YASKAWA MOTOMAN FS100 User manual

MANUAL NO.

162181-1CD

Part Number: 162181-1CD

Revision: 2

FS100

INSTRUCTIONS

FOR MANUAL BRAKE RELEASE

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

for future reference.

MOTOMAN INSTRUCTIONS

FS100 INSTRUCTIONS

FS100 OPERATOR’S MANUAL

FS100 MAINTENANCE MANUAL

162181-1CD

FS100 Manual Brake

Release

MANDATORY

• This manual explains the FS100 Manual Brake Release system.

Read this manual carefully and be sure to understand its contents

before handling the FS100.

• General items related to safety are listed in Notes for Safe

Operation and Explanation of Warning Labels. To ensure correct

and safe operation, carefully read the FS100 Instructions Manual

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.

162181-1CD

FS100 Manual Brake

Release

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.

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

personnelanddamagetoequipment.

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”.

162181-1CD

FS100 Manual Brake

Release

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 play mode.

– Performing automatic operations.

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

during operation. Press the emergency stop button immediately if there

is a problem. The emergency stop button is located on the top 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 there is a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

Before operating the manipulator verify the following:

• Servo power is turned OFF when the emergency stop button is

pressed.

• When servo poweer is turned ON, the servo ON light on the

programming pendant turns on.

• When servo power is turned OFF, the servo ON light on the

programming pendant turns 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 A: Emergency Stop Button

• An emergency stop button MUST be supplied on the equipment if

the programming pendant is not connected or used. Verify that

servo power is turned OFF when this emergency stop button is

pressed.

• Upon shipment of the FS100, the external emergency stop signal is

connected by a jumper in the bypass connector. To use the signal,

make sure to supply a new connector, and then input it.

If the emergency stop signal is input with the jumper cable connected, it

will not function, which may result in personal injury or equipment

damage.

162181-1CD

FS100 Manual Brake

Release

Definition of Terms Used Often in This Manual

This is a YASKAWA industrial robot product.

The robot assembly usually consists of the manipulator, the FS100

controller, manipulator cables, the FS100 programming pendant

(optional), and the FS100 programming pendant bypass connector

(optional).

In this manual, the equipment is designated as follows:

WARNING

• Before the emergency stop button is released or servo power is

turned ON, clear the work cell of all items which could interfere with

the operation of the manipulator.

Injury may result from unintentional or unexpected manipulator motion.

Fig B: Release of Emergency Stop

CAUTION

• Perform the following inspection procedures prior to conducting

manipulator teaching. If a problem is found, correct it and take all

other necessary actions immediately.

– Check for problems in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Return the programming pendant to a safe place after use.

If the programming pendant is inadvertently left on the manipulator, on

a fixture, or on the floor, the manipulator or a tool may collide with the

programming pendant during manipulator movement, which may result

in personal injury or equipment damage.

• Read and understand all Warning Labels before operating the

manipulator.

Turn

Equipment Manual Designation

FS100 controller FS100

FS100 programming pendant Programming pendant

Cables between the manipulator

and the controller Manipulator Cables

FS100 programming pendant

bypass connector Programming pendant

bypass connector

162181-1CD

FS100 Manual Brake

Release

Descriptions of the programming pendant, 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 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 top front 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

162181-1CD

FS100 Manual Brake

Release

Explanation of Warning Labels

The following warning labels are attached to the manipulator and FS100.

Fully comply with the precautions on the warning labels.

WARNING

• The label described below is attached to the manipulator.

Observe the precautions on the warning labels.

• Failure to observe this warning may result in injury or damage to

equipment.

Refer to the manipulator manual for the warning label location.

• The following warning labels are attached to FS100.

Observe the precautions on the warning labels.

Failure to observe these warnings may result in injury or damage to

equipment.

WARNING

Do not enter

robot

work area.

WARNING

Moving parts

may cause

injury

Top View

Front View

Electric Shock Warning

Heavy Object Warning

1 Manual Brake Release Function

1.1 Outline

162181-1CD

FS100

1 Manual Brake Release Function

The “Manual Brake Release Function” is broken down to the following

sections:

• "Outline"

• "Activating the Manual Brake Release Function"

• "Manual Brake Release Procedure"

• "Warning Message"

1.1 Outline

With this function, the brake of each manipulator motor and external axis

can be released using the programming pendant.

The following operating conditions must be met to use the manual brake

release function:

• FS100 must be started up normally.

• Operating in any mode (REMOTE, PLAY, and TEACH.)

• All security modes (Operation, Edit, and Management.)

• Servo power is OFF.

• No Emergency Stop signal is present.

• The interlock connector FBB-CN210 is connected.

Due to the hardware configuration, brake release can only be performed

using the following groups:

• The S-, L-, and U-axes (the first, second, and third axes)

• The R-, B-, and T-axes (the fourth, fifth, and sixth axes)

• The seventh axis (either the E-axis or the first external axis.)

• The eigth axis (either the first or second external axis.)

CAUTION

Use caution when using this function because the brakes of up to three

axes are released.

NOTE

To restore power to the servo, remove the FBB-CN210

connector after completing a brake release operation.

1 Manual Brake Release Function

1.2 Activating the Manual Brake Release Function

162181-1CD

FS100

1.2 Activating the Manual Brake Release Function

To activate the manual break release feature, follow the directions below:

1. Turn OFF the power to the FS100.

2. Remove the thumb-screw and panel as shown.

3. Remove the interlock connector labeled FBB-CN210, and then re-

install the panel.

1 Manual Brake Release Function

1.2 Activating the Manual Brake Release Function

162181-1CD

FS100

4. Loosen the thumb-screw located next to the CN210 label, and raise

the door.

1.2.1 Single Robots:

5. Install the interlock connector FBB-CN210 into connector CN210 as

shown below.

1.2.2 Dual Robots:

5. For dual robot controllers (such as DRC’s, SDA5F, SDA10F, and

SDA20F) there are two CN210 connectors, one for each robot or

group of axes. Install FBB-CN10 into the controller of the robot or

group of axes that needs to be released. If two FBB-CN210’s are

available, they can both be installed, making all axes available for

release at the same time.

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