YASKAWA

YASKAWA MANUAL NO.

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DX100 OPTIONS
INSTRUCTIONS
FOR MANUAL BRAKE RELEASE FUNCTI ON
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATORS MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operators manuals above correspond to specific usage.
Be sure to use the appropriate manual.
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Part Number: 156239-1CD
Revision: 0
DX100
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MANDATORY
This manual explains the manual brake release function of DX100.
Read this manual carefully and be sure to understand its contents
before handling the DX100.
General items related to safety are listed in the Section 1: Safety of
the DX100 Instructions. To ensure correct and safe operation,
carefully read the DX100 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 products warranty.
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Not es f or Saf e Oper at i on
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX100.
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
Before operating the manipulator, check that servo power is turned
OFF when the emergency stop buttons on the front door of the
DX100 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.
Fig. : 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.
Fig. : Release of Emergency Stop
TURN
Observe the following precautions when performing teaching
operations within 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 person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
Turning ON the DX100 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 is a problem. The emergency stop
buttons are located on the right of the front door of the DX100 and
the programming pendant.
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Def i ni t i on of Ter ms Used Of t en i n Thi s Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows.
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 DX100
cabinet after use.
The programming pendant can be damaged if it is left in the
manipulators work area, on the floor, or near fixtures.
Read and understand the Explanation of the Warning Labels in the
DX100 Instructions before operating the manipulator.
Equipment Manual Designation
DX100 Controller DX100
DX100 Programming Pendant Programming Pendant
Cable between the manipulator and
the controller
Manipulator Cable
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Descriptions of the programming pendant, buttons, and displays are
shown as follows:
Desc r i pt i on of t he Oper at i on Pr oc edur e
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.
Regi st er ed Tr ademar k
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 key is an exception, and a picture is
not shown.
Axis Keys
Number Keys
Axis Keys and Number 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. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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DX100 Contents
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1 Manual Brake Release Function..................................................................................................... 1-1
1.1 Operating Conditions of Manual Brake Release................................................................ 1-1
2 Manual Brake Release Operation................................................................................................... 2-1
3 Warning Message Display .............................................................................................................. 3-1
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1 Manual Brake Release Function
DX100 1.1 Operating Conditions of Manual Brake Release
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1 Manual Brake Release Function
The manual brake release function allows forcible release of each motor
brakes of the manipulator and external axes by programming pendant
operation.
The following operating conditions have to be met before performing the
manual brake release function since this function releases brakes by
software, which is different from the conventional brake release by
hardware.
The manual brake release is an optional function set by parameter.
1.1 Operating Conditions of Manual Brake Release
1. DX100 Status
The DX100 has to be launched correctly
*1
.
2. Mode: Mode switch on the programming pendant
The function can be used in all modes: Remote / Play / Teach.
3. Security Mode
The function can be used in all modes: Operation / Editing /
Management.
4. Others
Servo power is OFF
Emergency stop is OFF (programming pendant, DX100, external
signals)
Power supply unit circuit board is JANCD-YBK01-2E
If the circuit board JANCD-YBK01-1E is used for any of the axes
in the control group of manipulator, base, or station, the manual
brake release function is not available for the group with an axis
using JANCD-YBK01-1E.
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1 Manual Brake Release Function
DX100 1.1 Operating Conditions of Manual Brake Release
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*1 Basically, the manual brake release function is available even at alarm
occurrence.
However, the manual brake release function cannot be used if the
communication failure between each boards (YCP01, EAXA01, YIF01,
YSU01) occurs due to board failure, etc.
<Example>
The manual brake release cannot be performed at occurrence of the
alarm 1204 as shown in the following window, since the communica-
tion with the board YIF01 becomes unavailable.
In this case, reset IO modules in Maintenance mode, i.e. separate the
board, then perform the manual brake release.
Fig. 1-1: Alarm Window
If the power supply unit circuit board is JANCD-YBK01-1E and
[MANUAL BRAKE RELEASE] menu is selected, the message
"No axis for Manual Brake Release" is displayed as shown below.
Fig. 1-2: Brake Release Window
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2 Manual Brake Release Operation
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2 Manual Brake Release Operation
1. Select [ROBOT] under the main menu, then select [MANUAL BRAKE
RELEASE] under the submenu.
[MANUAL BRAKE RELEASE] is shown under the submenu of the
main menu [ROBOT].
2. Select "YES".
To avoid careless operation mistake, a warning message appears
when [MANUAL BRAKE RELEASE] menu is selected.
Select "YES" to display [MANUAL BRAKE RELEASE] window.
Select "NO" to return to the main menu.
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2 Manual Brake Release Operation
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3. Move a cursor to the axis of which the brake is to be released.
The brake is released by following the operation: Move a cursor to
the axis of which the brake is to be released and press
[INTERLOCK] + [SELECT] while gripping Enable switch. Then the
brake status is shown.
The brake is locked under one of the following conditions:
When [SELECT] is released.
Also, see the following
When the emergency stop button on the programming pendant,
DX100 or external device is pressed.
When Enable switch is released or gripped further.
When the window is switched from the Manual Brake Release win-
dow to another window.
Fig. 2-1: Manual Brake Release Window
Brake Status: : Brake locked : Brake released
4. Press [INTERLOCK] + [SELECT] while gripping Enable switch.
CAUTION
Brake can be released by pressing [INTERLOCK] + [SELECT] while
gripping Enable switch.
Note that the brake remains released even though [INTERLOCK] is
released at this time.
CAUTION
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3 Warning Message Display
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3 Warning Message Display
If the manual brake release is performed under the following conditions,
the warning message appears in the message area bottom right of the
window as shown in fig. 1-2 Brake Release Window at page 1-2.
In this case, the brake release cannot be performed.
Servo power is turned ON.
Emergency stop button on the programming pendant is pressed.
Emergency stop button on DX100 is pressed.
External emergency stop signal is input.
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YASKAWA
YASKAWA ELECTRIC CORPORATION
Specifications are subject to change without notice
for ongoing product modifications and improvements.
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MANUAL NO.
Printed in Japan February 2009 09-02 C
DX100 OPTIONS
INSTRUCTIONS
FOR MANUAL BRAKE RELEASE FUNCTI ON
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, J apan
Phone +81-93-645-7745
Fax +1-937-847-6277
Fax +81-93-645-7746
Fax +46-480-417999
Fax +49-8166-90-103
Fax +82-53-382-7845
Fax +65-6289-3003
Fax +60-3614-08929
Fax +86-10-6788-0542
Fax +91-124-414-8016
Fax +66-2-693-4200
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Phone +46-480-417800
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone +82-53-382-7844
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Phone +65-6282-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. J alan PJ U 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng J aya Selangor, Malaysia
Phone +60-3614-08919
YASKAWA ELECTRIC (THAILAND) CO., LTD.
252/246, 4th Floor. Muang Thai-Phatra office Tower II Rechadapisek Road, Huaykwang Bangkok 10320, Thailand
Phone +66-2-693-2200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Phone +86-10-6788-0541
MOTOMAN MOTHERSON ROBOTICS LTD.
910, DLF Galleria, DLF City Phase IV, Gurgaon - 122002 Haryama, India
Phone +91-124-414-8514
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