YASKAWA Motoman DX200 User manual

MANUAL NO.

HW1481973

Part Number: 165626-1CD

Revision: 0

DX200 OPTIONS

JARCR-XFB01B BOARD

INSTRUCTIONS

FOR DeviceNet

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

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

DX200 INSTRUCTIONS

DX200 OPERATOR’S MANUAL

DX200 MAINTENANCE MANUAL

The DX200 operator’s manuals above correspond to specific usage.

Be sure to use the appropriate manual.

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MANDATORY

• This manual explains the JARCR-XFB01B board of the DX200

system and general operations. 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 Instruction 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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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.

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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PROHIBITED

• Do not use or keep the board in the following environmental

conditions.

– Where exposed to direct sunshine

– Where vibration or impact occurs

– Where high humidity exists

– Where a strong magnetic field exists

– Where much dust exists

– Where a sudden change in the temperature occurs

– Where corrosive gases occur

– Where condensation occurs

Improper usage of the board may damage the board.

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WARNING

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

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

DX200 and programming pendant are 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 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

– 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 persons are present in the P-point maximum

envelope of the manipulator and that you are in a safe location

before:

– Turning ON the DX200 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 P-point maximum envelope of

the manipulator during operation. Always press an emergency stop

button immediately if there are problems.The emergency stop

buttons are located on the right of the front door of the DX200 and

the programming pendant.

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WARNING

• Do not touch the inside of the panel for 5 minutes after the power is

turned OFF.

The remaining charged voltage in the capacitor may cause an electric

shock or an injury.

• Be sure to close the door and install the protection cover while the

power is turned ON.

Failure to observe this warning may result in a fire or an electric shock.

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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 cabinet

of the DX200 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:

• The wiring and mounting must be performed by authorized and

qualified personnel.

Failure to observe this caution may result in a fire or an electric shock.

• Make sure that there is no foreign matter such as metal chips on the

board.

In case of malfunction, etc. it may result in an injury or damage the

board.

• Make sure that there is no damage or deflection of parts on the

board.

In case of malfunction, etc. it may result in an injury or damage the

board.

• Correctly connect each cable and connector.

Failure to observe this caution may result in a fire or damage the board.

• Set the switches, etc. correctly.

Malfunction, caused by an incorrect setting, may result in an injury or

damage the board.

• Never touch the mounting surfaces of the board parts directly with

fingers.

The generated static electricity may damage the IC.

• Never touch the soldered surfaces of the board directly with fingers.

Protrusions on the soldered surface may result in an injury.

• No shock to the board.

The shock may damage the board.

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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 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:

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 bland names for each company or

corporation. The indication of (R) and ™ are omitted.

Equipment Manual Designation

DX200 Controller DX200

DX200 Programming Pendant Programming Pendant

Cable between the manipulator and the

controller Manipulator cable

Equipment Manual Designation

Programming

Pendant Character Keys/

Symbol Keys The keys which have characters printed on

them are denoted with [ ].

ex. [ENTER]

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, ex.

[SHIFT]+[COORD]

Displays The menu displayed in the programming

pendant is denoted with { }.

ex. {JOB}

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Table of Contents

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

1.1 System Configuration ................................................................................1-1

1.1.1 XFB01B Board in Slave Mode .......................................................1-1

1.1.2 XFB01B Board in Master Mode .....................................................1-2

2 Hardware Specifications.....................................................................................2-1

2.1 Board External View ..................................................................................2-1

2.2 Board Specifications ..................................................................................2-1

2.3 Communication Specifications ..................................................................2-2

2.4 Connector ..................................................................................................2-2

3 Setting Functions.................................................................................................3-1

3.1 Function Setting Switches .........................................................................3-1

3.2 Setting Switches ........................................................................................3-2

3.3 Function Setting Terminals ........................................................................3-4

3.4 Setting Terminals ......................................................................................3-5

4 Mounting XFB01B Board.....................................................................................4-1

4.1 Opening Front Door of the DX200 .............................................................4-2

4.2 Confirming Switch Settings on the XFB01B Board ...................................4-2

4.3 Mounting the XFB01B Board on the DX200 ..............................................4-2

4.4 Connecting Each Cable .............................................................................4-3

4.5 Closing the Front Door of the DX200 ........................................................4-4

5 Allocating I/O Signals..........................................................................................5-1

5.1 I/O Module Setting .....................................................................................5-1

5.2 Transmission Data ..................................................................................5-11

5.2.1 DX200 I/O Allocation example (For Handling) .............................5-12

5.2.2 DX200 I/O Allocation example (For Except Handling) .................5-14

5.2.3 The Alarm when Communications Error Occurs

Using the Board Status .........................................................................5-16

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for DeviceNet

5.3 DeviceNet Slave Allocation (Only in Master Mode) ................................ 5-21

5.4 Management of DeviceNet Slave Allocation (Only in Master Mode) ...... 5-25

5.4.1 Saving to External Memory ......................................................... 5-25

5.4.2 Loading from External Memory ................................................... 5-27

6 Network Specifications....................................................................................... 6-1

6.1 Network Configuration .............................................................................. 6-1

6.1.1 Network Connections .................................................................... 6-1

6.1.2 Precautions for Wiring DeviceNet Cables ..................................... 6-4

7 Connections for DeviceNet Communications .................................................. 7-1

7.1 Location of Communication Power Supply ............................................... 7-1

7.1.1 Basic Precautions .......................................................................... 7-1

7.1.2 Location of Power Supply .............................................................. 7-2

7.1.3 How to Decide the Location of the Power Supply ......................... 7-3

7.2 Grounding ................................................................................................. 7-9

7.2.1 Grounding Method ......................................................................... 7-9

8 Error Indication.................................................................................................... 8-1

8.1 LED Indicators .......................................................................................... 8-1

8.1.1 MS Lamp ....................................................................................... 8-1

8.1.2 NS Lamp ....................................................................................... 8-2

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