YASKAWA MOTOMAN FS100 User manual

MANUAL NO.

HW1480758

YASKAWA ELECTRIC CORPORATION

FS100 OPTIONS

INSTRUCTIONS

FOR LOGGING FUNCTION

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

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

FS100 INSTRUCTIONS

FS100 OPERATOR’S MANUAL

FS100 MAINTENANCE MANUAL

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Part Number: 159655-1CD

Revision: 0

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MANDATORY

• This manual explain the logging function 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 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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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

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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WARNING

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

off when the emergency stop button on the programing pendant is

pressed.

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

programing 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.

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

prepare 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.

• 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 EM

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.

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

emergency.

Improper or unintended manipulator operation may result in injury.

The emergency stop button is located on the programing pendant.

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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

• 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 FS100.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the working envelope of the

manipulator during operation. Always press an emergency stop button

immediately if there are problems.

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 FS100 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

FS100 Instructions before operating the manipulator:

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, 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.

Equipment Manual Designation

Programming

Pendant

Character Keys The keys which have characters printed on

them are denoted with [ ].

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 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,

ex. SHIFTkey + 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 { }.

ex. {JOB}

PC Keyboard The name of the key is denoted

ex. 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

2 Logging Function ............................................................................................................................ 2-1

2.1 Data to be Logged ............................................................................................................. 2-1

2.2 Data to be Logged ............................................................................................................. 2-2

3 Operation ........................................................................................................................................ 3-1

3.1 List of Log .......................................................................................................................... 3-1

3.2 Display of detailed log........................................................................................................ 3-3

3.3 Update of Logging Information .......................................................................................... 3-6

3.4 Delete of Logging Information............................................................................................ 3-7

3.5 Selecting Operation to be Logged ..................................................................................... 3-8

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1 Outline

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1Outline

This function stores the history (log) of operation on the controller and

data edit in chronological order, and shows them on the display.

This function also allows users to obtain the log, and enables the log data

to be stored in external memory devices.

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2 Logging Function

FS100 2.1 Data to be Logged

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2 Logging Function

2.1 Data to be Logged

This function logs the following data.

• Operation system

• START, HOLD, E-STOP (The operation in remote mode is also

logged.)

• Change of mode (PLAY/TEACH/REMOTE) (The operation in

remote mode is also logged.)

• Safety fence OPEN

• Selection of job (including direct open)

• Calling of master jobs

• Initialization of files and jobs

• Load and save of files and jobs (normal termination/abnormal

termination) (Load and save operation by DCI function and data

transmission function are not recorded in the log.)

• New creation, delete, rename, parallel shift job conversion, mir-

ror shift conversion, and PAM (position modification during play-

back) of jobs

• Change of manipulator home position

• Login/logoff (only when the password protection function is used)

• Edit system

• Job: Addition of instructions

Change of conditions in instructions

Delete of instructions

CUT, PASTE, and REVERSE PASTE operations

UNDO and REDO operations

Edit of job header

• Edit of condition files/general data

• Edit of parameters

• Edit of CIO

Edit in the ladder program display

In the execution of compile, the previous edit history

(addition/change/delete of lines) is output together.

Because the recorded time is the time when each edit was

actually performed, it may not equal to the time of compile

• Edit of variables (Edit in remote mode is not recorded in the log.)

• Edit of I/O

The log of switch ON/OFF of general input/output signals is

obtained.

NOTE Only the edit operations performed by the user are logged.

Variables or I/O status changed by the execution of instruc-

tions or others in the job are not recorded in the log.

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2 Logging Function

FS100 2.2 Data to be Logged

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2.2 Data to be Logged

The following shows the number of logging records for each data.

• Operation system: 100 pieces

• Edit system: 200 pieces

If those numbers are exceeded, the old data is deleted and the new data

is recorded.

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