Operation Training Robot

DX200

Yaskawa Electric (Vietnam) Co.,Ltd.

BASIC OPERATE OF MOTOMAN/DX200

Safety
 BASIC OPERATE MOTOMAN/DX200

Safety
พัฒนาการของ MOTOMAN

MOTOMAN

-ERC -XRC
-ERC2 -NX100
-MRC -DX100
-MRC2 -DX200
-YRC1000 (New)
-YRC1000 micromini (New)
การใช้ งาน ROBOT MOTOMAN/DX200 เบือ้ งต้ น

ส่ วนประกอบสาคัญของ Robot

1. ตัว ROBOT (Manipulator) 2. ตู้ควบคุม (Controller)

Programming pendant

Programming pendant
overview
Programming pendant

Key description
Programming pendant

Key description
Programming pendant

Key description
Programming pendant

Key description
Programming pendant

Key description
Programming pendant

Key description
Programming pendant

Key description
Programming pendant

Key description
Programming pendant

Programming pendant display

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Status display area

Programming pendant

Human interface display area

Programming pendant

Operation button
Programming pendant

Mode for DX200

1. Teach mode
2. Play mode
3. Remote mode
Programming pendant

Mode for DX200

Manipulator Coordinate System
General operation

1 Check safety
2 Select teach mode : Select key switch to teach mode
3 Select control group : [SHIFT]+[ROBOT] or [SHIFT]+[EX. AXIS]
4 Select coordinate : JOINTCARTESIAN(CYLINDRICAL)
TOOL USER
Manipulator Coordinate System
General operation
5 Select manual speed
Manipulator Coordinate System
General operation
6 Servo On

7 High speed
Teaching
Preparation for teaching
1.Checking emergency stop buttons
2.Setting the teach lock
3.Registering a job
Teaching
Preparation for teaching
3.Registering a job
Teaching
Preparation for teaching
Teaching window
Teaching
Interpolation type and play speed

Joint interpolation Linear interpolation

Teaching
Interpolation type and play speed

Single circle arc

Teaching
Interpolation type and play speed

Continuous circular arcs

Teaching
Interpolation type and play speed

Continuous circular arcs

Teaching
Interpolation type and play speed
Single spline curve
Teaching
Interpolation type and play speed
Single spline curve
Teaching
Teaching step
Registering move instruction

Inserting move instruction

Teaching
Teaching step
Setting the position data : select the last job that ever open
Teaching
Teaching
IN / OUT
128 64 32 16 8 4 2 1
8 4 2 1

8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1

IN #(16) IN #(9)IN #(8) IN #(1)

IGH #(4) IGH #(3) IGH #(2) IGH #(1)

IG #(2) IG #(1)
Teaching
IN / OUT

8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1

OT #(16) OT #(9) OT #(8) OT #(1)

OGH #(4) OGH #(3) OGH #(2) OGH #(1)

OG #(2) OG #(1)
Teaching
VARIABLE

Byte B000-B099 0-255

Integer I000 - I099 -32768 To 32767

Double D000-D099 -2147483648 To

2147483647
Real R000-R099 +3.4 E 38

Position P000-P127 Position

Teaching
Instruction group
 ALARM & ERROR

Error Message

Error warns the operator not the advance to the next

operation caused by a wrong operation or the access method
when using the programming pendant or an external equipment
( Computer, PLC, etc.)

When and error occurs, Confirm the content of the error

then release error.
 ALARM & ERROR

Alarm : Major alarm

1xxx – 3xxx Major alarm

=> It is not possible to reset by “RESET” under the ALARM
window or the system input signal (Alarm reset). Turn OFF the
main power supply and correct the cause of the alarm.

0xxx Off line alarm

=> It is not possible to reset by “RESET” under the ALARM
window or the system input signal (Alarm reset). Turn OFF the
main power supply and correct the cause of the alarm.
 ALARM & ERROR

Alarm : Minor alarm

4xxx – 8xxx Minor alarm

=> After the correcting the cause it is possible to reset by
“RESET” Under the ALARM window or the system input
signal (Alarm reset)

9xxx IO Alarm
=> After the correcting the cause which the system input signal
for the system or user alarm request turn ON , It is possible to
reset by “RESET” Under the ALARM window or the system
input signal (Alarm reset)
 SECOND HOME POSITON

If the controller determines there is a significant difference

in encoder data (pulse) between power off & power on, it will
generate the minor alarm
“Alarm: 4107 OUT OF RANGE (ABSO DATA ).”
After resetting the alarm and turning the servo power ON,
the controller prompt with the message “Check Position.” Checking
position involves forwarding the Robot to Second home, and then
ensuring the robot at the proper position. The default Second home
is the “Home position” where the alignment arrows and keyways for
each axis are aligned. Attempting to play a job without confirming
the position check will result in “ERROR 0380 : Position not
checked”
 HOME POSITON

The Home position is the pulse value “0” For each axis and
its postures.
The relative value between the home position and the
control reference position and to parameters the relative values are
specified as an angle in unit of 1/1000 and vary for difference
Manipulator type.
Teaching
Programming pendant
Security Mode
• Operation Mode
The operator can monitor the line operation and start and stop the
manipulator. Repairs, etc. can be performed if any abnormalities are detected.
• Edit Mode
Teaching, robot jog operations, and editing of jobs and various condition
files can be performed in addition to the operations enabled in
the operation mode.
• Management Mode
The operator who performs setup and maintenance for the system
can set the machine control parameter, set the time, change the
password, etc. in addition to the operations enabled in the edit mode.
Programming pendant
Security Mode
• Safety Mode
The operator who performs the safety management of the system
can edit the safety functional relevant files in addition to the operations
enabled in the management mode. When the functional safety
function which is an optional function is enabled, the security is
changed to the safety mode in which files such as tool files can be
edited. For the details of the safety mode, refer to “DX200 OPTIONS
INSTURCTIONS FOR FUNCTIONAL SAFETY BOARD OPERATION”.
• One Time Manage Mode
Maintenance operations in higher security mode than management
mode can be performed. The one time security code provided by
Yaskawa is required to input.
Restriction of the loading of the batch data (CMOS.BIN)/parameter
batch (ALL.PRM)/function definition parameter (FD.PRM) is released in
addition to the operations enabled in the safety mode.

For more detail is in Table 1.1 , 1-37 – 1.40

Programming pendant
Security Mode Changing security mode

Edit mode: [0000000000000000]

Management mode: [9999999999999999]
Safety mode : [5555555555555555]
Programming pendant
Security Mode Changing security mode Management to
One time management

One time management mode: [PASSWORD FROM YASKAWA]

Manipulator Coordinate System
Type of Coordinate System
Teaching
Operation cycle
Cycle
Manipulator Coordinate System

Control Group