YASKAWA MOTOMAN FS100 Bedienungsanleitung

MANUAL NO.

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YASKAWA ELECTRIC CORPORATION

FS100 OPTIONS

INSTRUCTIONS

FOR I/O JOG OPERATION IN PLAY-MODE

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain

for future reference.

MOTOMAN INSTRUCTIONSNS

MOTOMAN- INSTRUCTIONS

FS100 INSTRUCTIONS

FS100 OPERATOR’S MANUAL

FS100 MAINTENACE MANUAL

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Part Number: 159650-1CD

Revision: 0

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MANDATORY

• This manual explains the I/O JOG operation in play-mode of the

FS100 system. Read this manual carefully and be sure to

understand its contents before handling the FS100.

• General items related to safety are listed in the Chapter 1: Safety of

the FS100 Instructions. To ensure correct and safe operation,

carefully read the FS100 Instructions before 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.

• 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

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 tell the representative the manual

number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your

product’s warranty.

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FS100

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Notes For Safe Operation

Read this manual carefully before installation, operation, maintenance, or

inspection of the FS100.

In this manual, the Notes for Safe Operation are classified as

“WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”.

Even items described as “CAUTION” may result in a serious accident in

some situations. At any rate, be sure to follow these important items.

WARNING Indicates a potentially hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

CAUTION Indicates a potentially hazardous situa-

tion which, if not avoided, could result

in minor or moderate injury to person-

nel and damage to equipment. It may

also be used to alert against unsafe

practices.

MANDATORYAlways be sure to follow explicitly the

items listed under this heading.

PROHIBITED Must never be performed.

NOTE To ensure safe and efficient operation at all times, be sure to

follow all instructions, even if not designated as “CAUTION”

and “WARNING”.

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WARNING

• Confirm that no person is present in the manipulator’s operating

range and that you are in a safe location before:

– Turning ON the FS100 power.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the manipulator’s operating range

during operation. Always press the emergency stop button

immediately if there is a problem. The emergency stop button is

located on the right of the programming pendant.

• Observe the following precautions when performing teaching

operations within the manipulator’s operating range:

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the

manipulator’s unexpected motion toward you.

– Ensure that you have a safe place to retreat in case of

emergency.

Improper or unintended manipulator operation may result in injury.

• Before operating the manipulator, check that servo power is turned

OFF when the emergency stop button on the programming pendant

is pressed.

When the servo power is turned OFF, the SERVO ON LED on the

programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit

cannot stop the manipulator during an emergency. The manipulator

should not be used if the emergency stop button does not function.

Fig. : Emergency Stop Button

• In the case of not using the programming pendant, be sure to

supply the emergency stop button on the equipment. Then before

operating the manipulator, check to be sure that the servo power is

turned OFF by pressing the emergency stop button.

Connect the external emergency stop button to the 5-6 pin and 16-

17 pin of the robot system signal connector (CN2).

• Upon shipment of the FS100, this signal is connected by a jumper

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.

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Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the FS100 controller,

manipulator cables, the FS100 programming pendant (optional), and the

FS100 programming pendant dummy connector (optional).

In this manual, the equipment is designated as follows:

WARNING

• 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 may result from unintentional or unexpected manipulator motion.

Fig. : Release of Emergency Stop

CAUTION

• Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair 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.

• Always return the programming pendant to the hook on the FS100

cabinet after use.

The programming pendant can be damaged if it is left in the

manipulator’s work area, on the floor, or near fixtures.

• Read and understand the Explanation of the Warning Labels in the

FS100 Instructions before operating the manipulator.

Turn

Equipment Manual Designation

FS100 controller FS100

FS100 programming pendant Programming pendant

Cable between the manipulator

and the controller Manipulator Cable

FS100 programming pendant

dummy connector Programming pendant

dummy connector

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Descriptions of the programming pendant keys, buttons, displays and

keyboard of the PC are shown as follows:

Description of the Operation Procedure

In the explanation of the operation procedure, the expression “Select • • • “

means that the cursor is moved to the object item and the SELECT key is

pressed.

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.

Equipment Manual Designation

Programming

Pendant Character Keys The keys which have characters printed on

them 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 is

not shown.

Axis Keys

Numeric Keys “Axis keys” and “Numeric keys” are generic

names for the keys for axis operation and

number input.

Keys Pressed

Simultaneously When two keys are to be pressed

simultaneously, the keys are shown with a “+”

sign between them.

e.g. SHIFT key + COORD key

Mode Key Three kinds of modes that can be selected by

the mode key are denoted as follows:

REMOTE, PLAY, or TEACH

Button Three buttons on the upper side of the

programming pendant are denoted as follows:

HOLD button

START button

EMERGENCY STOP button

Displays The menu displayed in the programming

pendant is denoted with { }.

e.g. {JOB}

PC Keyboard The name of the key is denoted.

e.g. Ctrl key on the keyboard

GO BACK

PAGE

SHIFT

TOOL SEL

COORD

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FS100 Contents

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

1.1 Operating Conditions......................................................................................................... 1-1

2 Input Signals for I/O JOG Operation............................................................................................... 2-1

3 Output Signals for I/O JOG Operation ............................................................................................ 3-1

4 Signal Allocation Setting Display for I/O JOG Operation ................................................................ 4-1

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1 Outline

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1Outline

The I/O JOG function in play mode executes JOG operation by using user

input signals instead of the programming pendant.

The axis operation (JOG operation) of the station control group that is not

registered in the job under playback operation can be executed by the

allocated user input signals.

1.1 Operating Conditions

1. The I/O JOG operation is valid only in play mode.

2. The I/O JOG operation is enabled for the station control group that is

not registered in the job under playback operation.

3. The I/O JOG operation is enabled when an external manual operation

request signal is input to the I/O JOG operation enabled control group.

The I/O JOG operation is valid only for one control group.

4. The axes that are enabled for the I/O JOG operation are operated by

forward/reverse signals.

5. The motion speed in the I/O JOG operation can be switched in steps:

inching, low, middle, high, and ultra-high, in the same way as the

teaching manual speed.

6. Only the link coordinate system is used for the motion coordinates.

7. During playback operation, if a job that includes the station control

group under the I/O JOG operation is called or jumped, an alarm

occurs to stop the operation of the robot/station.

8. The user output signal which indicates that the robot/station is under

the I/O JOG operation can be set.

9. The user I/O signals to be used for the I/O JOG operation can be

allocated in the setting display. (They can be changed in

“Management” mode.)

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2 Input Signals for I/O JOG Operation

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2 Input Signals for I/O JOG Operation

Input

Signal Meaning Details

User

input External manual operation request

(Points for each station) To validate the external manual

operation

* Invalid when plural inputs are

input.

User

input Motion speed designation

(5 points) To set the motion speed of

external manual operation

Motion speed: 1(inching) to

5(ultra-high)

* When plural speed levels are

input, the priority is given to the

lowest level.

User

input Forward-direction motion

designation

(Points for the number of axes of

each station)

Forward-direction(+ direction)

motion when ON

* The axis does not move if the

forward-direction and the

reverse-direction motion

designation signals are input

simultaneously.

User

input Reverse-direction motion

designation

(Points for the number of axes of

each station)

Reverse-direction(-direction)

motion when ON

* The axis does not move if the

forward-direction and the

reverse-direction motion

designation signals are input

simultaneously.

NOTE

Safety Interlocks

• If the forward/reverse direction motion designation signal

is input before the external manual operation request sig-

nal, the external manual operation request signal does not

validate the external manual operation.

• Turn OFF and ON again the forward/reverse direction

motion designation signal to restart the operation after

alarm, hold, or emergency stop (Servo OFF).

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3 Output Signals for I/O JOG Operation

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3 Output Signals for I/O JOG Operation

Output

Signal Meaning Details

User

output External manual operation enabled

(Points for each station) Indicates that the external

manual operation is enabled.

* This signal is not output when

the external manual operation

request signal is input while the

servo is off.

User

output During external manual operation

(Points for each station) Indicates that the station is

during external manual

operation.

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