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INSTRUCTIONS
FOR FUNCTIONAL SAFETY UNIT (NSU01)
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 OPERATOR’S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
MANUAL NO.
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DX100
MANDATORY
• This manual explains the functional safety unit (NSU01) 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
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DX100
iii
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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
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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 cabinet
of the DX100 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:
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DX100
Registered Trademark
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.
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DX100
vii
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8 Alarm............................................................................................................................................... 8-1
viii
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1 Function Overview
DX100 1.1 Preface
1 Function Overview
1.1 Preface
This function limits the operating range of the robot and monitors its
speed.
With this function, the software monitors the robot arm or each axis so that
its position does not exceed the preset safety range. If any monitoring
error is detected, the contactors are cut off to stop the robot. With this
function, it is possible to improve the safety for robot operation, and
reduce the facility space for the robot system.
1-1
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2 System Configuration
DX100 2.1 Outline
2 System Configuration
2.1 Outline
To achieve the functions described in this manual, the “functional safety
unit”, “signal distribution board”, “communication I/F gateway unit”, and
“power on unit” are added or replaced for the DX100.
Item specification
Function (1) Safety range setting function (robot axis + servo track / unit)
(2) Safety speed monitoring function
(3) Safety signal logical verification function
2-1
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2 System Configuration
DX100 2.1 Outline
Item specification
2-2
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2 System Configuration
DX100 2.1 Outline
Item specification
Connector CN902/CN903 For the connection of the robot I/F board (JANCD-
YIF01-□) and the functional safety unit (JZNC-
NSU01)
S1
Rotary SW
F1
Protection fuse
2-3
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2 System Configuration
DX100 2.1 Outline
Item specification
2-4
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2 System Configuration
DX100 2.2 Overview of Unit Connection
2-5
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2 System Configuration
DX100 2.3 Description of Unit Layout (Layout Drawing)
(QF3)
COULD COULD
FUSE FUSE
CN610 CN611
1FU 2FU
CU
1 CU
3 CN607
O O
N N
L L
Y Y
3FU 4FU
BNL6
A
B
BNL6
C.B. R
C
489
40 C
480Y/277V ~
20A
NCM
CN609
SVMX1
SVMX2
CU CU
O
N
O
N
CN606
L
Y 2 L
Y 4
CN612
(QS2)
CN608
CN605
CN604
CN603
CN602
SOURCE
CN158/159
(+5V/ALM)
P-ON
+5V
+24V
FAN
CN156/157
(+24V2)
CN154/155
YCU POWER SUPPLY (+24V1/V2)
CPS-520F
EXIN3_2+
EXIN3_1+
EXIN2_2+
EXIN2_1+
EXIN1_2+
EXIN1_1+
EXIN3_2-
EXIN3_1-
EXIN2_2-
EXIN2_1-
EXIN1_2-
EXIN1_1-
JZNC-NSU01
NO. C90AD XXXXX
DATE YYYY-MM
Fuji Electric Hi-Tech Corp.
MADE IN JAPAN
G
H
D
C
K
B
A
F
L
J
I
01 02 03 04 05 06 07 08 09 10
34 EXDSW1- 17 SYSRUN+ 11 12 13 14 15 16 17 18 19 20
50 GSOUTFB2- 21 22 23 24 25 26 27 28 29 30
33 EXDSW1+ 16 A B C D E F G H J K
49 GSOUTFB2+ L M N P Q R S T U V
48 GSOUT2-
32 EXHOLD- 15 CN153
47 GSOUT2+
31 EXHOLD+ 14 (+24V3)
30 EXSVON- 13
46 GSOUTFB1-
29 EXSVON+ 12 SAFF2-
45 GSOUTFB1+
44 GSOUT1-
28 SSP- 11 SAFF2+
CN151
43 GSOUT1+
27 SSP+ 10 SAFF1- (AC IN)
26 FST2- 9 SAFF1+
42 024V2 INPUT CN152
41 +24V2
25 FST2+ 8 GSIN22-
200-240V AC
24 FST1- 7 GSIN22+ 50/60Hz (REMOTE)
40 024V2
23 FST1+ 6 GSIN21- 3.4A-2.8A
39 +24V2
22 EXESP2- 5 GSIN21+
38 024V2
21 EXESP2+ 4 GSIN12-
37 +24V2
20 EXESP1- 3 GSIN12+
36 EXDSW2-
19 EXESP1+ 2 GSIN11-
35 EXDSW2+
18 SYSRUN- 1 GSIN11+
NJ3114-1
BNL6
A
1
CN214
CNEXT
CN207
A
1
CNNSUO CNYSUO
CN213
UL
94V-0
A
1
CN212
CN216
FRC5-C50S52T-OLS(D20)
MADE IN JAPAN
CN206
S/N
JARCR-YCU02 REV.A 0
CN202
CN211
HE0305598
CNC
CNB
CNA
BNL6
FUSE
CN210
CN215
CN200 CN201
CN209
CN203 CN204
BNL6
JARCR-YCU02
CN208
Section A-A A
2-6
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3 Setup (Safety Range Function for Robot)
DX100 3.1 Changing Security Mode
3-1
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3-2
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3 Setup (Safety Range Function for Robot)
DX100 3.2 Preparation for Safety Range Function
3-3
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3-4
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3 Setup (Safety Range Function for Robot)
DX100 3.3 Setting Tool Interference File
3-5
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140
Robot 25
Model 2
Point 1
30
Tool coodinate origin X
(flange surface)
20
85
Model 1
Point 1
250
Model 1
Point 2
350
Tool
Model 3
Point 1 Model 2
Point 2
Model 3
Point 2
Z
Model 1: Set the flange surface as Point 1, and (X=140, Z=85) as Point 2.
Model 2: Set (X=140, Z=-30) as Point 1, and (X=140, Z=250) as Point 2.
This setting defines a model that is parallel to the Z direction of
the tool coordinates.
Model 3: Set (X=140, Z=250) as Point 1, and (X=25, Z=350) as Point 2.
Models 2 and 3 are defined at consecutive positions when point
2 of model 2 and point 1 of model 3 are set at the same position.
3-6
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3 Setup (Safety Range Function for Robot)
DX100 3.4 Setting Safety Range for Robot
Status Detail
3-7
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Status Contents
Status Contents
LINE 1 to 16: Make line segments connecting <X1> and <Y1>, <X2> and
<Y2>, to set the safety range. Up to 16 line segments can be
used for setting.
Z TOP: Sets the safety range of Z-direction top surface.
Z BOTTOM: Sets the safety range of Z-direction bottom surface.
3-8
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3 Setup (Safety Range Function for Robot)
DX100 3.4 Setting Safety Range for Robot
Line 1 Line 3
3-9
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7. When setting multiple ranges, press the page key PAGE and switch the
screen to make the settings.
For multiple ranges, set an overlap area. Switch between ranges only
when the robot is in the overlap area.
<Setting example>
Range 2
Range 1
3-10
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3 Setup (Safety Range Function for Robot)
DX100 3.5 Confirming Safety Range for Robot
CAUTION
Do not forget to move the robot to see that it stops within the specified
safety range.
3-11
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CAUTION
• Before using the safety range switching function, give due
consideration (risk assessment) to the potential danger by switching
between ranges.
• When performing the teaching operation of the robot program, the
operator should always check the range number before each
operation.
• Prepare a means to identify the selected range number, and check
the selected range number before performing operations.
• Check that the robot is stopped before switching between ranges.
Switching between ranges during the robot program operation may
result in the following risks.
– Risk of selecting a wrong range
– Risk that the robot may exceed the range after switch when the
ranges before and after switch are greatly different or the overlap
area of them are small
3-12
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3 Setup (Safety Range Function for Robot)
DX100 3.6 Switching Safety Range
The combinations of safety ranges and range switch signals are shown
below.
A
EXIN1_1+
B
EXIN1_1-
Welder 1 C
EXIN1_2+
D
EXIN1_2-
E
EXIN2_1+
F
EXIN2_1-
Welder 2 G
EXIN2_2+
H
EXIN2_2-
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If the functional safety unit detects the safety signal inconsistency, the
following alarm occurs.
Alarm 4705: “SIGNAL COMPARISON ERROR (SAFETY)”
Subcode 5: Signal inconsistency of YCU02 board A to D
3: Signal inconsistency of YCU02 board E to H
CAUTION
• Connect an independent switch (dry contact) for the range switch
signal.
• The load current of 24 VDC/6.5 mA (typ) flows through each input
circuit.
For the connection, use a switching device capable of switching 24
VDC at 6.5 mA (typ).
• The dual input signals are checked whether they are synchronized.
Set the dual input signals as the signals which turn ON and OFF
simultaneously. If the dual input signal’s turning ON and OFF are
different in timings with 500 ms or more, the alarm of “INPUT
SIGNAL ERROR” occurs.
• For the details of wiring to the functional safety system input
terminal block, refer to “DX100 INSTRUCTIONS (RE-CTO-A215)
13.9 Robot System Input Terminal Block (MXT)”.
3-14
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3 Setup (Safety Range Function for Robot)
DX100 3.7 Starting Safety Range Function for Robot
3-15
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3-16
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3 Setup (Safety Range Function for Robot)
DX100 3.8 Confirming Safety Range and Robot Position
1 2 3
5
4
3-17
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3-18
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4 Setup (Safety Range Function for Each Axis)
DX100 4.1 Preparation for Safety Range Function
4-1
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– When 2 or more external axes are used, press the page key PAGE
to
switch between the external axes.
4-2
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4 Setup (Safety Range Function for Each Axis)
DX100 4.2 Setting Expected Stop Value
3. Select the axis to set the coasting value, and edit the EXPECTED
STOP VALUE. Then the READBACK screen appears.
– Check that MODIFY VALUE and READBACK VALUE are the same,
then press [YES]. The COASTING VALUE SETTING screen is
displayed again, and the edited coasting value of axis is changed to
the input EXPECTED STOP VALUE. Press [NO] to cancel editing.
4-3
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NOTE
4-4
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4 Setup (Safety Range Function for Each Axis)
DX100 4.3 Setting Safety Range for Each Axis
Status Detail
INVALID The safety range function for each axis can be disabled
temporarily.
Status Contents
4-5
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Status Contents
MAX/MIN: The maximum and minimum values of the safety range are
shown for each axis of the selected control group.
4. When MAX/MIN data are set, the following READBACK screen is
displayed.
– Check that MODIFY VALUE and READBACK VALUE are the same,
then press [YES]. The selected data will be changed. Press [NO] to
cancel editing.
4-6
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4 Setup (Safety Range Function for Each Axis)
DX100 4.4 Confirming Safety Range for Each Axis
5. When the data are set, [WRITE] and [CANCEL] buttons are displayed
in the lower position of the screen.
4-7
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4-8
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5 Stop Position Monitoring Function
DX100 5.1 Operating Condition Detection
5-1
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5-2
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5 Stop Position Monitoring Function
DX100 5.2 Turning Stop Position Monitoring Function VALID/INVALID
CAUTION
• Connect an independent switch (dry contact) for the signal.
If the semiconductor output (*periodic OFF check diagnosis) is
directly connected, the input circuit may malfunction.
The signal must be received by a control device such as a safety
relay unit before connecting the contact signal.
Note that an appropriate control device must be used to achieve the
safety function.
• The load current of 24 VDC/8.5 mA (typ) flows through each input
circuit.
For the connection, use a switching device capable of switching 24
VDC at 8.5 mA (typ).
• The dual input signals are checked whether they are synchronized.
Set the dual input signals as the signals which turn ON and OFF
simultaneously. If the dual input signal’s turning ON and OFF are
different in timings with 500 ms or more, the alarm of “INPUT
SIGNAL ERROR” occurs.
• A screwless terminal block is used as the terminal block 151XT.
See below for the applicable wire and wire termination.
Applicable wire: 0.3 to 1.0 mm dia. (AWG 28 to 18)
0.08 to 1.25 mm2 (AWG 28 to 16)
* When using a ferrule, a wire of up to 0.5 mm2
(AWG20) is applicable.
Solid wire
Stranded wire
Ferrule
5-3
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6 Data Protection
DX100 6.1 Saving Dual Data
6 Data Protection
6-1
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6 Data Protection
DX100 6.2 Operation When VERIFY ERROR Occurs
– Select {SYSTEM} under the main menu. Then, change the security
mode from EDIT MODE to MANAGEMENT MODE with the
procedure described in chapter 3.1 “Changing Security Mode” at
page 3-1.
2. Select {FILE} under the main menu. Then, select {INITIALIZE} under
the sub menu.
6-2
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6 Data Protection
DX100 6.2 Operation When VERIFY ERROR Occurs
3. Move the cursor to “Safety Unit FLASH Reset” and press [ENTER].
5. When the data reset is completed, turn the control power OFF and
then turn the power ON again.
To set the safety unit data, the security mode must be MAN-
NOTE AGEMENT MODE or higher. Thus, the administrator or a
user with higher privilege must perform these settings.
6-3
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7 System Output Signal
DX100
7-1
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8 Alarm
DX100
8 Alarm
8-1
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8 Alarm
DX100
8-2
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8 Alarm
DX100
4208 SYSTEM ERROR (ARITH) A teaching point is set outside the range. Check the teaching points
and range setting.
4679 SPECIFIED MOTION RANGE Upper YCP01 detected that the range whose setting and confirmation
ERROR are not completed is selected.
Check the status of range selection signal and the setting of the safety
range.
4680 SAFETY UNIT COMMAND An error is detected in the serial communication between NIF01 and
ERROR NSU01. This alarm may be accompanied by the alarm 0020 or 0100.
Turn the power OFF and ON again.
If this alarm occurs frequently, replace NSU01 unit.
4682 MOTION RANGE LIMIT Upper YCP01 detected the manipulator motion exceeding the safety
INTERFERENCE range. Check the teaching points and range setting.
4683 AXIS MOTION RANGE LIMIT Upper YCP01 detected the motion of each axis exceeding the safety
range. Check the teaching points and range setting.
4685 WRITE ERROR (SAFETY) Data was not recorded successfully in the functional safety unit.
Turn the power OFF and ON again.
If this alarm occurs frequently, replace NSU01 unit.
4687 OPERATION AREA MON. The safety unit (NSU) detected the motion of each axis exceeding the
ERR 2 (AXIS) safety range. Check the teaching points and range setting.
4689 OPERATION AREA MON. The safety unit (NSU) detected the manipulator motion exceeding the
ERR 2 (ROBOT) safety range. Check the teaching points and range setting.
8-3
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8 Alarm
DX100
8-4
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8 Alarm
DX100
When an error occurs in safety unit, 5 digits LED are indicated with 7 seg.
LED.
Each digit is indicated for 1.0sec and all turning off status is for 0.3sec.
Following is the example of “F001.” error.
Sequence 7 seg. LED indication Indication time Total time
1 [F] 1.0 [sec] 1.0 [sec]
2 Turning off 0.3 [sec] 1.3 [sec]
3 [0] 1.0 [sec] 2.3 [sec]
4 Turning off 0.3 [sec] 2.6 [sec]
5 [0] 1.0 [sec] 3.6 [sec]
6 Turning off 0.3 [sec] 3.9 [sec]
7 [1] 1.0 [sec] 4.9 [sec]
8 Turning off 0.3 [sec] 5.2 [sec]
9 [.] 1.0 [sec] 6.2 [sec]
10 Turning off 0.3 [sec] 6.5 [sec]
F003.
F004.
F010.
0100. CPU error CPU internal error occurs.
0200. Power on again.
0210.
0300.
0400.
0500.
0600.
0700.
0800.
0900.
0C00.
0D00.
1000.
1100.
1200.
1300.
1400.
8-5
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9 Restrictions
DX100 9.1 Confirming Safety Range and Robot Position
9 Restrictions
9-1
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9 Restrictions
DX100 9.3 Software Version of Functional Safety Unit
9-2
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DX100 OPTIONS
INSTRUCTIONS
FOR FUNCTIONAL SAFETY UNIT (NSU01)
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone +81-93-645-7745 Fax +81-93-645-7746
YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800 Fax +46-480-417999
MANUAL NO.
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