting point of the zeroing operation and etc Conta...

Страница 50: ...the programming pendant Insert the CF Card for the RS 232C into the slot Error RS 232C Communication ErrorCode 55550017 Errors occur during the amplifier communication Contact your nearest YASKAWA rep...

Страница 51: ...orporate Avenue No 222 Hubin Road Huangpu District Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA Electric Thailand Co Ltd 59 1st 5th Floor Flourish Building Soi Ratchadapisek...

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