YASKAWA Motoman XRC Скачать руководство пользователя

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July 15, 2003

MOTO

MAN

805 Liberty Lane

West Carrollton, OH 45449

TEL: (937) 847-6200 FAX: (937) 847-6277

24-HOUR SERVICE HOTLINE: (937) 847-3200

The information contained within this document is the proprietary property of Motoman, Inc., and may

not be copied, reproduced or transmitted to other parties without the expressed written authorization of

Motoman, Inc.

MOTO

MAN

Because we are constantly improving our products, we reserve the right to change specifications without notice.

MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

XRC and XRC 2001 Controller

Twin Drive
Function Manual

for UP/SKX-Series Robots

Part Number 148308-1

Содержание Motoman XRC

Страница 1: ...not be copied reproduced 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 product...

Страница 2: ......

Страница 3: ...2 1 Introduction 2 1 2 2 Standard Conventions 2 2 2 3 General Safeguarding 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...

Страница 4: ...Twin Drive Function Manual ii MOTOMAN NOTES...

Страница 5: ...wing Concurrent I O Parameters Manual for XRC 2001 P N 147626 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 14...

Страница 6: ...INTRODUCTION Twin Drive Function Manual 1 2 MOTOMAN NOTES...

Страница 7: ...m 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 use the robot system be trai...

Страница 8: ...e and 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 conc...

Страница 9: ...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 procedures during equipmen...

Страница 10: ...lved with the operation of the equipment must understand potential dangers of operation Programming tips are as follows Any modifications of the controller PLC can cause severe personal injury or deat...

Страница 11: ...ty 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 the...

Страница 12: ...ram 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 cell...

Страница 13: ...peration 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 X...

Страница 14: ...roduct 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 d...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 19: ...6 1 Precautions when selecting Motor 6 1 6 2 Precautions when Setting Station Axes 6 1 6 2 1 Setting Mechanical Specifications 6 1 6 2 2 Setting Motor Specifications 6 1 6 2 3 Setting the Rotating Di...

Страница 20: ...viii...

Страница 21: ...space for equipment installation A system where a station axis with a heavy load is operated by two motors may be built to provide the necessary motor capacity and torque In such a system the two moto...

Страница 22: ...1 2...

Страница 23: ...es of stations where the twin drive can be used The above three station types can be selected when setting the station axis for the system configuration Station type Configuration Remarks Number of st...

Страница 24: ...2 2 Fig A TWIN 3A Fig B TWIN 3B Fig C TWIN 2 3rd station axis 2nd station axis 1st station axis 3rd station axis 2nd station axis 1st station axis 2nd station axis 1st station axis...

Страница 25: ...es move according to the taught job data 3 1 Axis Operation When the station axis with the twin drive is selected for the axis operation the following motion is performed For the station axis with the...

Страница 26: ...on mode Example For TWIN 2 Press the 1st axis key to move the 2nd axis and the 1st axis at the same time In this case no axis moves when the 2nd axis key is pressed Pressing the master axis key moves...

Страница 27: ...the single motion mode by external input before starting the axis operation The motion mode does not change when the external input status is changed while an axis key is pressed The motion mode is d...

Страница 28: ...3 1 Axis Operation 3 4...

Страница 29: ...the general purpose input numbers When general purpose input numbers are not set to the above parameters when 0 is set for the station axes with twin drive function the twin motion is the default mod...

Страница 30: ...4 2...

Страница 31: ...The general purpose input number set for the parameter appears When there is not set general purpose input number appears MODE The external input signal status appears TWIN The specified general purpo...

Страница 32: ...5 2...

Страница 33: ...A203 6 2 1 Setting Mechanical Specifications When setting the station axis enter the following data for the mechanical specifications MOTION RANGE MOTION RANGE REDUCTION RATIO NUMER REDUCTION RATIO DE...

Страница 34: ...pon Application with Coordinated Motion The station coordinated function can be used as an option The following restrictions apply for the station axes with the twin drive 6 4 1 Coordinated Motion wit...

Страница 35: ...wan 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 L...

Страница 36: ...4...

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