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Function packages
YASKAWA software solutions
offer greater performance,
easier integration into
production systems, further
control functions and additional
benefits for your robot!
Contents
Overview of communication functions ....................... 05– 07
Function packages
– Relativ Job.....................................................................08
– External IO Allocation ....................................................09
– Independent control.......................................................10
– Coordinated motion.......................................................11
– Alarm detail displaying function......................................12
– Welding in teach mode..................................................13
– Macro command function..............................................14
– Job editing during play...................................................15
– Ethernet WWW..............................................................16
– Automatic backup function............................................17
– Structured language.......................................................18
– Logging function............................................................19
– Data transmission..........................................................20
– Ethernet.........................................................................21
– Ethernet FTP..................................................................22
– CMOS Save with FTP....................................................23
– Ethernet Server..............................................................24
– High Speed Ethernet Server...........................................25
– Tag data replace............................................................26
– External reference point.................................................27
– System Job...................................................................28
– Interrupt Job..................................................................29
– TCP function..................................................................30
– Ladder Editor.................................................................31
– Search function..............................................................32
– Teaching point adjustment function................................33
– Shift condition cancel.....................................................34
– Interface Panel function..................................................35
– Point Variable (T-variable)................................................36
– Pendant oscilloscope function.......................................37
– Numerical input screen display with direct open.............38
– Weaving adjustment.......................................................39
– Hover Weaving (Pause Weaving)....................................40
– Comarc function............................................................41
– Memo Play.....................................................................42
– Euler Angle....................................................................43
– Special shift...................................................................44
– ARC-Digital Basic..........................................................45
– ARC-Analog Basic.........................................................46
– DX200 Q-Set Basic........................................................47
– Password Protection......................................................48
– Sensor function..............................................................49
– Conceyor synchronized function with shift......................50
– T-axis endless function...................................................51
– T-axis speed control function..........................................52
– PMT function.................................................................53
– Analog output corr. speed..............................................54
– Manual break release.....................................................55
– Master tool user frame...................................................56
– Safety re-teach function.................................................57
– Form cutting function.....................................................58
– IO output timing control.................................................59
– Link Servo Float function................................................60
– Link and Linear Servo Float function...............................61
– Link and Linear Servo Float function Multi Robot............62
– DX200 Vision function....................................................63
Page | 4
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it is a full-fledged One-Stop-Shop of all important components and possesses
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Page | 5
Overview of
communication functions
Expand the horizon
of your robot
and your system!
MOTOMAN software offers user-friendly functions in a variety of
application fields and provides uncomplicated and efficient assistance
in every production phase.
PP
Robot Controller
PC
Software PP
MotoSim
Overview of
communication functions
MOTOMAN robot controllers are open con- ting industrial bus communication. Bus communication
trollers. From the NX100 controller generation replaces conventional 24 V I/O wiring. With some exceptions
onwards, both the RS232 interface and the (e.g. MOTOMAN Sync), access is accordingly restricted to
Ethernet interface have come as standard. the I/O level. While the bus interfaces are thus generally used
Depending on the specific controller genera- for exchanging Boolean data values (On/Off), RS232 and
tion, many expansion cards are optionally Ethernet are used for exchanging higher-level data types
available in addition to these interfaces, as (such as positions, status messages, etc.).
both master and slave versions, for suppor-
Server protocols
Server protocols serve to retrieve data from the Ethernet Server
robot controller by means of an external device. The Ethernet Server protocol is an improvement of the BSC
These can be different data. For example, server protocol in terms of performance and Multiclient support. The
protocols are used to connect HMIs. MOTOMAN functionality is identical to that of the BSC Server protocol. The
controllers have the following server protocols: protocol exclusively supports the Ethernet interface. It is open
and also finds an implementation MotoCom SDK. Only there is
also a high compatibility with the BSC protocol. In most cases,
earlier BSC-based MotoCom applications can therefore be
quickly incorporated in Ethernet server-based applications.
Page | 7
Overview of
communication functions
High Speed Ethernet Server Vision interface
The High Speed Ethernet Server protocol is the current „General VSTART is an inform instruction. Inform is the
Purpose“ protocol of the MOTOMAN robot controllers. Com- programming language of the MOTOMAN
pared with the Ethernet Server protocol, performance and controllers. It maps the vision interface of the
functionality are improved. The High Speed Ethernet Server MOTOMAN robot controllers. It maps the com-
protocol is the standard protocol of the controller types DX100, munication protocols of a variety of selected
DX200 and FS100 and future generations. vision systems and works, dependent on these,
A simple application of the protocol can also be achieved here on the basis of Ethernet or RS232. Compatible
using MotoCom SDK. cameras are systems from Cognex (Insight Native
Mode), Keyence and Omron to name but a few.
In practice, this instruction is used to trigger the
Motoman Sync image recording within job application programs
MOTOMAN Sync is only available for MOTOMAN FS100 con- and to transfer the position data.
trollers. The special feature of MOTOMAN Sync is the Motion
API. It allows for complete control of a MOTOMAN manipulator
using an external system (PC, machine controller, PLC, etc.). Socket communication
In this way, no more jobs have to be carried out on the robot Socket communication refers to the communica-
controller itself. tion using arbitrary sockets on the basis of
Path calculation of the robot motion is still performed by the robot user-defined protocols. Unlike the above menti-
controller in order to ensure high YASKAWA precision standards. oned permanently defined protocols, this allows
Client implementations of the corresponding MOTOMAN Sync for free communication on TCP/IP Ethernet (or
protocols (complete with SDKs) are available for, but certainly not RS232). This enables the connection of any kind
limited to, Windows PCs, Siemens PLCs and Rockwell PLCs. In of device (vision systems, sensors, etc.)
addition to the standard Ethernet interface MOTOMAN Sync The robot can optionally act as client as well as
server supports also Ethernet/IP and Profinet. server. MOTOMAN robot controllers allow socket
communication via MotoPlus technology. From
the user’s point of view, the protocols can either
Client protocols be implemented in the form of a MotoPlus appli-
Client protocols serve to retrieve data from an external device. cation or a MotoGSI application. Beyond this, the
A frequent example of the robot as a client is e.g. the communi- corresponding SDKs (Software Development Kits)
cation with vision systems. are available (see MotoPlus SDK or MotoGSI
SDK). In the case of MotoGSI, implementation is
carried out on the job level in the programming
FTP Client language Inform. In the case of MotoPlus, on the
In addition to the FTP Server function, MOTOMAN controllers other hand, in the high-level programming langu-
also have FTP Client function. It cooperates with common FTP age C using a PC-based development environ-
servers (IIS, Filezilla, etc.). The FTP protocol is a special favourite ment (MotoPlus IDE in the package of MotoPlus
of system administrators since it is an internet standard protocol SDK).
with a wide range of experiences and tools.
Relativ Job
Relativ Job
R
U
B
Robot Frame
T
User Frame 2
L
User Frame 1
Key benefits
n Change a pulse-type Job to a coordinated-
type Job
n All points are stored in X, Y, Z
n With “relative job shift” function, complete jobs
can be shifted in different frames.
Function packages Page | 9
External IO Allocation
External IO Allocation
Key benefits
n I/O area for each I/O board or fieldbus(ProfiNet, DeviceNet etc)
can be customized
n Easy to create standard I/O interface depending on applicati-
on or customer requests
Page | 10 Function packages
Independent control
Independent control
Master task Subtask 1
Job name: MASTER Job name: R1JOB
(concurrent job) (R1: robot job)
NOP NOP
* Initial start
PSTART JOB:R1JOB SUB1 JUMP JOB:R1ABC
Master task PSTART JOB:R2JOB SUB2 END
END NOP
Concurrent job MOVJ VJ = 50.0
MOVJ VJ = 50.0
MOVL V = 100.0
Subtask 1 ARCON V = 100.0
completed
END
Start Start
Subtask 2
Job name: R2JOB
(R2: robot job)
NOP
JUMP JOB:R2ABC
Subtask 1 Subtask 1 END
NOP
DX controller can control a maximum of 8 robots The system can be freely combined with applications for not only
STANDARD and plural stations (jig) through one controller. The Welding + Handling but Spot Welding + Handling, Handling +
SETTING “independent control function” allows two robots Handling, and others. (The key sheets are available on the basis of
or the robot and jig to operate independently with order production.)
different programs.
Also, independent operation of the robot and station (external jig)
The DX controller has a function for decoding and can be performed. As an external axis motor, however, the motor
executing a maximum of 8 jobs (extendable up to for YASKAWA robot must be used.
16 jobs (optional)) individually. The multitask control
performed in this function is called independent
control.
Key benefits
n Multitask of 8 jobs (extendable up to 16 jobs)
individually
n Maximum of 8 robots and plural station through
one controller
n Freely combined with applications
Function packages Page | 11
Coordinated motion
Coordinated motion
Jigless system
The “jig less system” enables the first robot to hold the work piece
and a second robot has the torch, and both of them work coope-
ratively. (The concept is the same as the station coordinated.)
To operate the station and robot or two robots at the same time,
the coordinated job must be taught. Coordinated job is available in
the coordinated interpolation that performs the relative interpolati-
on with the station and robot related to master and slave, respec-
tively, and in the individual interpolation that performs individual
operation
Key benefits
n Maximum of 8 robots and a maximum of 24 stations through
one controller.
n Robot and Robot, or Robot and Station or two Robots and
Station work cooperatively
Page | 12 Function packages
Alarm details
displaying function
Alarm details displaying function
}
Alarm title
Same as alarm window data
(Ordinary window)
Alarm content
[Right/Left] button
Cause
Possible solution
User can specify the window to be shown in If there are some possible causes and countermeasures for
case of alarm occurrence: an alarm, press [Left/Right] buttons or [Left/Right] keys to see
n ALARM window (standard) next “cause” and “measure”. The “cause” and “measure” are
=> Press [SELECT] key to show ALARM displayed in the order to be executed.
DETAILS window
n ALARM DETAIL (parameter set)
If multiple alarms occur simultaneously, press [Page] button
or key to switch to next alarm.
Key benefits
n Displays possible causes of occurring alarms
n Help user to find the cause of error
immediately
Function packages Page | 13
Welding
in teach mode
Welding in teach mode
Key benefits
n Check welding conditions and results immediately during
programming
n No need to change to automatic mode
n Status information by optical and acoustical signal avoids
mistakenly use
n Test run function can be executed as usual
Page | 14 Function packages
Macro command
function
Macro command function
001 MOVJ VJ 100.0 001 GETARG LI000 IARG#(1) : Store 1st argument data ‘8’ to LI000.
002 WAIT IN#(1) ON 002 DOUT OT#(10) ON : Turn ON general output 10.
003 MOVJ VJ 50.0 003 MUL LI000 10 : Multiply the number of LI000 by 10. 8×10 80
004 SEALON WIDTH=8 004 WAIT N#(10) ON : Wait for general input 10 to be ON.
005 MOVL V=125 005 AOUT AO#(1) LI000 : Output ‘80’ to the analog output 1.
Macro instruction is the function for creating, regi- and stored into the specified local variable to use the data in the
STANDARD stering, and executing one instruction from plural macro job
SETTING INFORM, that corresponds to each system.
If a post-processing is required when a macro command is inter-
An argument tag can be added to a macro com- rupted, it is possible to add an interruption macro job (SUSPEND
mand like a normal instruction. Macro commands JOB) to the program.
and their argument tags can be easily programmed The interruption macro job is carried out when a macro command
at will in the job data display. that includes the interruption macro job is interrupted by being
putting on a status such as hold, emergency stop, or mode
Instruction creation procedure: Create a macro job switching.
(in normal teaching method) and register the macro
job as a macro instruction. (In the macro instruction For macro job, executive commands such as “JUMP”, “CALL”,
setting screen) and “PSTART” cannot be registered. For interruption macro job,
additionally TIMER instruction and WAIT instruction
Instruction to obtain argument for macro instruc-
tion (GETARG):
When the macro instruction is executed, argument
data added to the macro instruction is obtained
Key benefits
n Creating own functions and routines in
INFORM list
Function packages Page | 15
Key benefits
n Cycle time can be reduced.
n Operating conditions can be changed without stopping during
his working time.
Page | 16 Function packages
Ethernet WWW
Ethernet WWW
Required functions
n 164059_Funktion DX200 Ethernet
Function packages Page | 17
Automatic backup
function
Automatic backup function
Structured language
Structured language
DOUT IN#(16) ON DOUT IN#(17) ON DOUT IN#(18) ON DOUT IN#(16) ON DOUT IN#(17) ON DOUT IN#(18) ON
END END
n IFTHEN-ELSEIF-ELSE-ENDIF
n WHILE-ENDWHILE
n FOR-NEXT
n SWITCH-CASE-ENDSWITCH
Key benefits
n Shorten programs
n Structured program overview
n Complex functionality, easy to implement
Function packages Page | 19
Logging function
Logging function
This function stores and displays the edit such as editing data
of the robot controller program (job) and welding condition and STANDARD
the history (log) of programming pendant operation such as job SETTING
execution.
This function also facilitates troubleshooting by ensuring the data
traceability.
Stores 200 Data edit files (job concurrent IO ladder, Various condi-
tion files, edit of parameters, variables and others)
It is also possible to extract and display only the log of data edit or
pendant operation
Key benefits
n History of programming pendant operation can be checked
n Easy error diagnostic
Page | 20 Function packages
Data transmission
Data transmission
DCI
Main functions
n Job transmission (Load, save and delete jobs)
n Variable transmission (Load and save variables)
Ethernet
Ethernet
PHG
Ethernet
PC
STANDARD
SETTING
Ethernet FTP
Ethernet FTP
FTP
Main functions
n FTP client mode. In client mode the DX200
is capable of uploading and downloading files
to/from a ftp server using the teach pendant
n FTP Server mode. In server mode any FTP
client is capable of uploading and downloading
files to/from DX200 controller
CMOS Save
with FTP
CMOS Save with FTP
Ethernet Server
Ethernet Server
Ethernet Server
Main functions
n Read robot status (Current position, Alarm,
Error, Servo Status, …)
n Control the system (Servo on, Start, Hold,
Job call, ...)
n Read or write Variables, Registers and
I/O signals
n File control (Load, Save, and Delete jobs/files)
High Speed
Ethernet Server
High Speed Ethernet Server
Main functions
n Read robot status (Current position, Alarm, Error,
Servo Status, …)
n Control the system (Servo on, Start, Hold, Job call, ...)
n Read or write Variables, Registers and I/O signals
n File control (Load, Save, and Delete jobs/files), access
backup data
Key benefits
n Teaching modification time is significantly
reduced
n Tag Data can be easily corrected in the
window on the programming pendant
Function packages Page | 27
reference point
External
External reference point
Key benefits
n Quality is improved even for work piece supporting work with
a fixed tool
n Teaching time can be reduced.
n Applicable to more than one tool, gun or nozzle (63 external
reference point
Page | 28 Function packages
System Job
System Job
System JOB
– *1
Every day JOB
Starts – DIN LB000 SOUT # (441)
automatically – MOVJ VJ = 100 Starts when
after turn on – JUMP *LABEL IF LB000 = 1 you go to
the power of – MOVJ VJ = 100 play/remote
the cabinet – SETUALM 8000 “Alarm” mode and
and runs in the – MOVJ VJ = 100 push start.
background. – *LABEL
– MOVJ VJ = 100
– JUMP *1
A system Task is a task that is started immediately nal ladder program. While the access of a ladder program is limited
STANDARD
SETTING and automatically after the controller has started. to IOs and Registers, system jobs can process all available resour-
EXPANDED In comparison to a normal task (user task) neither ces like Variables, System Variables, IOs and Registers. On the
start nor a stop is required to control such a task. other side in contrast to a ladder program the cycle time of a
So it is independent from operation mode (Play/ system task is not fixed. So processing time increases with each
Teach/Operating) and Servo On status. While usu- additional code line and is depending on current CPU Load.
ally motion or operation sequences (workflow) are
programmed in normal tasks a system task is used
to process cyclic tasks in the background. Up to 4
system tasks can be registered and run simultane-
ously in addition to normal job tasks.
Programs running in a system task are called Example:
system jobs. A system job is very similar to a nor- n You can program a system job including a permanent check of
mal job (user job) using the same Inform program- collision detection function status
ming language but with a limited instruction set. n When you are in teaching mode and the collision detection is
For example motion commands are not available. OFF, nothing will happen. But when you are in play mode and
On the other side due to its similar characteristics the collision detection is OFF you will get an alarm e.g. with a
it is sometimes used as a replacement for the inter- reminder “Please turn ON collision detection while PLAY mode”.
Key benefits
n Cyclic Background Tasks in Inform language
n Auto start and independent from Operation
Status
n Access to all resources
n Cycle time depends on number code lines
and CPU load
Function packages Page | 29
Interrupt Job
Interrupt Job
NOP NOP
Interruption
END END
Interruption table
END END
Key benefits
n Interruptions are possible during move instructions as well as
timer instructions
n Tact time can be reduced
n You can observe an area from your job
n For each robot you can create 8 interrupt jobs
Page | 30 Function packages
TCP function
TCP function
Tool A
Tool A Tool B
Tool B
Path taught with Tool A
Key benefits
n Reduction of programming time:
When moving double-tools along the same
track, only one-time teaching is applied to
each tool, which allows the job creation time
to be reduced.
n Precise tracking of both tools
Function packages Page | 31
Ladder Editor
Ladder Editor
The robot controller has a concurrent I/O function that processes with the above function as a signal connection dia-
STANDARD
I/O related control independently from the manipulator, and in gram or to edit ladder programs easily such as pa- SETTING
parallel with the manipulator operation. sting command parts by a drag- and drop operati- EXPANDED
Ladder software is used to graphically display ladder programs on using the mouse.
Editing, Storing
Key benefits
n Simple drag and drop operation
n Cross reference function is enriched
n History jump function is available
n Print function is enriched
Page | 32 Function packages
Search function
Search function
<Robot Operation>
Signal is
input
500 mm
Manipulator stop
Search function” uses various general detection After the operation starts, as soon as there is a signal input, the
sensors to stop the robot by the detection signal of robot stops. If there is no signal input, the robot stops at a distance
HANDLING the sensor and to allow the robot to operate the of 500 mm ahead of the position defined by P000. In that case,
next work. That is to say, this function searches the whether the robot stops with or without a signal input can be
target to be worked determined by the value of the system byte status $B02.
GENERAL
Key benefits
n Although normal programs require a teaching
procedure for each work piece, this function
allows the robot to move in search of work
pieces, which simplifies the program.
(Refer to the program on the left side of this
page.)
Function packages Page | 33
Teaching point
adjustment function
Teaching point adjustment function
ARC
GENERAL
Key benefits
n Teaching modification time is significantly reduced
n Position can be easily corrected in the window on the
programming pendant
Page | 34 Function packages
Function disabled!
Reteach
necessary New position after modification:
offset Result in realation to origin position
Okay!
No additional offset by shift value!
ARC
GENERAL
Key benefits
n No “master workpiece” with original program-
ming necessary!!!
n Reworks on existing “SHIFT-programmes” are
easy and comfortable
n Temporarily shifted points can be overwritten
(modified), independently from current shift
values
Function packages Page | 35
Interface panel
function
Interface panel function
Status
displayed
by lamp
Operation
by the button
and switch
Key benefits
n No additional hardware is required
n Pendant operation allows for cost cutting on the system
Page | 36 Function packages
Point Variable
(T-variable)
Point Variable (T-variable)
Detail A
12
0 0
10
A
100
12
100
This function is fixed part of Multi-Layer function where it has been set. Same T-variable (number) can be used
package. in different JOBs and may have different position information!
HANDLING P-variable on the other hand has „global“ character and if it is set
The special type of position variable has been once, it is commonly valid in all controller areas.
created to simplify the programming of multi-layer
welding structures (figures above). All welding Using the T-variables is not mandatory but the more layers you
passes basically have the same robot position. The have to teach, the more useful these T-variables will become.
only difference is the (variable) shift amount from
ARC root pass to current layer. Only the first layer must
be taught by moving the robot. These positions will
be registered as T-variable and in your JOB you can
use same positions as often as necessary (number
of layers) without moving the robot again.
GENERAL
The main difference to standard position variable
(P-variable) is the „local“ character: That means all
information are stored in current JOB and each
determined T-variable belongs only to the JOB
Key benefits
n Simplifies programming on multi-layer seams
n Helps saving memory space
n Substitutes limited P-variables
n Up to 9999 T-variables for each JOB
n Offline editing possible
Function packages Page | 37
Pendant oscilloscope
function
Pendant oscilloscope function
Waveform display area
Key benefits
n No external Oscilloscope is needed
n The servo conditions can easily be monitored and recorded
n Simple configuration of all relevant measuring parameters
n Data can be logged in a CSV file for easy analysis on PC
Page | 38 Function packages
Numerical input screen
display with direct open
Numerical input screen display with direct open
Call Job Screen
Position Correction
Screen
Call Job
Screen
I/O
Screen
Main Job
Screen
Function overview:
n Job content screen of a job name directly
specified by call instruction
n Condition file screen for a file name directly
specified by work instruction
n Position correction screen for move instruction
with position data
n I/O screen with I/O instruction
(when I/O numbers are specified)
Key benefits
n Easier and faster online teaching
Function packages Page | 39
Weaving adjustment
Weaving adjustment
50 mm
k
2 mm
4 mm
6 mm
Teaching position Teaching position
Function overview:
n weaving amplitude will be continuously
increased.
n robot speed and weaving frequency can also
be adapted if needed.
GENERAL
Key benefits
n Extension of standard weaving function
n Available for application “general” and “arc welding”
n Function is also optional part of adaptive welding routine in
MotoEyeLT software (see picture above: gap condition file),
if laser seam tracking is used
Page | 40 Function packages
Hover Weaving
(Pause Weaving)
Hover Weaving (Pause Weaving)
Wall Weaving
direction motion
Direction
of travel
So there’s no travel direction for the robot and th- Right figure:
erefore weaving direction cannot be determined. Example for application grinding/polishing
For these sequences “hover weaving” enables usa- Workpiece in robot’s hand has only one position in relation to the
ge of weaving function. belt, so there’s no travel direction. The only motion is the weaving.
0 : With smoothing
1 : Without smoothing
Single Triangle L-type
Key benefits
n Expansion of weaving function enables wea-
ving for processes where the robot itself is not
doing any movement
n Available for application arc welding and gene-
ral
n Works also in combination with arc sensor
“Comarc”
Function packages Page | 41
Comarc function
Comarc function
Up and Down
Up and Down
Key benefits
n Modification position in horizontal and vertical direction.
n Pass-over Function.
n Comarc works only with simple weaving.
n No CMT or Aluminum welding!
Page | 42 Function packages
Memo Play
Memo Play
1 6
T0000 5
T0001
2 4
T0002
T0003 Path of
3 first
T0005 T0004 layers
2nd path
of 2nd layer (3)
1st path
of 2nd layer (1) (2)
Example:
n Work piece tolerances or displacements are
requesting the use of arc sensor Comarc.
n In the first layer arc sensing will compensate
the offsets between taught and current
positions. This „new“ path will be stored and
can be reproduced in all following layers.
Key benefits
n Useful function in multi layer welding package
n Instead of Comarc you can also use Laser
Tracking sensor with MotoEyeLT for first layer!
n Memory extension mandatory
Function packages Page | 43
Euler Angle
Euler Angle
+Z +Z
-C
+B
Euler angle function is fixed part of multi layer welding package. Z-direction which is related to world‘s Z-coodinate
It is special tool coordinate system which follows popular nomen- (please refer pictures).
clature of torch angles used within manual welding: ARC
A-angle: same as forehand/backhand welding Jog operations sometimes become complicated
B-angle: torch orientation in relation to opening angle of welding because Euler doesn‘t work like rectangular
groove (tendency towards the wall or towards ground coordinate system. The picture below shows that
plate) xyz-direction is only 2-dimensional plane! Program-
C-angle: no meaning for manual welding but robot can addi- mer has to get used to this situation.
tionally use rotation around gas nozzle to get into more
suitable position. The behaviour is the same all over the robot‘s
„world“ and is used to perform same multi layer
Please beware two important points for basic understanding of designs at different workpiece positions in the cell
torch angles according to „Euler“: (including rotation around z-axis).
This coordinate system was basically created for fillet seams in
horizontal position. This means that a multi-layer design which was set
once, can be repeated at any position in your cell
Caution: Only under these conditions the function can work as often as wished (restrictions above must be
properly!!! All other positions will miss a correct calculation for considered).
Key benefits
n Part of multi-layer package
n Tool coordinates like commonly used for manual welding
n Beware restrictions caused by non-rectangular and
2D character
n Same multi-layer design repeatable at any workpiece position
Page | 44 Function packages
Special shift
Special shift
Key benefits
n Useful expansion for any SHIFT-programming
structure
n Easier and more comfortable use of
SHIFT-function
n Use it wherever overlay of shift values in
different coordinate systems becomes
necessary
Function packages Page | 45
ARC-Digital Basic
ARC-Digital Basic
Torch
Manipulator
Positioner
Key benefits
n The welding power source of the documentation data can be
used
n The welding-specific data is managed by the welding power
sources
Page | 46 Function packages
ARC-Analog Basic
ARC-Analog Basic
Torch
Manipulator
Positioner
Key benefits
n The documentation data can be used by
functionality of the controller
n The welding-specific data is managed by the
robot controller
n Individual welding parameter can be defined
n ARC-Retry, -Restart, -AntiStick
Function packages Page | 47
A checking program is executed at regular intervals to check the in case of the automatic measurement and correc-
wire position on the torch In this way, the contact tip can be tion of the programs, the torch (wire) is measured
checked for accurate positioning and wear, and the wire quality with the light barriers in X, Y and also in Z direction ARC
(twist) can also be checked. by means of a special robot program.
The robot enters the testing device in such a way that it interrupts The new tool data is now used to convert and
two laser light barriers with the wire, while keeping the torch intact. to correct all programs as a Relative Jobs. If the
maximum permissible torch deviations are ex-
If the tool is deformed, then at least one of the laser light barrier ceeded, an error message is displayed
isn’t interrupted, in that case either an alarm can be displayed and
the cause of the error can be remedied by the operator, or the
automatic measurement of the torch can be started.
Key benefits
n Quality assurance
n Higher availability through early detection of wear on
the torch
n Torch check in regular intervals
n Automatic program correction after collision
n Automatic TCP adjustment after torch change
n Automatic correction of the Tool-data
n Error message if the maximum deviation of the TCP is
exceeded
Page | 48 Function packages
Password Protection
Password Protection
The password protection function helps assure Only the system administrator can change registered user account
system safety by requiring each user to have a information.
SINGLE personal authorization registered to access the
controller so as to control what operations may be The password protection function also enables to find out, by
performed by the users. tracing the alarm history, which user has been logged in at the time
of a particular alarm.
The system administrator authorizes each user by
assigning a login name and password, a security
level and a timeout setting, thereby allowing a
specific level of controller access.
Key benefits
n 100 user accounts
n Alarms with username
n Logbook function with username
Function packages Page | 49
Sensor function
Sensor function Shifted tool
center point
Tracking
path
Offset amount
(0, -L, 0)
Shifted tool
center point
x
Welding
line data Position
y data of External
a, b, c calculator,
Vision
z Tool frame controller,
Tool center point etc.
without offset
Displacement
sensor
X
Stocker
The sensor function corrects, up to three directions, the robot path Shift value creation function according to the
and the speed, measures the distance, and detects the position by sensor signal:
using an analogue displacement sensor, analogue torque sensor, The distance to the target work piece can be cal- SINGLE
and other analogue sensors. culated by using the input signal from the displace-
ment sensor and the robot job can then be shifted
Real time path correction according to the sensor signal in depending on that Measurement.
playback operation:
With this function, a sensor can detect the deformation and positi-
on deviation of the work piece and the robot can correct the path
in real time. Also, this function monitors whether the sensor signal
exceeds the upper or lower limit of the threshold value to prevent
the robot from dramatically deviating from the path.
Key benefits
n Full automatic compensation of work piece tolerances
in playback operation
n Speed correction according to an analogue signal
n Shift value creation according to an analogue signal
n Search function according to an analogue signal
Page | 50 Function packages
Conveyor synchronized
function with shift
Conveyor synchronized function with shift
Encoder
Manipulator
Example:
When a part reaches the STP (start position) the
robot starts the synchronization. If another part
reaches the STP, the robot will first finish the run- OL STP
ning Job at the current part. Then the robot returns
to the home position and starts the synchronization
at the second part while it is located within the OL
(over limit) range.
Key benefits
n Robot operations are synchronized with the
conveyor
n The function can be applied to linear conveyor,
circular conveyor, and revolving table
n The function can also be applied to the case
where plural work pieces flow within the shift
interval (a maximum of 99 pieces)
Function packages Page | 51
T-axis endless
function
T-axis endless function
Key benefits
n No turn back of the T-axis is neccassary
n Teaching time can be reduced
n Tact time can be reduced
Page | 52 Function packages
T-axis speed control
function
T-axis speed control function
····
····
MOVJVJ=12.50
VCON RV=10 --> Starts rotation Speed: 10
MOVL V=100
VCOF --> Terminates rotation
····
····
Key benefits
n Teaching time can be reduced.
n Working efficiency can be improved.
n The T-axis can be continuously rotated with
the robot interpolated by the move instruction
Function packages Page | 53
PMT function
PMT function
Deformed tool
(Orientation tool) Dislocation of tool center point
PMT function allows time and works for modifying the shift to be
reduced. When a job is specified, the position data of the tool
dimensions before the deformation (during teaching) is automati-
cally converted to the position data of the tool dimensions after the
deformation.
The tool before modification is called the old tool, and the tool after
the deformation is called the new tool in PMT function.
Key benefits
n Time and work for teaching modification can be reduced.
Teaching modification work can be efficiently performed
because position data can be automatically converted from
the old tool to the new one.
n Storing tool data record can easily restore original tool data.
The original tool data can be easily restored because the
change record of the tool constant can be checked in the
“Tool Backup” window.
Page | 54 Function packages
Analog output
corr. speed
Analog output corr. speed
ANALOG VOLTAGE
Speed: slow
Discharged
amount: small
14V
Basic
voltage
Offset
voltage
OPERATING
Speed: fast 0 Basic speed SPEED
Discharged amount: large
The “analog output function corresponding to According to the set value of the ARATION instruction, the output
speed” automatically changes the analog output characteristics for the relation between the operating speed and
SINGLE value depending on the variation of the manipulator the analog voltage are calculated. The analog output function
operating speed. This function eliminates the need corresponding to speed is executed depending on these output
for setting the analog output value again depend- characteristics.
ing on the variation of the operating speed, which
reduces the teaching work for the job. When the ARATIOF instruction is executed, the analog output
corresponding to speed is completed, and the set offset voltage
This function is useful when the thickness of sea- becomes the fixed output.
ling or painting should be constant, the manipulator
operating speed can control the discharged
amount of seals or paints.
Key benefits
n Teaching effort is reduced
n Output possibilities: Analog (additional analog
output extension board required) and/or digital
16-bit signal
n By using a filter process, the output signal can
be close to the manipulator’s actual speed
Function packages Page | 55
Key benefits
n The Robot and external axis can be moved without Power
connection
Page | 56 Function packages
Master Tool
Frame (MTF)
Master Tool
Frame (MTF)
User Frame
based on MTF
User Frame
based on MTF
The “Master Tool User Frame” is a special function By default, user coordinate systems are fixed in space. This feature
for jigless systems and coordinated motion allows the definition of user coordinate systems based on Master
SINGLE systems. Tools.
Master Tools are tool coordinated points at jigless Simple calculation of coordinates and shift values based on Master
systems or calibrations between robots and Tool User Frames
stations.
The devices of two stations do not have to be identical. Relative
During motion of robots and stations Master Tools jobs based on Master Tool User Frames can be easily transferred.
move in space. Shift values or relative coordinates
can hardly be calculated.
Key benefits
n Easy shift of points or jobs
n Easy handling with relative jobs based on user
frames
n Simple job transfer between different stations
or robot systems
n Available for jigless systems and coordinated
systems with stations
Function packages Page | 57
Safety re-Teach
function
Safety re-teach Function
z y
Thus, so the programmer can control the plant, the area in which
the system operator can make some adjustment of the program.
SINGLE
Key benefits
n Quality improvement through rapid adaptation
n A re-teaching is possible already by the operator
Page | 58 Function packages
First stop
time position
Amount of
Cl
Cur in lenght End point
overlap
oc
(arc) (path)
kw
ise
Cur in lenght
(arc)
Start point
(placement)
Radius
Key benefits
n Teaching time can be reduced
n Path accuracy is improved
Function packages Page | 59
IO output timing
control
IO output timing control
1 2 3
Key benefits
n Precise IO timing depending on robot position
n Speed independent
Page | 60 Function packages
Link Servo Float
function
Link Servo Float function
The servo float function controls not only the posi- Link Servo Float Function
tion of the robot but both the position and force of This function performs the servo float for each axis of the robot.
SINGLE the robot. Normally, even if an outer force is applied This function is used when a force is applied only to a specific axis
to the robot, the robot tries to maintain the current or when the servo float is applied to all axes of the robot because
position and does not move because only the the direction in which the force is applied cannot be identified.
robot position is controlled. In that case, the servo
float function provides flexible control on the posi-
tion and posture of the robot, in response to the
force applied from outside. It allows to overwrite
(reteach) robot positions under consideration of
current shift-values
Key benefits
n No additional hardware is required
n Link Servo Float Function
Can be activated by programmer for each axis
or all together
Function packages Page | 61
The servo float function controls not only the position of the robot Link Servo Float Function
but both the position and force of the robot. Normally, even if an This function performs the servo float for each axis
outer force is applied to the robot, the robot tries to maintain the of the robot. This function is used when a force is SINGLE
current position and does not move because only the robot posi- applied only to a specific axis or when the servo
tion is controlled. In that case, the servo float function provides float is applied to all axes of the robot because the
flexible control on the position and posture of the robot, in response direction in which the force is applied cannot be
to the force applied from outside. It allows to overwrite (reteach) identified.
robot positions under consideration of current shift-values
Linear Servo Float Function
This function performs the servo float for each
coordinate axis of coordinate systems such as the
robot coordinate, base coordinate, base coordi-
nate, user coordinate, and tool coordinate. This
function is used when the force is applied only to
the specific direction of each coordinate system.
Key benefits
n No additional hardware is required
n Link Servo Float Function
Can be activated by programmer for each axis or all together
n Linear Servo Float Function
Can be activated by programmer for each coordinate system
in each direction
Page | 62 Function packages
Link and Linear Servo Float
function Multi Robot
Link and Linear Servo Float function Multi Robot
The servo float function controls not only the posi- Link Servo Float Function
tion of the robot but both the position and force of This function performs the servo float for each axis of the robot.
SINGLE the robot. Normally, even if an outer force is applied This function is used when a force is applied only to a specific axis
to the robot, the robot tries to maintain the current or when the servo float is applied to all axes of the robot because
position and does not move because only the the direction in which the force is applied cannot be identified.
robot position is controlled. In that case, the servo
float function provides flexible control on the posi- Linear Servo Float Function
tion and posture of the robot, in response to the This function performs the servo float for each coordinate axis of
force applied from outside. It allows to overwrite coordinate systems such as the robot coordinate, base coordi-
(reteach) robot positions under consideration of nate, base coordinate, user coordinate, and tool coordinate. This
current shift-values function is used when the force is applied only to the specific direc-
tion of each coordinate system.
Key benefits
n No additional hardware is required
n Link Servo Float Function
Can be activated by programmer for each axis
or all together
n Linear Servo Float Function
Can be activated by programmer for each
coordinate system in each direction
n Linear Servo Float Function Multi Robot
For every Robot Link Servo Float can be
activated in a separate coordinate system
Function packages Page | 63
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