YASKAWA MOTOMAN-SDA Manuale utente

MANUAL NO.

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YASKAWA ELECTRIC CORPORATION

FS100 OPTIONS

INSTRUCTIONS

SUPPLEMENTARY FOR MOTOMAN-SDA TYPE

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: 160765-1CD

Revision: 0

FS100 Contents

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1 System Configuration......................................................................................................................1-1

2 Axis Operation.................................................................................................................................2-1

2.1 Control Point Fixed Motion During Base Axis Operation ...................................................2-1

2.1.1 Control Point Fixed Base Axis Operation for Single Arm......................................2-3

2.1.2 Control Point Fixed Base Axis Operation for Dual- Arm.......................................2-5

2.2 Axis Operation in Cartesian Coordinate System................................................................2-7

2.2.1 Setting Method .....................................................................................................2-8

3 Job Configuration............................................................................................................................3-1

4 Note ................................................................................................................................................4-1

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1 System Configuration

FS100

1-1

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1 System Configuration

The dual-arm system in the FS100 system, the rotation axis, which is

commonly used to R1 (left arm) and R2 (right arm), is registered as the

base axis (B1 and B2). Following fig. 1-1 “Configuration of Dual-Arm

System in the FS100 System” shows the control group configuration of

the dual-arm system in which the shared base axis is used.

Fig. 1-1: Configuration of Dual-Arm System in the FS100 System

NOTE

The job created by the former DX100 system configuration

whose rotation axis is registered as S1 cannot be used in

the FS100 system in which the shared base axis is

employed.

NOTE

In the FS100 system, up to “4” axes can be controlled,

therefore, to the shared axis used dual-arm operation

FS100 system, the external axes cannot be added.

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2 Axis Operation

FS100 2.1 Control Point Fixed Motion During Base Axis Operation

2-1

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2 Axis Operation

2.1 Control Point Fixed Motion During Base Axis Operation

Since the rotation axis is registered as the base axis, by operating the

rotation base axis in the cartesian coordinate, the rotation axis can be kept

moving with each manipulator’s control point at fixed point.

Following figures fig. 2-1, fig. 2-2 and fig. 2-3 show the manipulator’s

control point fixed operation during the base axis operation.

Fig. 2-1: Control Point Fixed Rotation Base Axis Operation: Single Arm

(R1)

Fig. 2-2: Control Point Fixed Rotation Base Axis Operation: Single Arm

(R2)

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2 Axis Operation

FS100 2.1 Control Point Fixed Motion During Base Axis Operation

2-2

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Fig. 2-3: Control Point Fixed Rotation Base Axis Operation: Dual- Arm (R1

and R2)

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2 Axis Operation

FS100 2.1 Control Point Fixed Motion During Base Axis Operation

2-3

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2.1.1 Control Point Fixed Base Axis Operation for Single Arm

1. Select {SETUP} in the Main Menu.

2. Select {JOG CONDITION SETTING}.

– JOG CONDITION SETTING window appears.

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2 Axis Operation

FS100 2.1 Control Point Fixed Motion During Base Axis Operation

2-4

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3. Select {CONTROL POINT OPERATION (BASE)}.

– Selection dialog box appears.

(1) Select “VALID”.

4. Select B1 (or B2) as its control group. For the control group selecting

method, please refer to “2.2.0.3 Select Control Group” in “FS100

OPERATOR’S MANUAL (RE-CSO-A043)”.

Also, select “cartesian coordinates” for the operating coordinate

system. For its selecting method, please refer to “2.2.0.4 Select

Coordinate System” in “FS100 OPERATOR’S MANUAL (RE-CSO-

A043)”.

5. Turn the servo ON, press [X-] or [X+] and then, operate B1 (or B2)

axis. At this time, the rotation base axis moves while the control point

of R1 (of R2) is fixed.

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2 Axis Operation

FS100 2.1 Control Point Fixed Motion During Base Axis Operation

2-5

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2.1.2 Control Point Fixed Base Axis Operation for Dual- Arm

1. Select {SETUP} in the Main Menu.

2. Select {JOG CONDITION SETTING}.

– JOG CONDITION SETTING window appears.

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2 Axis Operation

FS100 2.1 Control Point Fixed Motion During Base Axis Operation

2-6

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3. Select {CONTROL POINT OPERATION (BASE)}.

– Selection dialog box appears.

(1) Select “VALID ALL”.

4. Select B1 (or B2) as its control group. For the control group selecting

method, please refer to “2.2.0.3 Select Control Group” in “FS100

OPERATOR’S MANUAL (RE-CSO-A043)”.

Also, select “cartesian coordinates” for the operating coordinate

system. For its selecting method, please refer to “2.2.0.4 Select

Coordinate System” in “FS100 OPERATOR’S MANUAL (RE-CSO-

A043)”.

5. Turn the servo ON, press [X-] or [X+] and then, operate B1 (or B2)

axis. At this time, the rotation base axis moves while the control point

of R1 and R2 are fixed.

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2 Axis Operation

FS100 2.2 Axis Operation in Cartesian Coordinate System

2-7

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2.2 Axis Operation in Cartesian Coordinate System

At the dual-arm system in the FS100 system, the rotation axis is

registered as the base axis. Therefore, the base coordinate (the world

coordinate) is fixed to the ground even if the rotation axis is operated.

On the other hand, the manipulator moves on the basis of the base

coordinate when it is operated in the cartesian coordinate system.

In this consequence, when the manipulator is operated in the cartesian

coordinate system while the rotation axis is moved from the home position

as shown in fig. 2-4 “Base Coordinate-Based Axis Operation Direction” ,

the manipulator will move in accordance with the ground fixed base

coordinate system.

In this case, it might be difficult for the operator to confirm the

manipulator’s moving direction.

To clear this problem, setting of the robot coordinate to the reference

coordinate when the manipulator is operated in the cartesian coordinate is

made possible.

As described above, when the robot coordinate is set to the reference

coordinate and the manipulator is operated in the cartesian coordinate

system, as shown in fig. 2-5 “Robot Coordinate-Based Axis Operation

Direction” , regardless of the rotation axis position, the manipulator’s front

facing direction is recognized as X-axis direction.

Fig. 2-4: Base Coordinate-Based Axis Operation Direction

Fig. 2-5: Robot Coordinate-Based Axis Operation Direction

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