YASKAWA
DX100 OPTIONS
INSTRUCTIONS
FOR MACRO COMMAND FUNCTION
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 manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number: 156439-1CD
Revision: 0
YASKAWA
MANUAL NO.
HW0485673
1/21
HW0485673
DX100
MANDATORY
This manual explains the macro command function of the DX100
system. Read this manual carefully and be sure to understand its
contents before handling the DX100.
General items related to safety are listed in Chapter 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
product's warranty.
ii
HW0485673
2/21
HW0485673
DX100
Notes for Safe Operation
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.
WARNING
CAUTION
MANDATORY
PROHIBITED
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.
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
HW0485673
3/21
HW0485673
DX100
WARNING
Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX100 and the programming pendant.
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 the P-point maximum envelope of the
manipulator:
View the manipulator from the front whenever possible.
Always follow the predetermined operating procedure.
Keep in mind the emergency response measures against the
manipulators unexpected motion toward you.
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 power for the DX100.
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.
iv
HW0485673
4/21
HW0485673
DX100
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
manipulator's work area, on the floor, or near fixtures.
Read and understand the Explanation of Warning Labels in the
DX100 Instructions before operating the manipulator:
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX100 controller
DX100
DX100 programming pendant
Programming pendant
Cable between the manipulator and DX100
Manipulator Cable
HW0485673
5/21
HW0485673
DX100
Descriptions of the programming pendant, buttons, and displays are
shown as follows:
Equipment
Manual Designation
Programming Character
Pendant
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.
GO BACK
ex. page key PAGE
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 When two keys are to be pressed
simultaneously 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}
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.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of (R) and TM are omitted.
vi
HW0485673
6/21
HW0485673
DX100
Contents
1 Outline............................................................................................................................................. 1-1
1.1 Features............................................................................................................................. 1-1
2 Preparation of Macro Commands ................................................................................................... 2-1
2.1 Preparing a Macro Job....................................................................................................... 2-1
2.2 Teaching a Macro Job ....................................................................................................... 2-3
2.2.1 GETARG Instruction ............................................................................................. 2-3
[Link] Function................................................................................................... 2-3
[Link] Format ..................................................................................................... 2-3
[Link] Job Example............................................................................................ 2-4
3 Registration of Macro Commands................................................................................................... 3-1
3.1 Setting an Execution Macro Job ........................................................................................ 3-2
3.2 Setting the Contents of Argument Tag Added to the Macro Command............................. 3-4
3.3 Setting an Interruption Macro Job...................................................................................... 3-7
vii
HW0485673
7/21
HW0485673
1
1.1
DX100
Outline
Features
Outline
The macro command function registers a prepared job as a macro
command and then carries out the job by the macro command.
With the macro command function, system integrators who apply various
MOTOMAN robot systems can freely create INFORM (a robot
programming language used in DX100) that corresponds to each system.
The macro command function enables an easier robot system with use of
the key customize function. (Refer to "8.15 Numeric Key Customize
Function" in "DX100 INSTRUCTIONS" for details.)
1.1
Features
A job prepared with the macro command function by user is registered as a macro command.
The contents of macro command can be prepared with INFORM,
which is the same manner as the normal job data.
An argument tag can be added to a macro command like a normal
instruction. Macro commands and their argument tags can be easily
programmed at will in the job data display.
< Example > Macro command for sealing
SEALON WIDTH=8
Argument tag to specify the sealing width
Macro command to start sealing
The macro commands can be used in the same way as the
other instructions. Unlike the CALL instruction, end users do
not have to consider the restarting method in case of a job
interruption.
The macro command function enables settings for post-processing of the job interruption, such as the cancellation of current work instruction, etc.
If a macro command is interrupted during the execution, the
interrupted macro command is reexecuted from the beginning
when the operation is restarted.
NOTE
The macro command function is enabled only when the
security mode is in the management mode.
1-1
HW0485673
8/21
HW0485673
2
2.1
DX100
Preparation of Macro Commands
Preparing a Macro Job
Preparation of Macro Commands
The execution sequence of a macro command is registered as a macro
job.
NOTE
2.1
The macro command function is enabled only when the
security mode is in the management mode.
Preparing a Macro Job
Depending on the applications, there are three types of macro jobs as
follows:
Robot macro job with a designated control group
A move instruction can be registered in a macro command.
A macro command prepared as a robot macro job can be used only
in the jobs configured for the same control groups. For example, the
macro command prepared as a robot macro job for R1 cannot be
used in a job for R2.
Robot macro job without a control group
Can be used for all robot jobs. Since the control group is not designated, no move instruction can be registered.
Concurrent macro job
Can be used in a concurrent job. Since the control group is not designated, no move instruction can be registered.
1. Select "Management Mode" for the security mode.
2. Select {JOB} from the top menu.
3. Select {NEW JOB CREATE}
4. Enter the job name.
2-1
HW0485673
9/21
HW0485673
DX100
2
2.1
Preparation of Macro Commands
Preparing a Macro Job
5. Point the cursor to "JOB TYPE", and press [SELECT].
A selection list appears.
Select "ROBOT MACRO" or "CONCURRENT MACRO".
6. Select "EXECUTE".
A macro job is prepared, and the JOB CONTENT window appears.
2-2
HW0485673
10/21
HW0485673
2
2.2
DX100
2.2
Preparation of Macro Commands
Teaching a Macro Job
Teaching a Macro Job
Teach a macro job which is prepared as a macro command in the same
manner as normal jobs.
A maximum of sixteen argument tags can be added to a macro command.
Since the data of the argument tag is stored in a local variable to be used,
the required number of local variables must be set in a "JOB HEADER"
before teaching the macro job.
SUPPLE
-MENT
NOTE
2.2.1
[Link]
For the setting procedure of the local variables, refer to
"3.9.11 Editing Local Variables" described in "DX100 OPERATOR'S MANUAL".
In a macro job, job execution instructions such as JUMP,
CALL, and PSTART cannot be registered.
GETARG Instruction
Function
The GETARG instruction is an instruction to receive an argument for
macro command. When a macro command is executed, the GETARG
instruction gets the data of the argument tag which is added to the macro
command, and stores it in a local variable to be used in the macro job.
[Link]
Format
GETARG LB000 IARG#(1)
c
d
Stores the data of the first argument
in the local variable LB000.
c Designation of the local variable as the storage destination of the
argument data.
The following types of local variables can be used for storage destination:
-Byte-type
-Integer-type
-Double-precision integer type
-Real-number type
-Robot-axis-position type
-Base-axis-position type
-Station-axis-position type
d Designation of argument data.
Specifies the number of the argument data to be taken.
2-3
HW0485673
11/21
HW0485673
2
2.2
DX100
[Link]
Preparation of Macro Commands
Teaching a Macro Job
Job Example
Robot Job
Macro Job: SEALON
NOP
MOVJ VJ=100.00
WAIT IN#(1)=ON
MOVJ VJ=50.00
SEALON WIDTH=8
MOVL V=125
MOVL V=95
NOP
GETARG LI000 IARG#(1)
DOUT OT#(10) ON
MUL LI000 10
WAIT IN#(10)=ON
AOUT AO#(1) LI000
END
Stores the first argument
data "8" in the local variable
LI000.
Outputs the analog voltage
according to the first argument
data.
2-4
HW0485673
12/21
HW0485673
Registration of Macro Commands
DX100
Registration of Macro Commands
To register the macro job prepared in chapter 2.1 Preparing a Macro Job
as a macro command, display the MACRO (ROBOT) window or MACRO
(CONCURRENT) window following the procedure below.
NOTE
The macro command function is enabled only when the
security mode is in the management mode.
1. Select "Management Mode" for the security mode.
2. Select {SETUP} from the top menu.
3. Select {MACRO INST.}.
The macro command setting window appears.
GO BACK
Press the page key
to alternately display the MACRO
(ROBOT) window and the MACRO (CONCURRENT) window.
PAGE
3-1
HW0485673
13/21
HW0485673
3
3.1
DX100
3.1
Registration of Macro Commands
Setting an Execution Macro Job
Setting an Execution Macro Job
The execution macro jobs are macro jobs in which the operations to be
carried out by a macro command are programmed. Note that the JOB
CONTENT window of a macro command displays the names of the jobs
which are specified as execution macro jobs.
1. Point the cursor to the "EXECUTE JOB" to be set in the macro
command setting display, and press [SELECT].
A list box appears.
2. Select "SETTING MACRO JOB".
The MACRO JOB NAME window appears.
3-2
HW0485673
14/21
HW0485673
DX100
3
3.1
Registration of Macro Commands
Setting an Execution Macro Job
3. Select the desired macro job.
The selected macro job is registered as an execution macro job.
3-3
HW0485673
15/21
HW0485673
3
3.2
DX100
3.2
Registration of Macro Commands
Setting the Contents of Argument Tag Added to the Macro
Command
Setting the Contents of Argument Tag Added to the
Macro Command
Set the contents of argument tag to be added to the registered macro
command.
This setting is not necessary for the macro command with no argument.
1. Point the cursor to the macro number to which the argument is to be
set.
2. Press [SELECT].
(Continued on the next page.)
The macro ARGUMENT DEFINITION window appears. There are
two windows to define the macro argument. Press the page key
GO BACK
PAGE
to switch the windows.
c Argument number (ARG. 1 to 16)
Point the cursor to the desired argument number, and press [SELECT].
Select "USE" or "NOT USE" from the list box.
For the unused argument numbers, the window displays "------".
3-4
HW0485673
16/21
HW0485673
DX100
3
3.2
Registration of Macro Commands
Setting the Contents of Argument Tag Added to the Macro
Command
d COMMENT 1 (Up to 16 characters)
Point the cursor to COMMENT 1 and press [SELECT]. A character
input window appears.
Enter the contents of the argument tag added to the macro command
in the "COMMENT 1" column. These contents are displayed as the
comment for the argument tag in the detail editing window of the macro
command.
e TYPE
Point the cursor to TYPE and press [SELECT]. A dropdown list
appears.
Select the data type of the argument tag. The following types of data
are available for the setting:
<Constants or variables>
Byte-type
Integer-type
Double-precision integer type
Real-number type
<Variables or teaching points>
Robot-axis-position type
Base-axis-position type
Station-axis-position type
f COMMENT 2 (Up to 8 characters)
Point the cursor to COMMENT 2 and press [SELECT]. A character
input window appears.
Enter the unit for inputting data in the argument tag to be added to the
macro command in "COMMENT 2". The units are displayed as the
comment for the argument tag data input units in the detail editing
window of the macro command.
3-5
HW0485673
17/21
HW0485673
DX100
3
3.2
Registration of Macro Commands
Setting the Contents of Argument Tag Added to the Macro
Command
g DISPLAY
Select whether to display the expression in the EXPRES'N column.
Pressing [SELECT] displays "ON" and "OFF" alternately: "ON" displays the expression; "OFF" hides the expression.
When the teaching point for the robot position, base position, or station
position is set in "TYPE", the screen does not display the tag set for the
teaching point even if "ON" is selected.
h EXPRES'N (Up to 8 characters)
Point the cursor to EXPRES'N and press [SELECT]. The character
input box appears.
Enter the expression for the argument tag.
3. Perform the settings for each item.
3-6
HW0485673
18/21
HW0485673
3
3.3
DX100
3.3
Registration of Macro Commands
Setting an Interruption Macro Job
Setting an Interruption Macro Job
If a post-processing is required when a macro command is interrupted,
add an interruption macro job (SUSPEND JOB) to the grogram.
The interruption macro job is carried out when a macro command that
includes an interruption macro job (SUSPEND JOB) is interrupted by
being putting on a status such as hold, emergency stop, or mode
switching.
NOTE
Only a robot job without a designated control group can be
added to the interruption macro job of the robot macro command.
1. Point the cursor to the "SUSPEND JOB" column of the macro job for
which an interruption macro job is to be added, and press [SELECT].
A list box appears.
2. Select "SETTING MACRO JOB".
The MACRO JOB NAME window appears.
3-7
HW0485673
19/21
HW0485673
DX100
3
3.3
Registration of Macro Commands
Setting an Interruption Macro Job
3. Select the desired macro job.
The selected macro job is registered as the interruption macro job.
NOTE
If the following infinite loop is programmed in the interruption macro job, the start lamp stays lit but no operation is
carried out. Do not add such a job to the program.
Also note that the TIMER and WAIT instructions are not carried out in the interruption macro job.
JOB example
NOP
*LOOP
DOUT OT#(1) OFF
AOUT AO#(1) 10.00
JUMP *LOOP IF IN#(1)=ON
END
3-8
HW0485673
20/21
DX100 OPTIONS
INSTRUCTIONS
FOR MACRO COMMAND FUNCTION
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone +81-93-645-7745
Fax +81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 10, Box 4004, SE-390 04 Kalmar, Sweden
Fax +46-480-417999
Phone +46-480-417800
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA ELECTRIC KOREA CORPORATION
1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Fax +82-53-382-7845
Phone +82-53-382-7844
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741
Fax +65-6289-3003
Phone +65-6282-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia
Phone +60-3614-08919
Fax +60-3614-08929
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
Fax +66-2-693-4200
SHOUGANG MOTOMAN ROBOT CO., LTD.
No.7,Yongchang-North Road, Beijing Economic and Technological and Development Area, Beijing 100076, China
Fax +86-10-6788-0542
Phone +86-10-6788-0541
MOTOMAN MOTHERSON ROBOTICS LTD.
Plot Number 195-196, First Floor, Imt Manesar -Sector 4, Gurgaon (Haryana),Pin-122050, India
Phone +91-124-475-8500
Fax +91-124-475-8542
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
Printed in Japan September 2009 09-09
MANUAL NO.
HW0485673
21/21
