YASKAWA MOTOMAN FS100 Instructions Manual

FS100 OPTIONS

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Part Number: 160765-1CD
Revision: 0

INSTRUCTIONS

SUPPLEMENTARY FOR MOTOMAN-SDA TYPE

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL

YASKAWA ELECTRIC CORPORATION

MANUAL NO.

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FS100 Contents

1 System Configuration......................................................................................................................1-1

2 Axis Operation.................................................................................................................................2-1

2.1 Control Point Fixed Motion During Base Axis Operation ................................................... 2-1

2.1.1 Control Point Fixed Base Axis Operation for Single Arm...................................... 2-3

2.1.2 Control Point Fixed Base Axis Operation for Dual- Arm .......................................2-5

2.2 Axis Operation in Cartesian Coordinate System................................................................ 2-7

2.2.1 Setting Method ..................................................................................................... 2-8

3 Job Configuration............................................................................................................................3-1

4 Note ................................................................................................................................................4-1

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1 System Configuration

FS100

1 System Configuration

The dual-arm system in the FS100 system, the rotation axis, which is
commonly used to R1 (left arm) and R2 (right arm), is registered as the
base axis (B1 and B2). Following fig. 1-1 “Configuration of Dual-Arm
System in the FS100 System” shows the control group configuration of
the dual-arm system in which the shared base axis is used.

Fig. 1-1: Configuration of Dual-Arm System in the FS100 System

NOTE

NOTE

Th

The job created by the former DX100 system configuration
whose rotation axis is registered as S1 cannot be used in
the FS100 system in which the shared base axis is
employed.

In the FS100 system, up to “4” axes can be controlled,
therefore, to the shared axis used dual-arm operation
FS100 system, the external axes cannot be added.

1-1

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2 Axis Operation

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FS100 2.1 Control Point Fixed Motion During Base Axis Operation

2 Axis Operation

2.1 Control Point Fixed Motion During Base Axis Operation

Since the rotation axis is registered as the base axis, by operating the
rotation base axis in the cartesian coordinate, the rotation axis can be kept
moving with each manipulator’s control point at fixed point.

Following figures fig. 2-1, fig. 2-2 and fig. 2-3 show the manipulator’s
control point fixed operation during the base axis operation.

Fig. 2-1: Control Point Fixed Rotation Base Axis Operation: Single Arm
(R1)

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Fig. 2-2: Control Point Fixed Rotation Base Axis Operation: Single Arm
(R2)

2-1

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2 Axis Operation

FS100 2.1 Control Point Fixed Motion During Base Axis Operation

Fig. 2-3: Control Point Fixed Rotation Base Axis Operation: Dual- Arm (R1
and R2)

2-2

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