dx100操作要領(lǐng)書伺服焊鉗e

1、YASKAWADX100OPERATORS MANUALFOR SPOT WELDING USING MOTOR GUNUpon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.MOTOMAN INSTRUCTIONSMOTOMAN- INSTRUCTIONS DX100 INSTRUCTIONSDX100 OPERATORS MANUAL DX100 MAINTENANCE MANUALThe D

2、X100 operators manuals above correspond to specific usage. Be sure to use the appropriate manual.YASKAWAMANUAL NO. RE-CSO-A040DX100iiCAUTION 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

3、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 mwithout notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is

4、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 responsi

5、ble for incidents arising from unauthorized modification of its products. Unauthorized modification voids your products warranty.MANDATORY This manual explains the various components of the DX100 system and general operations. Read this manual carefully and be sure to understand its contents before

6、handling the DX100. General items related to safety are listed in Section 1: Safety of the DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instruction before reading this manual.DX100Notes for Safe OperationRead this manual carefully before installation, operation,

7、 maintenance, or inspection of the DX100.In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.”Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury tonel.WARNINGIndicates a potentially h

8、azardous situation which, if not avoided, could result in minor or moderate injury tonel and damage to equipment. It may also be used to alert against unsafe practices.CAUTIONAlways be sure to follow explicitly the items listed under this heading.MANDATORYMust never be performed.PROHIBITEDEven items

9、 described as “CAUTION” may result in a serious accident in some situations.At any rate, be sure to follow these important items.iiiTo ensure safe and efficient operation at all times, be sureNOTEto follow all instructions, even if not designated as “CAU-TION” and “WARNING.”DX100ivWARNING Before ope

10、rating the manipulator, check that servo power is turned off when the emergency stop buttons on the front door of the DX 100 and programing pendant are 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

11、 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 Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of t

12、he manipulator. Then turn the servo power ON.Injury may result from unintentional or unexpected manipulator motion.Fig. : Release of EMTURN Observe the following precautions when performing teaching operations within the P-pointum envelope of the manipulator: View the manipulator from the front when

13、ever 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. Confirm that nois present in the P-pointum envelope of the manipulator and that you are in a safe l

14、ocation before: Turning on the power for the DX100. 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 b

15、utton immediately if there are problems.The emergency stop button is located on the right of the front door of the DX 100 and programing pendant.DX100Definition of Terms Used Often in This ManualThe MOTOMAN is the YASKAWA industrial robot product.The MOTOMAN usually consists of the manipulator, the

16、controller, the programming pendant, and supply cables.In this manual, the equipment is designated as follows.vEquipmentManual DesignationDX100 controllerDX100DX100 programming pendantProgramming pendantCable between the manipulator and the controllerManipulator cableCAUTION Perform the following in

17、spection 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

18、the programming pendant to the hook on the cabinet of the DX100 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 DX100 Instructions before operating the mani

19、pulator.DX100Descriptions of the programming pendant keys, buttons, and displays are shown as follows:Description of the Operation ProcedureIn the explanation of the operation procedure, the expression "Select " means that the cursor is moved to the object item and the SELECT key is presse

20、d, or that the item is directly selected by touching the screen.Registered TrademarkIn 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.viEquipmentManual Designa

21、tionProgramming PendantCharacter KeysThe keys which have characters printed on them are denoted with .ex. ENTERSymbol KeysThe keys which have a symbol printed on them are not denoted with but depicted with a small picture.GO BACKex. page keyThe cursor key is an exception, and a picture is not shown.

22、Axis Keys Numeric Keys“Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and number input.Keys pressed simultaneouslyWhen two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them,ex. SHIFT+COORDDisplaysThedisplayed in the programming pe

23、ndant is denoted with .ex. JOBPAGEDX100Contents1Introduction1-11.1DX100 Overview1-11.2Programming Pendant1-.2Programming Pendant Overview.1-2Key Description1-Character Keys1-3Symbol Keys1-3Axis Keys and Numeric Keys1-3Keys Pressed Simultaneously1-.4Prog

24、ramming Pendant Keys.1-4Programming Pendant Display1-Five Display Areas1-11General-purpose Display Area1-12MainArea1-13Status Display Area1-13Human Interface Display Area1-16Area1-.6Screen Descriptions1-17Character Input Operation1-1.2.6

25、.Character Input1-18Operation1-18Alphanumeric Input1-19Symbol Input1-201.3Mode1-..4Teach Mode1-21Play Mode1-21Remote Mode1-21Teach Mode Priority1-211.4Security Mode1-221.4.1 Types of Security Modes1-221.4.2 Changing Security Modes1-262Manipulator Coordinate Systems

26、and Operations2-12.1 Control Groups and Coordinate Systems2-12.1.1 Control Group2-12.1.2 Types of Coordinate Systems2-22.2 General Operations2- Check Safety2- Select Teach Mode2-3viiDX100ContentsSelect Control Group2-3Select Coordinate System

27、2-3Select Manual Speed2-4Servo ON2-4Axis Operation2-4HIGH SPEED2-42.3Coordinate Systems and Axis Operation2-..4Joint Coordinates2-5Cartesian Coordinates2-6Cylindrical Coordinates2-7Tool Coordinates2- Selecting Tool2-11User Coordinates2- Selecting User Coordinates2-

28、 Examples of User Coordinate Utilization2-14External Axis2-14Control Point Operation2- Control Point Change2-.62.3.73Teaching3-13.1Preparation for Teaching3-.23.1.3Checking Emergency Stop Buttons3-1Setting the Teach Lock3-1Registering a Job3-3.1.3.

29、Registering Job Names3-2Registering Jobs3-2Registering Comments3-3Registering Control Groups3-3Switching to the Teaching Window.3-43.2Teaching Operation3-.2Teaching Window3-5Interpolation Type and Play Speed.3-Joint Interpolation3-6Linear Interpol

30、ation3-7Circular Interpolation3-8Spline Interpolation3-93.2.3Teaching Steps3-Registering Move Instructions3-11Registering Reference Point Instructions3-17Registering Timer Instructions3-183.2.4Overlapping the First and Last Steps3-21viiiDX100Contents3.3Checking Steps3-223.3.1

31、FWD/BWD Key Operations3-Precautions When UsinD / BWD Operations3-23Selecting Manual Speed3-25Moving to Reference Point3-26Test Operations3-26Machine Lock Operation3-273.4Modifying Steps3-283.4.1Displaying the JOB CONTENT Window for Editing.3-3 Currently C

32、alled Up Job3-3 Calling Up Other Jobs3-32Inserting Move Instructions.3-33Deleting Move Instructions3-35Modifying Move Instructions3-3 Modifying Position Data.3-3 Modifying Interpolation Type3-36Undo Operation3-37Modifying Reference Point Instructions3-3 Deleting Refer

33、ence Point Instructions3-3 Modifying Reference Point Instructions3-38Modifying Timer Instructions.3-3 Deleting Timer Instructions3-3 Modifying Timer Instructions3-3...73.5Modifying Jobs3-40..4Calling Up a Job3-40Windows Related to J

34、ob3-40JOB HEADER Window3-41JOB CONTENT Window3-4 COMMAND POSITION Window3-43JOB CAPACITY Window3-4Editing Instructions3-4...63.6.7Instruction Group3-46Inserting Instructions3-47Deleting Instructions3-50Modifying Instructions3-50Modifying Additional Numeric

35、 Data3-54Modifying Additional Items.3-55Inserting Additional Items3-56ixDX100Contents3.6.8 Deleting Additional Items3-57Editing Jobs3-5..5Selecting the Range3-60Copying3-61Cutting3-61Pasting3-62Reverse Pasting3-633.8Test Operations3-643.8.1 Test Operation Procedures3-64Othe

36、r Job-editing Functions3-6Editing Play Speed3-6Modification of Speed Type3-65Relative Modification3-65Modification by TRT (Traverse Time)3-6.33.9.4Editing Interpolation Type3-69Editing Condition Files3-70User Variables3-73.9

37、..Setting Byte, Integer, Double Precision Integer, and Real Type Variables3-72Setting Character Type Variables.3-74Registering Variable Name.3-75Displaying Position Variables3-76Setting Position Variables.3-77Setting Position Variables Using the Numeric Keys3-78Setting Positio

38、n Variables Using the Axis Keys3-80Deleting Data Set of Position Variables3-81Checking Positions by Position Variables3-80 Manipulator Types3-82Flip/No Flip.3-83R-axis Angle3-83T-axis Angle3-84Front/Back3-84Upper Arm/Lower Arm3-8...10 S-axis Angle.3-863.9.11 Editin

39、g Local Variables3-8 Setting the Number of Local Variables3-893.9.12 Search3-90Line Search3-91Step Search3-92Label Search3-93xDX100Contents Instruction Search3-9 Tag Search3-974Playback4-14.1Preparation for Playback4-14.1.1 Selecting a Job4-4

40、..1.3Calling a Job4-1Registering the Master Job4-2Calling the Master Job4-44.1.2 The PLAYBACK Window.4- Display of Cycle Time.4- Operation Cycle4-7Playback4- Playback Operation4-Selecting the Start Device4-10Servo On4-10Start Operation4-104.2.

41、2Special Playback Operations.4-Low Speed Operation4-11Limited Speed Operations4-12Dry-run Speed Operations4-12Machine Lock Operation4-13Check Mode Operation4-13Weaving Prohibit Setting during Check Mode Operation4-13Cancel All Special Operations4-14

42、4.3Stop and Restart4-154.3.1Hold4- Using the Programming Pendant4- Using an External Input Signal (System Input)4-15Emergency Stop4- Restart After Emergency Stop.4-17Stop by Alarm4-18Others4- Temporary Stop by Mode Change4- Temporary Stop by the PAUSE Ins

43、truction4-.Modifying Play Speed4-204.4.1 Speed Override4-Playback withSetting Speed Overrides4-21Modifying Play Speed4-22Cancelling Speed Override Settings4-22Start4-234.5xiDX100Contents4.5.1Preparation forStart4-23Start.4-24Start I/O Signal.4-24.5.1

44、.EnablingRegisteringRegistering Jobs to Stations4-28Deleting Registered Jobs from Stations4-304.5.2Playback fromStart4-3Start Operation4-31Checking Job Reservation Status4-32Resetting Job Reservation4-334.5.3Hold Operation.4-3HOLD on the Pro

45、gramming Pendant.4-34Hold by External Input Signal (System Input)4-34Hold at the Station4-354.6 Displaying Job Stack4-365Editing Jobs.5-15.1Copying Jobs5- Copying Jobs on the JOB CONTENT Window5- Copying Jobs on the JOB LIST Window5-4Deleting Jobs5- Deleting Jobs on the JOB C

46、ONTENT Window5- Deleting Jobs on the JOB LIST Window5-7Modifying Job Names5- Modifying Job Names on the JOB CONTENT Window5- Modifying Job Names on the JOB LIST Window5-10Editing Comments5-5.5Setting Edit Lock on Individual Job Units5-145.6Enabling the Modification

47、 of Position Data Only5-156Convenient Functions6-16.1 One-touch Operation “Direct Open”6-16.2 Parallel Shift Function6-36.2.1Function Overview6- Parallel Shift of Step6- Parallel Shift of Job6-4Setting the Shift Value6- Coordinate Systems6- Setting the Shift Value6-5R

48、egistering Shift Instructions6- SFTON Instruction6- SFTOF Instruction6-.3xiiDX100Contents MSHIFT Instruction6-116.2.4 Continuation of the Parallel Shift Function6-136.2.5 Examples of Use6- Example of Use of Shift Addition/Subtraction.6- Example of U

49、se of MSHIFT Instruction6-15Parallel Shift Job Conversion Function6-.3Function Overview6-16Coordinate Systems for Conversion6-17Executing the Parallel Shift Job Conversion.6- Window Display6- Parallel Shift Job Conversion Operation6-23Specifying the Shift Value by

50、 Position Variables6-2..Window Display6-29Jobs Targeted for Conversion6-31Conversion of Coordinated Jobs6-32Operation Procedure6-356.4PAM Function6-376.4.1 Function Overview6-3 Input Ranges for Adjustment Data6-376.4.2 Operating Methods6-3 Setting Adju

51、stment Data6-3 Executing the Adjustment6-41Mirror Shift Function6-46.5.2Function Overview6-45Pulse Mirror-shift Function.6-4Parameter Setting6-46Object Job6-46Group Axes Specification6-46Position Variables6-466.5.3Robot-coordinates Mirror-shift Function6

52、-4Object Job6-47Group Axes Specification6-47Position Variables6-476.5.4User-coordinates Mirror-shift Function6-4Object Job6-48Group Axes Specification6-48Position Variables6-4.6Notes on the Mirror Shift Function6-49Operation Procedures6-50

53、Calling Up the JOB CONTENT Window6-50 Mirror Shift Conversion6-50xiiiDX100Contents Explanation of the Mirror Shift Window6-51Multi Window Function6-56.6.2Function Overview6-53Setting the Dividing Pattern of teral-Purpose Display Area6-5 Calling Up and Operating Methods of the Display Dividing PatternSetting Window6-54Displaying the Multi Window6-5..2Multi Window Mode and Single Window Mode6-58Displaying the Status of Plural (more than two) Window DividingPattern Setting6-58Displaying of Active Window and Non-Active Window6