External Reference Point Control Function Manual

Transcription

1 Motoman NX100 Controller External Reference Point Control Function Manual Part Number: CD Revision: 1 Motoman, Incorporated 805 Liberty Lane West Carrollton, OH TEL: (937) FAX: (937) Hour Service Hotline: (937)

2 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc by MOTOMAN All Rights Reserved Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

3 Â 9 q gxârqrq q iqâp u Â7 x "'$"&# %JCRVGT +PVTQFWEVKQP This manual provides system information for the External Reference Point Control Function and contains the following sections: 5'% &7%6+10 Provides general information about the structure of this manual, a list of reference documents, and customer service information. 5'%6+105#('6; This section provides information regarding the safe use and operation of Motoman products. 5'%6+10':6'40#.4'('4'0%'21+06% %6+105 Provides detailed information about the External Reference Point Control Function. 4GHGTGPEGVQ1VJGT&QEWOGPVCVKQP For additional information refer to the following: NX100 Controller Manual (P/N ) Concurrent I/O Manual (P/N ) Operator s Manual for your application Vendor manuals for system components not manufactured by Motoman %WUVQOGT5GTXKEG+PHQTOCVKQP If you are in need of technical assistance, contact the Motoman service staff at (937) Please have the following information ready before you call: Robot Type (EA1400, HP20, etc.) Application Type (arcwelding, spot welding, handling) Robot Serial Number (located on back side of robot arm) Robot Sales Order Number (located on back of gx RCIG ÂÂ

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11 YASKAWA NX100 OPTIONS INSTRUCTIONS FOR EXTERNAL REFERENCE POINT CONTROL FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA MANUAL NO. HW

12 HW MANDATORY This manual explains the functions of the NX100 external reference point control. Read this manual carefully and be sure to understand its contents before handling the NX100. General items related to safety are listed in Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 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. ii

13 HW Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as WARNING, CAUTION, MANDATORY, or PROHIBITED. WARNING CAUTION MANDATORY Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel. 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. Always be sure to follow explicitly the items listed under this heading. PROHIBITED Must never be performed. Even items described as CAUTION may result in a serious accident in some situations. At any rate, be sure to follow these important items. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as CAUTION and WARNING. iii

14 HW WARNING Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are 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 buttons do not function. Emergency Stop Button 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. TURN Release of Emergency Stop 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. Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before: - Turning ON the NX100 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 P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.the emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant. iv

15 HW 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 NX100 cabinet after use. The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator, on the floor, or near fixtures. Read and understand the Explanation of Warning Labels in the NX100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows. Equipment Manual Designation NX100 Controller NX100 Programming Pendant Cable between the manipulator and the controller NX100 Programming Pendant Manipulator cable v

16 HW Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Pendant Character Keys Symbol Keys Axis Keys Numeric Keys Keys pressed simultaneously Displays The keys which have characters printed on them are denoted with [ ]. ex. [ENTER] The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture. GO BACK ex. page key PAGE The cursor key is an exception, and a picture is not shown. Axis Keys and Numeric Keys are generic names for the keys for axis operation and number input. When two keys are to be pressed simultaneously, the keys are shown with a + sign between them, ex. [SHIFT]+[COORD] The menu displayed in the programming pendant is denoted with { }. ex. {JOB} 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. vi

17 HW External Reference Point 1.1 Operation at Teaching Major Axes Wrist Axes Operation at Playback Preparations for External Reference Point Control Registration of a User Coordinates Move Instructions Type Play Speed User Coordinate No Teaching and Modification 2.1 Teaching Checking Paths Modifying Paths vii

18 HW External Reference Point The external reference point function makes it possible to use a point in space as a control point of the manipulator for teaching and playback. This point in space is called the external reference point. During sealing or spot-welding where the workpiece is held by the manipulator, by defining the tip of a nozzle or the gun as a reference point, the orientation of the workpiece, etc. can be changed. For interpolation during playback, the speed of an external reference point is controlled in relation to the speed of the workpiece. The external reference point function saves teaching time and makes it easier to control relative speeds of the nozzle and the workpiece. An external reference point is defined to the user coordinate origin (ORG). Therefore, external reference point control is possible only when user coordinates are registered. Since up to 24 user coordinates can be stored in memory, up to 24 external reference points can be set up. An example of sealing by a workpiece-holding manipulator is shown in the following figure. Z-axis User coordinate system External reference point Y-axis X-axis The external reference point is the user coordinate origin (ORG). 1-1

19 HW Operation at Teaching SUPPLE- MENT For the user coordinate system, refer to 2.7 User Coordinates in the NX100 operator s manual. NOTE The external reference point control is not available with the coordinated job. 1.1 Operation at Teaching Teaching must be performed in the user coordinate system. For operations to change to the user coordinate system, refer to 2.1 Teaching. The Axis Key operations are the same as that in a user coordinate system, as explained in the following table. Axis Axis Keys Motion Major Axes X- S+ X+ S+ Moves parallel to the X-, Y-, and/or Z-axis of the selected user coordinate. Y- L- Y+ L+ Z- U- Z+ U+ Wrist Axes Executes the motion about TCP. (The external reference point is set as the TCP.) X- R- X+ R+ Y- B- Y+ B+ Z- T- Z+ T+ SUPPLE- MENT For details, refer to 2.7 User Coordinates and 2.8 Tool Tip Operations in the NX100 operator s manual. 1-2

20 1.1 Operation at Teaching HW Major Axes Y+ L+ Y-axis User coordinates External reference point X-axis X+ S+ Parallel Movement Wrist Axes With a motion about TCP by the wrist axes, the manipulator s posture can be changed without changing the position of the TCP (the external reference point). External reference point Manipulator's TCP Without the External Reference Point Control Function With the External Reference Point Control Function Motion about TCP 1-3

21 HW Operation at Playback 1.2 Operation at Playback External reference point control with linear interpolation between teaching points P1 and P2 is shown in the following figure. Workpiece P2 P1 External reference point Manipulator External reference point path 1-4

22 1.3 Preparations for External Reference Point Control HW Preparations for External Reference Point Control To perform the external reference point control for teaching, user coordinates must be registered Registration of User Coordinates For registration of user coordinates, refer to 2.7 User Coordinates in the NX100 operator s manual. 1.4 Move Instructions Type There are two move instructions for external reference point control. EIMOVL : Used for external linear interpolation. EIMOVC : Used for external circular interpolation Play Speed The setting procedure is the same as that for linear or circular motions. 1-5

23 HW Move Instructions User Coordinate No. When a move instruction for the external reference point control is registered, the user coordinate number of the external reference point selected at the time is automatically registered. EIMOVL V=100 UF#(1) Play speed User coordinate No. <Examples of instruction registration and movement> An example of instruction registration for EIMOVL 0000 NOP 0001 MOVJ VJ= EIMOVL UF#(5) V= EIMOVL UF#(5) V= MOVJ VJ=50.00 END Move instruction for manipulator's TCP P1 P2 External reference point P1 External reference point path Workpiece EIMOVL (Linear interpolation) Fig. A An example of instruction registration for EIMOVC P NOP 0001 MOVJ VJ= TIMER T= EIMOVC UF#(4) V= EIMOVC UF#(4) V= EIMOVC UF#(4) V= MOVJ VJ=50.00 END P1 P2 P3 P1 P2 Manipulator P3 EIMOVC (Circular interpolation) Fig. B 1-6

24 2.1 Teaching HW Teaching and Modification After registering user coordinates, move instructions for external reference point control can be taught or modified. 2.1 Teaching Operation 1 Select {JOB} from {JOB} under the main menu. Explanation The JOB CONTENT window appears NOP 0001 MOVJ VJ= MOVJ VJ= END 2 Move the cursor to the line above where the move instruction is to be inserted. 3 Press [COORD] to set the external reference points coordinates. DATA EDIT DISPLAY UTILITY JOB CONTENT: MASTER JOB NAME: TEST CONTROL GROUP: R NOP STEP NO.: 000 TOOL: 4 When the desired user coordinate file is not shown, press [SHIFT] + [COORD]. 5 Move the cursor to the desired user coordinate file No., and then press [SELECT]. The USER COORD SELECT window appears. DATA USER COORD SELECT 1 : JIG1 2 : PAL1 3 : 4 : 5 : PAL2 DATA USER COORD SELECT 1 : JIG1 2 : PAL1 3 : 4 : 5 : PAL2 6 : EDIT DISPLAY UTILITY EDIT DISPLAY UTILITY 2-1

25 HW Checking Paths Operation Explanation 6 By pressing the axis key, set the external reference point to the desired position. 7 Press [SHIFT] + [MOTION TYPE] to select the external reference point interpolation mode. The interpolation mode is switched in the following order. (When the special interpolation mode and the conveyor interpolation mode are invalid, the mode is switched between the standard interpolation mode and the external reference point interpolation mode.) External Standard Special reference Conveyor point 8 Press [MOTION TYPE] to select either EIMOVL (external linear interpolation) or EIMOVC (external circular interpolation). 9 With the cursor on the line No., press [SELECT]. EIMOVL UF#(5) V=66 EIMOVL UF#(5) V=66 10 Change the value. Press the right cursor key to move the cursor on the speed indication V=**. Then hold down [SHIFT] and press the top or bottom of the cursor key to change the play speed. 11 Press [ENTER] to register the move instruction. EIMOVL UF#(5) V= Checking Paths To check whether the taught step positions are correct, use [FWD] and [BWD] on the programming pendant. For details, refer to 4.3 Checking Steps in the NX100 operator s manual. 2.3 Modifying Paths If the paths need to be modified, refer to the following sections in the NX100 operator s manual Inserting Move Instructions Deleting Move Instructions Modifying Move Instructions 2-2

26 NX100 OPTIONS INSTRUCTIONS FOR EXTERNAL REFERENCE POINT CONTROL FUNCTION TOKYO OFFICE New Pier Takeshiba South Tower, , Kaigan, Minatoku, Tokyo , Japan Phone Fax MOTOMAN INC. HEADQUARTERS 805 Liberty Lane West Carrollton, OH 45449, U.S.A. Phone Fax MOTOMAN INC. TROY FACILITY 1050 S. Dorset, Troy, OH 45373, U.S.A. Phone Fax MOTOMAN INC. COLUMBUS OFFICE Dublin Tech Mart 5000 Blazer Memonal Parkway Dublin, OH , U.S.A. Phone Fax YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2, Schwalbach,Germany. Phone Fax Motoman Robotics AB Box 504 S38525 Torsås, Sweden Phone Fax Motoman Robotec GmbH Kammerfeldstraβe1,85391 Allershausen, Germany Phone Fax YASKAWA ELECTRIC KOREA CORPORATION Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul , Korea Phone Fax YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park Singapore , Singapore Phone Fax YATEC ENGINEERING CORPORATION Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan Phone Fax BEIJING OFFICE Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing , China Phone Fax SHANGHAI OFFICE 27 Hui He Road Shanghai China Phone Fax YASKAWA JASON (HK) COMPANY LIMITED Rm , Hong Kong Plaza, Connaught Road West, Hong Kong Phone Fax TAIPEI OFFICE Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan Phone Fax BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD. 30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: Phone Fax SHOUGANG MOTOMAN ROBOT CO., LTD. 7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area, Beijing , P.R. China Phone Fax YASKAWA ELECTRIC CORPORATION YASKAWA Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW C Printed in Japan November