Inform-Manual

YASKAWAYASKAWAMANUALNO.RE-CKI-A452DX100INFORMMANUALUponreceiptoftheproductandpriortoinitialoperation,readtheseinstructionsthoroughly,andretainforfuturereference.MOTOMANINSTRUCTIONSMOTOMAN-………INSTRUCTIONSDX100INSTRUCTIONSDX100OPERATOR’SMANUALDX100MAINTENANCEMANUALTheDX100operator’smanualsabovecorrespondtospecificusage.Besuretousetheappropriatemanual.DX100iiMANDATORY•ThismanualexplainstheINFORMlanguageoftheDX100system.ReadthismanualcarefullyandbesuretounderstanditscontentsbeforehandlingtheDX100.•GeneralitemsrelatedtosafetyarelistedintheChapter1:SafetyoftheDX100Instructions.Toensurecorrectandsafeoperation,carefullyreadtheDX100Instructionsbeforereadingthismanual.CAUTION•Somedrawingsinthismanualareshownwiththeprotectivecoversorshieldsremovedforclarity.Besureallcoversandshieldsarereplacedbeforeoperatingthisproduct.•Thedrawingsandphotosinthismanualarerepresentativeexamplesanddifferencesmayexistbetweenthemandthedeliveredproduct.•YASKAWAmaymodifythismodelwithoutnoticewhennecessaryduetoproductimprovements,modifications,orchangesinspecifications.Ifsuchmodificationismade,themanualnumberwillalsoberevised.•Ifyourcopyofthemanualisdamagedorlost,contactaYASKAWArepresentativetoorderanewcopy.Therepresentativesarelistedonthebackcover.Besuretotelltherepresentativethemanualnumberlistedonthefrontcover.•YASKAWAisnotresponsibleforincidentsarisingfromunauthorizedmodificationofitsproducts.Unauthorizedmodificationvoidsyourproduct’swarranty.DX100iiiNOTESFORSAFEOPERATIONReadthismanualcarefullybeforeinstallation,operation,maintenance,orinspectionoftheDX100.Inthismanual,theNotesforSafeOperationareclassifiedas“WARNING”,“CAUTION”,“MANDATORY”,or”PROHIBITED”.Evenitemsdescribedas“CAUTION”mayresultinaseriousaccidentinsomesituations.Atanyrate,besuretofollowtheseimportantitemsWARNINGIndicatesapotentiallyhazardoussituationwhich,ifnotavoided,couldresultindeathorseriousinjurytopersonnel.CAUTIONIndicatesapotentiallyhazardoussitua-tionwhich,ifnotavoided,couldresultinminorormoderateinjurytoperson-nelanddamagetoequipment.Itmayalsobeusedtoalertagainstunsafepractices.MANDATORYAlwaysbesuretofollowexplicitlytheitemslistedunderthisheading.PROHIBITEDMustneverbeperformed.NOTEToensuresafeandefficientoperationatalltimes,besuretofollowallinstructions,evenifnotdesignatedas“CAUTION”and“WARNING”.DX100ivWARNING•Beforeoperatingthemanipulator,checkthatservopoweristurnedOFFwhentheemergencystopbuttonsonthefrontdooroftheDX100andprogrammingpendantarepressed.WhentheservopoweristurnedOFF,theSERVOONLEDontheprogrammingpendantisturnedOFF.Injuryordamagetomachinerymayresultiftheemergencystopcircuitcannotstopthemanipulatorduringanemergency.Themanipulatorshouldnotbeusediftheemergencystopbuttonsdonotfunction.Fig.:EmergencyStopButton•Oncetheemergencystopbuttonisreleased,clearthecellofallitemswhichcouldinterferewiththeoperationofthemanipulator.ThenturntheservopowerONInjurymayresultfromunintentionalorunexpectedmanipulatormotion.Fig.:ReleaseofEmergencyStopTURN•ObservethefollowingprecautionswhenperformingteachingoperationswithintheP-pointmaximumenvelopeofthemanipulator:–Viewthemanipulatorfromthefrontwheneverpossible.–Alwaysfollowthepredeterminedoperatingprocedure.–Keepinmindtheemergencyresponsemeasuresagainstthemanipulator’sunexpectedmotiontowardyou.–Ensurethatyouhaveasafeplacetoretreatincaseofemergency.Improperorunintendedmanipulatoroperationmayresultininjury.•ConfirmthatnopersonispresentintheP-pointmaximumenvelopeofthemanipulatorandthatyouareinasafelocationbefore:–TurningONtheDX100power–Movingthemanipulatorwiththeprogrammingpendant–Runningthesysteminthecheckmode–PerformingautomaticoperationsInjurymayresultifanyoneenterstheP-pointmaximumenvelopeofthemanipulatorduringoperation.Alwayspressanemergencystopbuttonimmediatelyifthereisaproblem.TheemergencystopbuttonsarelocatedontherightofthefrontdooroftheDX100andtheprogrammingpendant.DX100vDefinitionofTermsUsedOfteninThisManualTheMOTOMANistheYASKAWAindustrialrobotproduct.TheMOTOMANusuallyconsistsofthemanipulator,thecontroller,theprogrammingpendant,andsupplycables.Inthismanual,theequipmentisdesignatedasfollows:CAUTION•Performthefollowinginspectionprocedurespriortoconductingmanipulatorteaching.Ifproblemsarefound,repairthemimmediately,andbesurethatallothernecessaryprocessinghasbeenperformed.–Checkforproblemsinmanipulatormovement.–Checkfordamagetoinsulationandsheathingofexternalwires.•AlwaysreturntheprogrammingpendanttothehookontheDX100cabinetafteruse.Theprogrammingpendantcanbedamagedifitisleftinthemanipulator’sworkarea,onthefloor,ornearfixtures.•ReadandunderstandtheExplanationoftheWarningLabelsintheDX100Instructionsbeforeoperatingthemanipulator.EquipmentManualDesignationDX100ControllerDX100DX100ProgrammingPendantProgrammingPendantCablebetweenthemanipulatorandthecontrollerManipulatorCableDX100viDescriptionsoftheprogrammingpendantkeys,buttons,anddisplaysareshownasfollows:DescriptionoftheOperationProcedureIntheexplanationoftheoperationprocedure,theexpressionSelect•••meansthatthecursorismovedtotheobjectitemandtheSELECTkeyispressed.RegisteredTrademarkI