YASKAWA MOTOMAN FS100 User manual

MANUAL NO.

HW1480766

FS100 OPTIONS

INSTRUCTIONS

FOR I/O TRACE 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: 159651-1CD

Revision: 0

FS100

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MANDATORY

• This manual explains the details on I/O trace function of the FS100.

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 “CAU-

TION” and “WARNING”.

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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 the check mode.

– Performing automatic operations.

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

during operation. Always press the emergency stop button

immediately if there is a problem. The emergency stop button is

located on the 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 that you have a safe place to retreat in case of

emergency.

Improper or unintended manipulator operation may result in injury.

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

OFF when the emergency stop button on the programming pendant

is 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 button does 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

supply 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.

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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

• 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 Emergency Stop

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:

Turn

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 [ ].

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 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 { }.

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

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FS100 Contents

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1 I/O Trace Function .......................................................................................................................... 1-1

2 Basic Specifications ........................................................................................................................ 2-1

3 Setup of I/O Trace........................................................................................................................... 3-1

3.1 Window .............................................................................................................................. 3-1

3.2 Operation Procedure ......................................................................................................... 3-2

3.3 System I/O Signal .............................................................................................................. 3-3

3.3.1 System Input Signal ............................................................................................. 3-3

3.3.2 System Output Signal........................................................................................... 3-3

4 I/O Trace Log Data ......................................................................................................................... 4-1

4.1 Window .............................................................................................................................. 4-1

4.2 Operation Procedure ......................................................................................................... 4-2

5 External Memory............................................................................................................................. 5-1

5.1 Operation Procedure ......................................................................................................... 5-1

5.2 Data Format....................................................................................................................... 5-2

6 I/O TraceViewer (Optional) ............................................................................................................. 6-1

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1 I/O Trace Function

FS100

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1 I/O Trace Function

I/O trace function is a function that can trace the signal status used by the

robot controller after synchronizing it to the concurrent I/O scanning

without using any measuring devices.

The trace log data can be saved in CSV format and utilize it in variety of

situations depending on the purpose of use.

For example, when setting up the system or a failure occurred, problems

can be easily analyzed to find their solutions by using the log data traced

by this function and thus the time to solve the problem is reduced.

Also, by using the PC software IO TraceViewer, the waveform of the

saved log data can be displayed and analyze it without any difficulty.

Fig. 1-1: System Configuration

No mearsuring

device required

Back up PC Software

I/OTraceViewer(Optional)

Log data

FS100

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2 Basic Specifications

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2 Basic Specifications

Item Specification

Trace cycle 1 msec (Synchronized to concurrent I/O cycle)

Trace target Concurrent I/O number

·User input

·User output

·External input

·External output

·System input

·System output

·Interface panel input

·Auxiliary relay

·Control status

·Pseudo Input

·Network Input

·Network output

(#00010 to #01287)

(#10010 to #11287)

(#20010 to #21287)

(#30010 to #31287)

(#40010 to #41607)

(#50010 to #52007)

(#60010 to #60647)

(#70010 to #79997)

(#80010 to #80647)

(#82010 to #82207)

(#25010 to #26287)

(#35010 to #36287)

Number of trace signal 16 signals at maximum

Trigger Edge (up and down)

Pre-trigger Specify the triggering point of the trace log data

(0% to 100%)

0% : Save the log data for 10 sec from the

trigger point.

50% : Save the log data for 10 sec from 5sec

previous to the trigger point.

100%: Save the log data for 10 sec from 10 sec

previous to the trigger point.

Amount of log data Save the log data for 10sec including the trigger

point.

Trace start/end operation Can be operated by the programming pendant or a

specific input signal (#40600)

Tracing status Can be verified with the programming pendant or a

specific input signal (#50900)

NOTE

The trace log data is cleared with ON/OFF button.

Please backup the necessary trace log data to the external

memory device before turning OFF the control power

supply.

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3 Setup of I/O Trace

FS100 3.1 Window

3-1

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3 Setup of I/O Trace

3.1 Window

A. TRACE STOP/ START

Displays the tracing status

B. No. 1 to 16

Up to 16 tracing conditions can be set

C. SIGNAL

Set the concurrent I/O signal (#0xxxxx to #9xxxxx)

The tracing condition is cleared when “0” is input

D. SIGNAL STATUS

Show the signal status. ●: Signal is ON ○: Signal is OFF

E. TRIGGER

Set “VALID” or “INVALID” of the trigger condition

F. EDGE

Set “UP” or “DOWN” of the trigger condition edge

G. DETECT

Show the trigger detecting status

●: Trigger is detected ○: Trigger is undetected

H. NAME

Can set the signal name with up to 16 letters

I. COMMENT

Can set the I/O trace comment with up to 32 letters

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