YASKAWA Motoman DX200 User manual

MANUAL NO.

HW148204

Part Number: 166242-1CD

Revision: 1

DX200 OPTIONS

INSTRUCTIONS

FOR MACRO COMMAND FUNCTION

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

retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

DX200 INSTRUCTIONS

DX200 OPERATOR’S MANUAL (for each purpose)

DX200 MAINTENANCE MANUAL

The DX200 operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.

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Macro Command

MANDATORY

• This manual explains the macro command function of the DX200

system. Read this manual carefully and be sure to understand its

contents before handling the DX200.

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

DX200 Instructions. To ensure correct and safe operation, carefully

read the DX200 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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Macro Command

Notes for Safe Operation

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

inspection of the DX200.

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

DANGER

Indicates an imminent hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

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, could

result in minor or moderate injury to

personnel and damage to equipment.

It may also be used to alert against

unsafe practices.

MANDATORY

Always 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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Macro Command

WARNING

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

OFF pressing the emergency stop buttons on the front door of the

DX200 and the programming pendant.

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 buttons do not function.

Figure 1: Emergency Stop Button

• 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.

Figure 2: Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum 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 no one closes

the safeguarding.

– 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.

• Confirm that no person is present in the P-point maximum envelope

of the manipulator and that you are in a safe location before:

– Turning ON the power for the DX200.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the

manipulator during operation. Always press an emergency stop button

immediately if there is a problem. The emergency stop buttons are

located on the right of the front door of the DX200 and the programming

pendant.

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Macro Command

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

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

programming pendant, and supply cables.

In this manual, the equipment is designated as follows:

Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:

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 DX200

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 Warning Labels in the

DX200 Instructions before operating the manipulator:

Equipment Manual Designation

DX200 controller DX200

DX200 programming pendant Programming pendant

Cable between the manipulator and DX200 Manipulator Cable

Equipment Manual Designation

Programming

Pendant

Character Keys

/Symbol Keys

The keys which have characters or its

symbol printed on them are denoted with [ ].

ex. [ENTER]

Axis Keys

/Numeric Keys

[Axis Key] and [Numeric Key] 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,

ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming

pendant is denoted with { }.

ex. {JOB}

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Macro Command

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, or that the item is directly selected by touching the screen.

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.

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Macro Command Table of Contents

Table of Contents

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

1.1 Features ............................................................................................................................ 1-1

2 Preparation of Macro Commands ................................................................................................... 2-1

2.1 Preparing a Macro Job ...................................................................................................... 2-1

2.2 Teaching a Macro Job ....................................................................................................... 2-3

2.2.1 GETARG Instruction............................................................................................. 2-3

2.2.1.1 Function .................................................................................................. 2-3

2.2.1.2 Format ..................................................................................................... 2-3

2.2.1.3 Job Example

................................................................................................................ 2-4

3 Registration of Macro Commands .................................................................................................. 3-1

3.1 Setting an Execution Macro Job ........................................................................................ 3-2

3.2 Setting the Contents of Argument Tag Added to the Macro Command ............................ 3-4

3.3 Setting an Interruption Macro Job...................................................................................... 3-7

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1 Outline

1.1 Features

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Macro Command

1Outline

The macro command function registers a prepared job as a macro

command and then carries out the job by the macro command.

With the macro command function, system integrators who apply various

MOTOMAN robot systems can freely create INFORM (a robot

programming language used in DX200) that corresponds to each system.

The macro command function enables an easier robot system with use of

the key customize function. (Refer to section 8.15 “Numeric Key

Customize Function” in the “DX200 INSTRUCTIONS” for details.)

1.1 Features

• A job prepared with the macro command function by user is

registered as a macro command.

• The contents of macro command can be prepared with INFORM,

which is the same manner as the normal job data.

• An argument tag can be added to a macro command like a normal

instruction. Macro commands and their argument tags can be easily

programmed at will in the job data display.

< Example > Macro command for sealing

• The macro commands can be used in the same way as the other

instructions. Unlike the CALL instruction, end users do not have to

consider the restarting method in case of a job interruption.

• The macro command function enables settings for post-processing

of the job interruption, such as the cancellation of current work

instruction, etc.

• If a macro command is interrupted during the execution, the

interrupted macro command is re-executed from the beginning when

the operation is restarted.

NOTE

• The macro command function is enabled only when the

security mode is in the management mode.

• The character strings and the character type variable of

the argument for macro command are available for

DN1.60-00 and later versions.

SEALON WIDTH=8

Argument tag to specify the sealing width

Macro command to start sealing

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Macro Command 2 Preparation of Macro Commands

2.1 Preparing a Macro Job

2 Preparation of Macro Commands

The execution sequence of a macro command is registered as a macro

job.

2.1 Preparing a Macro Job

Depending on the applications, there are three types of macro jobs as

follows:

• Robot macro job with a designated control group

A move instruction can be registered in a macro command.

A macro command prepared as a robot macro job can be used only

in the jobs configured for the same control groups. For example, the

macro command prepared as a robot macro job for R1 cannot be

used in a job for R2.

• Robot macro job without a control group

Can be used for all robot jobs. Since the control group is not

designated, no move instruction can be registered.

• Concurrent macro job

Can be used in a concurrent job. Since the control group is not

designated, no move instruction can be registered.

1. Select “Management Mode” for the security mode.

2. Select {JOB} from the top menu.

3. Select {NEW JOB CREATE}

4. Enter the job name.

NOTE

The macro command function is enabled only when the

security mode is in the management mode.

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2 Preparation of Macro Commands

2.1 Preparing a Macro Job

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Macro Command

5. Point the cursor to “JOB TYPE”, and press [SELECT].

– A selection list appears.

–Select “ROBOT MACRO” or “CONCURRENT MACRO”.

6. Select “EXECUTE”.

– A macro job is prepared, and the JOB CONTENT window appears.

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