YASKAWA MOTOMAN FS100 User manual

MANUAL NO.

HW1480742

YASKAWA ELECTRIC CORPORATION

Part Number: 161366-1CD

Revision: 0

FS100 OPTIONS

INSTRUCTIONS

FOR PMT 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

FS100

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MANDATORY

• This manual explains the PMT function (Position Modification

Function for Tool Deformation) 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

personnelanddamageto 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

FS100 Contents

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1 PMT Function..................................................................................................................................1-1

2 Data Conversion by PMT Function.................................................................................................2-2

2.1 Outline ...............................................................................................................................2-2

2.1.1 PMT data conversion by instruction .....................................................................2-2

2.1.2 PMT data conversion by programming pendant...................................................2-3

2.2 PMT Data Conversion by Instruction.................................................................................2-5

2.2.1 Registering GETTOOL Instruction........................................................................2-5

2.2.2 Registering SETTOOL Instruction........................................................................2-6

2.2.3 Registering PMT Instruction.................................................................................2-7

2.3 PMT Data Conversion by Programming Pendant............................................................2-10

3 Tool Data Backup History...............................................................................................................3-1

3.1 Tool Backup Window.........................................................................................................3-1

4 Instruction List for PMT Function....................................................................................................4-1

5 Parameter.......................................................................................................................................5-1

6 Alarm List........................................................................................................................................6-1

1 PMT Function

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1 PMT Function

The PMT function corrects the position data when the tool is deformed

during operation

(PMT: Position Modification for Tool Deformation). When a tool

inadvertently collides with peripheral jigs or walls during operation and is

deformed, the tool center point will be dislocated and the taught position of

the job programmed would be shifted; it requires a great deal of time and

effort for correction. In such a case, the PMT function can be used to

correct the position data easily and accurately.

By specifying the desired job, the position data of the taught tool

dimensions before deformation are converted automatically to the position

data of the tool dimensions after deformation.

In the PMT function, the tool before deformation is called “the original tool”

and the tool after deformation is called “the orientation tool”.

NOTE

• For a job in which teaching is performed by using several

types of tools, only the position data obtained by the speci-

fied original tool is converted.

• The position variables are not converted in the PMT func-

tion.

Tool at teaching (Original tool)

Deformed tool

(Orientation tool)

Dislocation of tool center point

0016

0017

0018

MOVJ

WAIT IN#(1)=0

MOVL V=70

Position data of the step taught

by the original tool is converted.

2 Data Conversion by PMT Function

FS100 2.1 Outline

2-2

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2 Data Conversion by PMT Function

2.1 Outline

The data can be converted by the PMT function using instructions or the

programming pendant.

2.1.1 PMT data conversion by instruction

The following window is a job example (PMT0) to convert the data

by instructions.

Carry out Job PMT0 to convert the data using the PMT function.

Refer to chapter 2.2 “PMT Data Conversion by Instruction” for the

programming of each instruction, GETTOOL, SETTOOL, and PMT.

Before converting the data, prepare a job, like TOOL0 in the

preceding example, to obtain the amount of tool deformation by

using a touch sensor or other device.

NOTE

When the PMT function is used, the tool dimensions and the

job taught position data are rewritten. In order to secure the

data, prepare the backup files beforehand.

Saves the tool constants used before

deformation as the original tool data.

Calls the job to obtain the amount of

tool deformation.

Sets the tool constants after

deformation.

Job : Converts WORK1 using the

PMT function.

Job : Converts WORK11 using the

PMT function.

NOTE

• Before converting the data by a PMT instruction, be sure to

save the data of the original tool by using a GETTOOL

instruction.

• For a system with the independent control function

enabled, do not use PSTART, an independent control

instruction, to start a job that includes a PMT instruction.

2 Data Conversion by PMT Function

FS100 2.1 Outline

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2.1.2 PMT data conversion by programming pendant

The following outline describes how to convert the data by using the

programming pendant.

Refer to chapter 2.3 “PMT Data Conversion by Programming Pen-

dant” for more information.

1. Select {PMT} under {UTILITY} in JOB CONTENT window.

2. Save the tool constants used before the tool deformation as the

original tool data.

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