YASKAWA XRC 2001 Function Manual

XRC and XRC 2001 Controller

Twin Drive
Function Manual

for UP/SKX-Series Robots

Part Number 148308-1

July 15, 2003

MOTO MAN

805 Liberty Lane

West Carrollton, OH 45449

TEL: [phone] FAX: [phone]

24-HOUR SERVICE HOTLINE: [phone]

The information contained within this document is the proprietary property of Motoman, Inc., and may

not be copied, reproduced or transmitted to other parties without the expressed written authorization of

Motoman, Inc.

©2003 by MOTO MAN

All Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications without notice.

MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

TABLE OF CONTENTS

Section

1 INTRODUCTION

1.1 About this Document .................................................................................................... 1-1

1.2 Reference to Other Documentation................................................................................ 1-1

1.3 Customer Service Information....................................................................................... 1-1

2 SAFETY

2.1 Introduction .................................................................................................................. 2-1

2.2 Standard Conventions................................................................................................... 2-2

2.3 General Safeguarding Tips............................................................................................ 2-4

2.4 Mechanical Safety Devices............................................................................................ 2-4

2.5 Installation Safety.......................................................................................................... 2-5

2.6 Programming Safety ..................................................................................................... 2-5

2.7 Operation Safety............................................................................................................ 2-6

2.8 Maintenance Safety....................................................................................................... 2-7

3 TWIN DRIVE INSTRUCTIONS

1 Outline for Twin Drive Instructions................................................................................ 1-1

2 Applicable Stations...................................................................................................... 2-1

3 Operation......................................................................................................................3-1

4 Setting Parameters........................................................................................................ 4-1

5 Status Display...............................................................................................................5-1

6 Precautions...................................................................................................................6-1

Page

MOTO MAN i Twin Drive Function Manual

NOTES

Twin Drive Function Manual ii

MOTO MAN

SECTION 1

INTRODUCTION

1.1 About this Document

This manual provides information on how to use the Twin Drive Function on the
XRC controller.

This manual is organized as follows:

SECTION 1 – INTRODUCTION

General information about this manual, a list of reference documents, and
customer service information.

SECTION 2 – SAFETY

Provides information for the safe use and operation of Motoman products.

SECTION 3 – TWIN DRIVE FUNCTION INSTRUCTIONS

Provides detailed instructions for setting up and using the Twin Drive Function on
the XRC controller.

1.2 Reference to Other Documentation

For additional information refer to the following:

• Concurrent I/O Parameters Manual for XRC 2001 (P/N 147626-1)

• Operator’s Manual for General Purpose (P/N 142099-1)

• Operator’s Manual for Handling (P/N 142100-1)

• Operator’s Manual for Spot Welding (P/N 142101-1)

• Operator’s Manual for Arc Welding (P/N 142098-1)

• Motoman UP6, XRC 2001 Manipulator Manual (P/N 145960-1)

• Motoman UP20, XRC 2001 Manipulator Manual (P/N 145965-1)

• Motoman UP50, XRC 2001 Manipulator Manual (P/N 145964-1)

• Motoman UP130/165, XRC 2001 Manipulator Manual (P/N 145967-1)

1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at
[phone]. Please have the following information ready before you call:

• Robot Type (UP6, UP130, UP165, etc.)

• Application Type (welding, handling, etc.)

• Robot Serial Number (located on the back side of the robot arm)

• Robot Sales Order Number (located on back side of XRC controller)

MOTO MAN 1-1 Twin Drive Function Manual

INTRODUCTION

NOTES

Twin Drive Function Manual 1-2

MOTO MAN

SECTION 2

SAFETY

2.1 Introduction

.

It is the purchaser's responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: [phone]
FAX: [phone]

Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been

trained!

We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.

This safety section addresses the following:

• Standard Conventions (Section 2.2)

• General Safeguarding Tips (Section 2.3)

• Mechanical Safety Devices (Section 2.4)

• Installation Safety (Section 2.5)

• Programming Safety (Section 2.6)

• Operation Safety (Section 2.7)

• Maintenance Safety (Section 2.8)

MOTO MAN 2-1 Twin Drive Function Manual

SAFETY

2.2 Standard Conventions

This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:

• DANGER

• WARNING

• CAUTION

•NOTE

Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).

DANGER!

Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.

WARNING!

Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.

CAUTION!

Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.

NOTE: Information appearing in a NOTE caption provides additional information which is helpful in

understanding the item being explained.

Twin Drive Function Manual 2-2

MOTO MAN

2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:

• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.

• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.

• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.

SAFETY

• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).

2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware of
the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:

• Safety fences and barriers

• Light curtains

• Door interlocks

• Safety mats

• Floor markings

• Warning lights

Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

MOTO MAN 2-3 Twin Drive Function Manual

SAFETY

2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:

• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.

• Identify the work envelope of each robot with floor markings, signs, and
barriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).

• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.

2.6 Programming Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:

• Any modifications of the controller PLC can cause severe personal injury or
death, as well as damage to the robot! Do not make any modifications to the
PLC. Making any changes without the written permission of Motoman will

VOID YOUR WARRANTY!

• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR

WARRANTY WILL BE VOID if you use these special passwords.

• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.

• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.

• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

Twin Drive Function Manual 2-4

MOTO MAN

• Inspect the robot and work envelope to be sure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place.

• Check the E-STOP button on the teach pendant for proper operation before
programming.

• Carry the teach pendant with you when you enter the workcell.

• Be sure that only the person holding the teach pendant enters the workcell.

• Test any new or modified program at low speed for at least one full cycle.

2.7 Operation Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are as
follows:

• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.

SAFETY

• Check all safety equipment for proper operation. Repair or replace any non­functioning safety equipment immediately.

• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Ensure that all safeguards are in place.

• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.

• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.

• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder, and I/O (Input and Output)
modifications. Check and test all changes at slow speed.

MOTO MAN 2-5 Twin Drive Function Manual

SAFETY

2.8 Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:

• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.

• Check all safety equipment for proper operation. Repair or replace any non­functioning safety equipment immediately.

• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.

• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.

• Be sure all safeguards are in place.

• Use proper replacement parts.

• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.

• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder, and I/O (Input and
Output) modifications. Check and test all changes at slow speed.

• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).

Twin Drive Function Manual 2-6

MOTO MAN

YASKAWA

YASNAC XRC OPTIONS

INSTRUCTIONS

FOR TWIN DRIVE FUNCTION

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

MOTOMAN INSTRU CTIONS

MOTOMAN SETUP MANUAL
MOTOMAN­Y ASN AC XRC I NSTRUC TIONS
Y ASN AC XRC O PERATOR’S MANUAL
Y ASNAC XRC OPER ATOR’S MANUAL for BEGINNERS

¨¨¨

INSTRUCTIONS

The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

YASKAWA

MANUAL NO. HW9482852

MANDATORY

• This manual explains the twin driv e function of the YASNAC XRC system
and general operations. Read this manual carefully and be sure to
understand its contents before handling the YASNAC XRC.

• General items related to safety are listed in Section 1: Safety of the
Setup Manual. To ensure correct and safe operation, carefully read the
Setup Manual 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 e xamples
and differences may exist between them and the delivered product.

• Y ASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or c hanges 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 r epresentatives are listed on the
back cover. Be sure to tell the representativ e 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

NOTES FOR SAFE OPERATION

g

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g

Y

Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”,or ”PROHIBITED”.

Indicates a potentially hazardous situation which, if not avoided,

WARNING

CAUTION

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 dam­a

e to equipment. It may also be used to alert against unsafe

practices.

MANDATOR

PROHIBITED

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 desi

nated as “CAUTION” and “WARNING”.

Always be sure to follow explicitly the items listed under this
headin

Must never be performed.

.

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WARNING

• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program­ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERV O ON LED on the programming pendant are
turned off.

Injury or dama
manipulator durin
stop buttons do not function.

• 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.

• Always set the Teach Lock before entering the robot work envelope to
teach a job.

Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.

e to machinery may result if the emergency stop circuit cannot stop the

an emergency. The manipulator should not be used if the emergency

Emergency Stop Button

TURN

Release of Emergency Stop

• Observe the following precautions when performing teaching operations
within the working envelope of the manipulator :

- View the manipulator from the front whenever possible.

- Always follow the predeter m ined oper ating procedure.

- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operat ion may result in injury.

• Confirm that no persons are present in the manipulator’s w ork env elope
and that you are in a safe location before:

- Turning on the Y A SNAC XRC power

- Moving the manipulator with the programming pendant

- Running check operations

- Performing automatic operations

Injury may result if anyone enters the workin
tion. Always press an emer
emer
panel and pro

ency stop button is located on the right side of both the YASNAC XRC playback

ramming pendant.

ency stop button immediately if there are problems. The

envelope of the manipulator during opera-

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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 XRC cabinet
after use.

The pro
the floor , or near fixtures.

• Read and understand the Explanation of the Alarm Display in the setup
manual before operating the manipulator.

ramming pendant can be damaged if it is left in the manipulator’s work area, on

Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the pro
dant, and supply cables.
The MOTOMAN manipulator is the YASKAWA industrial robot product.
In this manual, the equipment is desi

Equipment Manual Designation

YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Pr o

ramming Pendant Programming Pendant

nated as follows.

ramming pen-

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Descriptions of the programming pendant and playback panel keys, buttons, and di splays are
shown as follows:

Equipment Manual Designation

Pro

ramming

Pendant

Character 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.
ex. pa

The cursor key is an exception, and a picture is not
shown.

Axis Keys
Number Keys

Keys pressed
simultaneously

Displays The menu displayed in the pro

Playback Panel Buttons Playback panel buttons are enclosed in brackets.

“Axis Keys” and “Number Keys” are
for the keys for axis operation and number input.

When two keys are to be pressed simultaneously,
the keys are shown with a “+” si
ex. [SHIFT]+[COORD]

denoted with { }.
ex. {JOB}

ex. [TEACH] on the playback panel

e key

eneric names

n between them,

ramming pendant is

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.

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Outline

2

Applicable Stations

3

Operation

3.1

Axis Operation

3.1.1

Twin Motion Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2

3.1.2

Sin

3.1.3

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

4

Setting Parameters

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

le Motion Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

5

Status Display

6

Precautions

6.1

Precautions when selecting Motor

6.2

Precautions when Setting Station Axes

6.2.1

6.2.2

6.2.3

6.3

Setting the Home Position

6.4

Precautions upon Application

with Coordinated Motion

6.4.1

6.4.2

. . . . . . . . . . . . . . . . . .6-1

. . . . . . . . . . . . .6-1

Settin
Settin
Settin

Coordinated Motion with TWIN-2 . . . . . . . . . . . . . . . . . . . . . . .6-2

Coordinated Motion with TWIN-3A or TWIN-3B . . . . . . . . . . . .6-2

Mechanical Specifications. . . . . . . . . . . . . . . . . . . . . . .6-1

Motor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

the Rotating Direction . . . . . . . . . . . . . . . . . . . . . . . . . .6-2

. . . . . . . . . . . . . . . . . . . . . . . . . .6-2

. . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2

vii

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When configurating the station axes in the XRC and using a single motor to control an axis
with a heavy load applied durin
and torque is required.
In this case, the station axis becomes very lar
installation.
A system, where a station axis with a heavy load is operated by two motors may be built to
provide the necessary motor capacity and torque.

In such a system, the two motors must be operated at the same time, or the system and sta­tion axes may be dama

Use the twin drive function to oper ate the motor on the slave axis side at t he same time as the
station master axis durin
This function economizes on system space and obtains suff icient motor power.

Outline

an operation, a large-capacity motor with sufficient capacity

e and requires a wide space for equipment

ed.

teaching.

1-1

1-2

2

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The twin drive function is valid only for the station axes that have been configured for the twin
drive.
The followin
can be used.

Applicable Stations

table lists the configurations and the three types of stations where the twin drive

Confi

uration

Station type

TWIN -3A (TDT3A) 3 axes Second axis Third axis See Fi

TWIN -3B (TDT3B) 3 axes First axis Third axis See Fi

TWIN -2 (TDT2) 2 axes First axis

The above three station types can be selected when settin
confi

uration.

Number of

station axes

Master axis Slave axis

Remarks

. A

. B

Second

axis

the station axis for the system

See Fi

. C

2-1

g

3rd station axis

1st station axis

2nd station axis

3rd station axis

Fig A TWIN-3A Fig B TWIN-3B

2nd station axis

2nd station axis

1st station axis

1st station axis

C TWIN-2

Fi

2-2

3.1 Axis Operation

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3

When the station axis with the twin drive is selected for the axis operation, the twin-driven
axes (master axis and slave axis) can be operated at the same time by a sin
Station axis operation and teachin
Durin

3.1

When the station axis with the twin drive is selected for the axis operation, the following
motion is performed.

For the station axis with the twin drive, press the master axis key, and the slave axis and the
master axis move at the same time.
However, th e external input s i
the followin

Operation

le instruction .

can be easily performed when teaching.

playback, the axes move according to the taught job data.

Axis Operation

nal specified by the parameters r estri cts the axis a s out lined i n

table.

The followin

External input signal

describes each mode.

ON Sin

OFF Twin motion mode

le motion mode

3-1

3.1 Axis Operation

3.1.1

Twin Motion Mode

When using the twin drive, the axes can move in twin motion mode.
When the specified external input status i s OFF, the axes move in the twin (conc urrent) motio n
mode.

[Example] For TWIN-2
Press the 1st axis key to move the 2nd axis and the 1st axis at the same time.
In this case, no axis moves when the 2nd axis key is pressed.

Slave axis

Master axis

X+

S+

X-

S-

Y+

Y-

L-

Z-U-Z+

U+

Pressing the master axis key moves
both axes at the same time.

x

R-

x

R+

y

y

B-

L+

zT-z

B+

T+

X-

S-

Y-

X+

S+

Y+

L-

Z-U-Z+

L+

U+

x

R-

y

B-

zT-z

x

R+

y

B+

T+

The slave axis key is invalid.

Slave axis

Master axis

3-2

3.1 Axis Operation

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3.1.2

Single Motion Mode

In this mode, the master axis and the slave axis move individually.
When the specified external input status is ON, each axis moves in a sin

le motion.

[Example] For TWIN-2
Press the 1st axis key or the 2nd axis key to move the correspondin

Slave axis

X-

S-

Y-

L-

Z-U-Z+

X+

Master axis

Pressing the master axis key
moves only the master axis.

x

R-

y

B-

zT-z

x

R+

y

B+

T+

S+

Y+

L+

U+

Slave axis

Master axis

X-

S-

Y-

L-

Z-U-Z+

X+

S+

Y+

L+

U+

x

R-

y

B-

zT-z

x

R+

y

B+

T+

axis only.

Pressing the slave axis key
moves only the sub axis.

3.1.3

Precautions

Select either the twin motion mode or th e single motion mode by external input before star ting
the axis operation.
The motion mode does not chan

e when the external input status is changed while an axis
key is pressed.
The motion mode is determined accordin

to the external input status that exists when the

axis key is pressed, not after.

3-3

3.1 Axis Operation

3-4

4

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In the twin drive, the status of external general-purpose input signal determines the mode as
the twin motion or sin
The followin

Setting Parameters

le motion.

parameters specify the general-purpose input numbers.

Parameter Contents

S4C040

S4C041 Station 2

S4C042 Station 3

S4C043 Station 4

S4C044 Station 5

S4C045 Station 6

When
for the station axes with twin drive function, the twin motion is the default mode.

eneral-purpose input numbers are not set to the above parameters (when “0” is set )

General-purpose input

number specification in

the twin drive

Station 1

4-1

4-2

5

g

g

g

g

g

g

Status Display

The application status of the twin drive function can be confirmed.

Operation

Select {ROBOT} from the menu Select {TWIN DRIVE}

Explanation

*1

The twin drive display appears.

TWIN DRIVE

MASTER SUB INPUT NO. MODE
S1 1-AXIS 3-AXIS 01 TWIN
S2 2-AXIS 3-AXIS 02 SINGLE

MASTER: The number of the master axis appears when the twin drive function is used.

SUB: The number of the slave axis appears when the twin drive function is used.

INPUT NO.: The

MODE: The external input si
“TWIN”: The specified
The twin (concurrent) motion is possible.
“SINGLE”: The specified
The sin

eneral-purpose input number set for the parameter appears.

When there is not set

le motion is possible.

eneral-purpose input number, “ ” appears.

nal status appears.

eneral-purpose input is OFF.

eneral-purpose input is ON.

*1

5-1

5-2

6.1 Precautions when selecting Motor

g

g

g

6

Observe the following precautions when using the twin drive.

6.1

When using the twin drive, both twin-driven axes have to move in the same way and the
same level for both axis operation and playback. Use the same motors for the twin-driven
axes.

6.2

To use the twin drive func tion, the station axes must be in maintenance mode. Note the fol­lowin

Precautions

Precautions when selecting Motor

Precautions when Setting Station Axes

precautions when setting the station axes.

For operation methods in the maint enance mode, ref er to “Instru ction Manual” (MANUAL NO.:
RE-CTO-A203).

6.2.1

When setting the station axis, enter the following data for the mechanical specifications.

• MOTION RANGE (+)

• MOTION RANGE (-)

• REDUCTION RATIO (NUMER)

• REDUCTION RATIO (DENOM)
When usin
level for both axis operation and playback. Set th e same condit ion dat a for both axes.

6.2.2

When setting a station axis, enter the following data for the motor specifications.

• ROTATION DIRECTION (NORMAL/REVERSE)

• MAX. RPM

• ACCELERATION TIME

• INERTIA RATIO
When usin
the same level for both axis operation and playback. Set the same condit ion dat a for “MAX.
RPM”, “ACCELERATION TIME”, and “INERTIA RATIO” of both axes.

Setting Mechanical Specifications

the twin drive, both t win-dr iven axes hav e to move in the same way and the s ame

Setting Motor Specifications

the twin drive function, both twin-driven axes have to move in the same way and

6-1

6.3 Setting the Home Position

g

g

g

g

g

6.2.3

When using the twin drive, specify the same motor rotating direction for both twin-drive n axes.
Specifyin
Before usin
rect rotatin

6.3

Operate the two station axes configured for the twin drive at the same time and teach the
home position so that the two axes have the same “0” position.
Because the two axes have the same “0” pulse position, axis operation and playback can be
performed with the same pulse value.

6.4

Setting the Rotating Direction

a different direction for each axis may damage a jig and break down the system.

the twin drive, confi rm the rot ating direction of the twin-driven axes to set the cor-

direction.

Setting the Home Position

Precautions upon Application with Coordinated

Motion

The station coordinated functi on can be used as an opti on. The followi ng restrictions apply for
the station axes with the twin drive.

6.4.1

When the robot moves in a coordinated motion using TWIN-2, the coordinated motion is
applied to the 1st station axis. The 2nd stat ion axis and the 1st station axi s move in twin drive .
Calibrate the 1st station axis only.
The coordinated motion is not valid for the 2nd statio n axis.

6.4.2

When the robot moves in a coordinated motion using TWIN-3A or TWIN-3B, the coordinated
motion is applied to the stati on confi
1st, 2nd, and 3rd station axes move in the twin drive.
Calibrate the station confi
The coordinated motion is not valid for the 3rd stati on axis.

Coordinated Motion with TWIN-2

Coordinated Motion with TWIN-3A or TWIN-3B

ured by the 1st station axis and the 2nd statio n axis. The

ured by the 1st and 2nd station axes.

6-2

YASNAC XRC OPTIONS

INSTRUCTIONS

FOR TWIN DRIVE FUNCTION

TOKYO OFFICE

New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-6891, Japan
Phone [phone] Fax [phone]

MOTOMAN INC. HEADQUARTERS

805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone [phone] Fax [phone]

MOTOMAN INC. TROY FACILITY

1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone [phone] Fax [phone]

YASKAWA MOTOMAN CANADA LTD.

2280 ARGENTIA ROAD, MISSISSAUGA, ONTARIO, L5N 6H8, CANADA.
Phone [phone] Fax [phone]

YASKAWA ELECTRIC EUROPE GmbH

Am Kronberger Hang 2, 65824 Schwalbach,Gemany.
Phone [phone] Fax [phone]

Motoman Robotics AB

Box 504 S38525 Torsås, Sweden
Phone [phone] Fax [phone]

Motoman Robotec GmbH

Kammerfeldstraβe1,85391 Allershausen, Germany
Phone [phone] Fax [phone]

YASKAWA ELECTRIC KOREA CORPORATION

Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone [phone] Fax [phone]

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone [phone] Fax [phone]

YATEC ENGINEERING CORPORATION

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone [phone] Fax [phone]

BEIJING OFFICE

Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone [phone] Fax [phone]

SHANGHAI OFFICE

27 Hui He Road Shanghai 200437 China
Phone [phone] Fax [phone]

YASKAWA JASON (HK) COMPANY LIMITED

Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone [phone] Fax [phone]

TAIPEI OFFICE

Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone [phone] Fax [phone]

BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.

30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone [phone] Fax [phone]

SHOUGANG MOTOMAN ROBOT CO., LTD.

7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone [phone] Fax [phone]

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice
for ongoing product modifications and improvements.

MANUAL NO. HW9482852

C

Printed in Japan October 1999 99-10

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