SETTING-UP MANUAL - DENSO Robotics

More documents

Recommendations

Info

2.2 Turning the Robot Controller OFF(TP/MP)Turn the robot controller off when(1) The necessary robot operations have been completed.(2) Performing maintenance on the robot unit.(3) Performing maintenance on the robot controller.(4) Connecting or disconnecting visual equipment, Ethernet board, floppy disk drive,and others to or from the robot controller.(5) Connecting or disconnecting the robot control cable between the robot unit and itscontroller.CAUTION: Be sure to turn the robot controller off before connecting ordisconnecting the robot control cable between the robot unit and its controller.Connection/disconnection of the robot control cable while the robot controller power ison will damage the encoder interface circuitry in the robot controller.2-4
Chapter 2 Preparations for TeachingOperating procedure• From the teach pendantStep 1 If the MOTOR lamp is on, press the MOTOR key to turn the motor power off.The MOTOR lamp goes off.MOTOR lampMOTOR keyStep 2 Flip the power toggle switch on the robot controller downwards.The power lamp (the left one of the three pilot lamps) goes off.2-5
Page 1 and 2: ROBOTVertical articulatedV* SERIESH
Page 3 and 4: PrefaceThank you for purchasing thi
Page 5 and 6: ContentsChapter 1 Operating Devices
Page 7 and 8: Chapter 5 Commands Assigned to Func
Page 9: Chapter 1Operating Devices(TP/MP)Th
Page 12 and 13: 1.1.2 Connecting the Mini-PendantCo
Page 14 and 15: 1.2.2 Names of Keys, Buttons, and S
Page 16 and 17: 1.2.3 Basic Operation of the Teach
Page 18 and 19: SHORTCUT buttonThe use of a shortcu
Page 20 and 21: 1-10Top Screen of the Mini-Pendant
Page 23 and 24: Chapter 2 Preparations for Teaching
Page 25: Chapter 2 Preparations for Teaching
Page 43 and 44: Step 3 Check the inching values and
Page 77 and 78:
Chapter 2 Preparations for Teaching
Page 79:
Chapter 3GeneralIntroduction toOper
Page 82 and 83:
3.1.1 Switching Between Operation M
Page 84 and 85:
3.2 Manual Mode (TP/MP)In Manual mo
Page 86 and 87:
[ 3 ] Tool modeTool mode allows you
Page 88 and 89:
[ 2 ] X-Y modeThe figure below show
Page 90 and 91:
Operating procedureCAUTION: At the
Page 92 and 93:
Table 3-1. Arm Traverse Keys and Dr
Page 94 and 95:
Table 3-2. Arm Traverse Keys and Dr
Page 96 and 97:
Step 3 Display a target I/O signal,
Page 98 and 99:
3.2.3 Using the Command Builder (TP
Page 100 and 101:
Step 6 In the Category Selection wi
Page 102 and 103:
Step 8 If the selected command has
Page 104 and 105:
Command BuilderOperating flow of co
Page 106 and 107:
Category selection screenOn the cat
Page 108 and 109:
[Ins][Replce]Inserts a newly entere
Page 110 and 111:
3.2.4 Easy Teaching (TP)Easy teachi
Page 112 and 113:
Step 5Move the cursor to a line imm
Page 114 and 115:
3.2.4.2 Editing a Motion CommandWha
Page 116 and 117:
Step 6Use the alphanumeric key scre
Page 118 and 119:
"Single-step run": Runs a single st
Page 120 and 121:
In the case of [
Page 122 and 123:
SymbolsO: Operable & editableOP: Op
Page 124 and 125:
3.2.4.5 Notes for Easy Teaching(1)
Page 126 and 127:
• Enhanced function keys in Manua
Page 128 and 129:
[Config.]Pressing this command butt
Page 130 and 131:
3.2.5.2 Folders Displayed on Mini-P
Page 132 and 133:
[ 1 ] Cycle checkTo monitor the pro
Page 134 and 135:
[ 2 ] Step checkTo monitor the prog
Page 136 and 137:
[ 3 ] Step Back FunctionThis functi
Page 138 and 139:
NOTE 2: About Skipping InterruptSki
Page 140 and 141:
Step 4While holding down the deadma
Page 142 and 143:
Selecting Commands To Be Executed D
Page 144 and 145:
Executing by Specifying an Arbitrar
Page 146 and 147:
3.4 Auto Mode (TP/MP)In Auto mode,
Page 148 and 149:
Step 3 Select the task program you
Page 150 and 151:
[ 2 ] Continuous runBefore proceedi
Page 152 and 153:
Step 6 In the system message dialog
Page 154 and 155:
Step 3 Select the task program you
Page 156 and 157:
3.4.2 Stopping Internal Automatic O
Page 158 and 159:
[ 1 ] Cycle Stop (TP/MP)Cycle stop
Page 160 and 161:
[ 3 ] Halt (Stop) (TP/MP)Operating
Page 162 and 163:
3.4.3 Switching to External Automat
Page 164 and 165:
3.4.4 Stopping External Automatic O
Page 166 and 167:
3.4.5.1 Parameters for the Continue
Page 168 and 169:
3.4.5.2 "Continue start" operating
Page 170 and 171:
3.4.5.4 Resetting programs• From
Page 172 and 173:
3.4.6 SS (Safe Start) FunctionIn au
Page 174 and 175:
PRO1 PRO2 PRO3TAKEARMMOVEIn this fi
Page 176 and 177:
• Setting procedure of SS functio
Page 178 and 179:
[ 4 ] Setting time and speedYou may
Page 180 and 181:
Setting the TS period(1) Follow ste
Page 182 and 183:
By typing the commands in programsT
Page 184 and 185:
[ 5 ] Dedicated output in SS functi
Page 186 and 187:
Restarting after BP stopRestart the
Page 188 and 189:
Step 5 Select a step where you want
Page 190 and 191:
Setting the Break Point Stop mode
Page 192 and 193:
Executing BP (break point) stop ope
Page 194 and 195:
Clearing all break points• From t
Page 196 and 197:
3.4.8.2 Quick Variable Reference (T
Page 198 and 199:
Pressing [Register] registers varia
Page 200 and 201:
3.4.8.3 Referring to Registered Var
Page 202 and 203:
3.4.8.5 Referring To or Writing Int
Page 204 and 205:
3.4.9 Changing Route in Restarting
Page 206 and 207:
Changing the robot end routePerform
Page 208 and 209:
Step 5 Enter 0 or 1 from the numeri
Page 210 and 211:
3.4.10 Supervisory Task (Software P
Page 212 and 213:
Terminating supervisory tasksSuperv
Page 214 and 215:
Press the OK button. The supervisor
Page 216 and 217:
(3) INIT external speed parameterTh
Page 218 and 219:
[ 4 ] Terminating supervisory tasks
Page 220 and 221:
3.4.10.3 Restrictions on the Use of
Page 222 and 223:
3.4.11 Supervisory Task ExtensionCo
Page 224 and 225:
(3) Press the OK button. Your selec
Page 226 and 227:
3.4.12.2 Choice of processing time
Page 229:
Chapter 4GeneralIntroduction toCoor
Page 232 and 233:
[1.2] Position dataPosition data re
Page 234 and 235:
[1.3] Defining work coordinatesTwo
Page 236 and 237:
Step 5The numeric keypad will appea
Page 238 and 239:
• Defining work coordinates by di
Page 240 and 241:
Configuring the external TCP functi
Page 242 and 243:
[2.2] Difference in robot motion wh
Page 244 and 245:
[2.3] Tool coordinatesBased on mech
Page 246 and 247:
[2.5] TOOL0 (Mechanical interface c
Page 248 and 249:
In programmed running(1) Using APPR
Page 250 and 251:
[2.7] Tool definitionTool definitio
Page 252 and 253:
Step 3 Press [F4 Tool.].F4The Defin
Page 254 and 255:
Step 7 Repeat Steps 4 through 6 to
Page 256 and 257:
Figure 4-17. End-effector 1 Figure
Page 258 and 259:
Displaying the current tool coordin
Page 260 and 261:
The chuck is mounted in parallelwit
Page 262 and 263:
The Position Variables window appea
Page 264 and 265:
[ 1 ] Notes on interference check a
Page 266 and 267:
Defining an interference check area
Page 268 and 269:
Step 5The numeric keypad will appea
Page 270 and 271:
[ 4 ] Defining an interference chec
Page 272 and 273:
Step 4Call up the defined interfere
Page 274 and 275:
[ 6 ] Turning the specified I/O sig
Page 276 and 277:
[ 7 ] Specifying a position variabl
Page 278 and 279:
[ 8 ] Interpreting a detected area
Page 280 and 281:
• Precautions in enabling interfe
Page 282 and 283:
Step 6 Select Enable (or Disable),
Page 284 and 285:
Step 3 After completion of data ent
Page 286 and 287:
Step 5 Select the rightmost column
Page 288 and 289:
4.1.3 Figures of the Shoulder, Elbo
Page 290 and 291:
(3) Wrist figureA wrist figure is d
Page 292 and 293:
Figure-1LEFTY, ABOVE, and NONFLIPFi
Page 294 and 295:
[ 2 ] Boundaries of Robot FiguresTh
Page 296 and 297:
(2) ABOVE/BELOW (Elbow figure)The c
Page 298 and 299:
(4) SINGLE/DOUBLE (6th-axis figure)
Page 300 and 301:
[1.2] Position dataPosition data re
Page 302 and 303:
[ 2 ] Tool Coordinates[2.1] Tool de
Page 304 and 305:
Operating procedure for tool defini
Page 306 and 307:
Step 5 Use the numerical buttons on
Page 308 and 309:
4.2.2 Interference Check AreaYou ma
Page 310 and 311:
[ 2 ] Setting the center, angle and
Page 312 and 313:
[ 3 ] Making the defined interferen
Page 315:
Chapter 5Commands Assignedto Functi
Page 318 and 319:
5.1.2 Menu TreeTOP ScreenF1F2F3F4F5
Page 320 and 321:
5.2.1 Showing the Program List Wind
Page 322 and 323:
Creating a new program in Manual mo
Page 324 and 325:
Deleting a program in Manual modeAc
Page 326 and 327:
(1) With the Program List window be
Page 328 and 329:
Displaying and modifying integer va
Page 330 and 331:
Displaying and modifying vector var
Page 332 and 333:
Displaying and modifying joint vari
Page 334 and 335:
Displaying and modifying double-pre
Page 336 and 337:
Displaying and modifying string var
Page 338 and 339:
Displaying and modifying the number
Page 340 and 341:
Editing a program in Manual ModeAcc
Page 342 and 343:
Deleting a program line in Manual m
Page 344 and 345:
Pasting a program line in Manual mo
Page 346 and 347:
Saving and compiling an edited prog
Page 348 and 349:
Providing auxiliary functions in Ma
Page 350 and 351:
(3) Enter the desired value(s) with
Page 352 and 353:
ParametersInspect Date(0:OFF 1:ON)E
Page 354 and 355:
Setting the resume-related paramete
Page 356 and 357:
Setting the step return options in
Page 358 and 359:
Compiling a projectAccess: [F1 Prog
Page 360 and 361:
Creating a new project in Manual mo
Page 362 and 363:
Enabling/disabling a selected progr
Page 364 and 365:
in Teach Check ModeF1F1F4F5F6F7F9F1
Page 366 and 367:
Causing a step stop in Teach check
Page 368 and 369:
Returning the selected program by a
Page 370 and 371:
Stopping the program(s) in Teach ch
Page 372 and 373:
Displaying codes of the selected pr
Page 374 and 375:
5.2.3 Showing the Program List Wind
Page 376 and 377:
Halting the selected program in Aut
Page 378 and 379:
Causing a cycle stop in Auto modeAc
Page 380 and 381:
Causing a single-step run in Auto m
Page 382 and 383:
Setting the priority order of progr
Page 384 and 385:
Displaying codes of the selected pr
Page 386 and 387:
5.3 Displaying the Current Robot Po
Page 388 and 389:
Selecting the robot type (reserved)
Page 390 and 391:
Displaying and modifying variable v
Page 392 and 393:
Providing auxiliary functionsAccess
Page 394 and 395:
Entering the direct teaching mode (
Page 396 and 397:
• For the HS-G & HM-40***G-W seri
Page 398 and 399:
Simplified Tool Coordinates Definit
Page 400 and 401:
Defining work coordinatesAccess: [F
Page 402 and 403:
Defining an interference check area
Page 404 and 405:
Setting the user preferencesAccess:
Page 406 and 407:
(Sample program for logging)PROGRAM
Page 408 and 409:
Executing CAL operationAccess: [F2
Page 410 and 411:
Switching the expression of the cur
Page 412 and 413:
Servo Monitor:Display the current v
Page 414 and 415:
Setting the motion space (software
Page 416 and 417:
Releasing or locking brakesAccess:
Page 418 and 419:
Adjusting the air pressure balance
Page 420 and 421:
Selecting and deselecting joints to
Page 422 and 423:
Resetting the motor encoder dataAcc
Page 424 and 425:
5.4 Displaying the Vision MenuAcces
Page 426 and 427:
Getting image signals from the spec
Page 428 and 429:
Clearing the drawing screen or proc
Page 430 and 431:
Displaying the camera input screen
Page 432 and 433:
(2) Press OK to display the frame o
Page 434 and 435:
Function keys available[F1 1 pixel]
Page 436 and 437:
Browsing the stored model dataAcces
Page 438 and 439:
5-122During model editing, deleting
Page 440 and 441:
Analyzing images [Ver. 1.5 or later
Page 442 and 443:
Setting or modifying vision board p
Page 444 and 445:
5.5 Displaying I/O Signals and Simu
Page 446 and 447:
Switching between standard and comp
Page 448 and 449:
(3) The output conditions set when
Page 450 and 451:
5.7 Displaying the Settings (Main)
Page 452 and 453:
Loading a projectAccess: [F6 Set]
Page 454 and 455:
5-138
Page 456 and 457:
Reading and Writing Data with USB F
Page 458 and 459:
Reading USB memory data into the ro
Page 460 and 461:
(5) During reading, the following s
Page 462 and 463:
5-146(3) During writing, the follow
Page 464 and 465:
Displaying the memory information o
Page 466 and 467:
Setting the communication permissio
Page 468 and 469:
Ethernet connection setupProcedure
Page 470 and 471:
Changing PCs connectableAccess: [F6
Page 472 and 473:
(3) Select the desired transmission
Page 474 and 475:
Setting the IP address of the robot
Page 476 and 477:
Setting high speed program file tra
Page 478 and 479:
(4) To set the target connection po
Page 480 and 481:
(4) To set the delimiter, select th
Page 482 and 483:
(2) Select the target port and pres
Page 484 and 485:
Displaying the robot controller ON-
Page 486 and 487:
Displaying the version information
Page 488 and 489:
Setting the next battery replacemen
Page 490 and 491:
Displaying the odometer and trip me
Page 492 and 493:
5-176(Variable Clearing Confirmatio
Page 494 and 495:
Protecting parameters/programsAcces
Page 496 and 497:
Selecting languageAccess: [F6 Set]
Page 498 and 499:
ID Number ListExtension function ID
Page 500 and 501:
Saving ProgramsAccess: [F6 Set]—[
Page 502 and 503:
5.9 Switching between Internal and
Page 505:
Chapter 6Using theMini-PendantThis
Page 508 and 509:
6.1.2 Menu Tree6-2
Page 510 and 511:
6.2 Operation Using the Mini-Pendan
Page 512 and 513:
6.2.4 Switching the Motion ModesKey
Page 514 and 515:
6.2.6 Changing the Robot SpeedKey:
Page 516 and 517:
6-10If the robot enters the inching
Page 518 and 519:
6.2.9 Switching between Internal an
Page 520 and 521:
(1) Checking programs in detailsOn
Page 522 and 523:
(4) If you want to stop the current
Page 524 and 525:
(3) Press [RUN] to call up the Sing
Page 526 and 527:
(5) If you release either one of th
Page 528 and 529:
6.2.12 Displaying the Current Robot
Page 530 and 531:
(4.1) JumpToIf you choose "JumpTo"
Page 532 and 533:
6.2.14 Reconfiguring I/O SignalsKey
Page 534 and 535:
6.2.15 Executing CALKey: [CAL](Effe
Page 536 and 537:
(2.2) Each AxisIf you choose "Each
Page 538 and 539:
6.2.17 Logging DataKey: [LOG][SHIFT
Page 540 and 541:
6.2.19 Changing Serial Port SpeedKe
Page 542 and 543:
(4) After filling up the field, pre
Page 544 and 545:
Procedure for individual IP address
Page 546 and 547:
Changing PCs connectablePress [COM]
Page 548 and 549:
6.2.23 Using Auxiliary Functions (C
Page 550 and 551:
Deleting variablesChoose "Variable"
Page 552 and 553:
(3) The following confirmation scre
Page 554 and 555:
6.2.24 Maintaining the Robot with t
Page 556 and 557:
[ 3 ] Setting the calendar clock bu
Page 558 and 559:
6.2.25 Entering the Direct Teaching
Page 560 and 561:
(7) Turn the motor power off and pr
Page 562 and 563:
(4) If you choose "Z-Balance" and p
show all

SETTING-UP MANUAL - DENSO Robotics

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?