OTC机器人1L22150G-E-2_Endless

No.1L22150G-E-2seriesINSTRUCTIONMANUALENDLESSROTATIONFUNCTION■Readandfollowtheseinstructionsandallsafetyblockscarefully.■Haveonlytrainedandqualifiedpersonsinstall,operate,orservicethisunit.■Givethismanualtotheoperator.■Forhelp,callyourdistributor.-1-ThankyouforusingtheDaihen"Almega"seriesarcweldingrobot.Pleasebesuretoreadtheinstructionmanualslistedbelow(includingthismanual)andtheinstructionmanualsprovidedwiththeequipment,andusealltheproductscorrectly.Inparticular,pleasebesuretoread"Chapter1SafetyPrecautions"inthe"QuickStart"instructionmanualbeforestartingtousetheproductsinordertoensureyoursafetyandthesafetyofothers.Storetheinstructionmanualinasafeplaceforfuturereference.Instructionmanualsrelatedtothemanipulator“V/B/H/Sseries”,andtherobotcontrolunit“FD11”areasfollows.■StandardManualsInstructionManualTypeInstructionManualNo.MainContentsQUICKSTART1L21700APointonSafety,TransportationandInstallation,Turningthepoweron/offandmanualoperation,etc.SETUP1L21700BSafetyprecautions,installing&connectingmethod,startingup,periodicalinspection,solutionatthetimeoffailureCONTROLLERMAINTENANCE1L21700KSpecificationsofcontroller,explanationofeachpartsandmaintenance,partslist,etc.MANIPULATOR（NB4/NB4L/NB15/NV6/NV6L/NV20/NH5）1L11130ASpecificationsormaintenanceofmanipulator,partslist,etc.MANIPULATOR（NS3）1L11446ASpecificationsormaintenanceofmanipulator,partslist,etc.MANIPULATOR（NV50）1L11312ASpecificationsormaintenanceofmanipulator,partslist,etc.MANIPULATOR（NV166/NV210）1L11306ASpecificationsormaintenanceofmanipulator,partslist,etc.BASICOPERATIONS1L21700CExplanationofmanualoperation,teaching,automaticoperation,fileutilities,backing-updata,basicoperationsofArc/Spotweldingapplication,etc.EXTERNALINPUT/OUTPUT1L21700HInterfacingmethodwithexternalcontroldevice,listofI/Osignalsandstart/halttheautomaticoperation,etc.SoftwarePLC1L21700JCreateprogram,Input/outputrelaylists,Listofcommandwords,etc.CONTROLANDMAINTENANCEFUNCTION1L21700LEditlogging,UserCheck,Troubleshooting,etc.■ApplicationManualsInstructionManualTypeInstructionManualNo.MainContentsAPPLICATIONMANUAL(ARCWELDING)1L21700FBasicsettings,functionsforarcwelding,teachingtechnique,etc.APPLICATIONMANUAL(SPOTWELDING)1L21700EBasicsettings,functionsforarcwelding,teachingtechnique,etc.Instructionmanualsareavailableotherthantheaboveforeachoptionalfunctionthatyouhavepurchased.[Notes]1.Specificationsandinformationcontainedinthesemanualsaresubjecttochangeatanytimewithoutnotice.2.Thescreendisplayofateachpendantshowninthemanualaredescribedasexamples,whichmaybedifferentfromtheactualones.3.Althoughwecautiouslycompiledthisstandardspecificationtoeliminateasmucherroraspossible,wedonottakeanyresponsibilityfordamagesresultingfromneitherdirectnorindirecterrors.4.Themanualisapartofrobotproducts.Whentransferringorsellingoffarobot,besuretoappendthemanual.5.Nopartofthismanualmaybereproducedwithoutpermission.6.Prohibitedalteringorremodeling-Donotalterorremodelourproducts.-Youmaygetinjuredorhaveyourequipmentdamagedbecauseoffire,failureormalfunctioncausedbyalteringorremodelingtheproduct.-Thewarrantydoesnotcoveranyalteredorremodeledproducts.BeSuretoReadInstructionManualsBeforeUse-2-NotesonSafetyTheinstructionsthatyouarerequiredtoobeyinordertopreventinjuryorphysicaldamagetotheoperatororothernearbypersonsareclassifiedandexplainedasshownbelowintheprovidedinstructionmanuals(includingthismanual).DANGERCasesinwhichdeathorseriousinjuryareassuredifhandedincorrectly,andwhichavoidanceofsuchdangersisalsoconsideredextremelydifficult.WARNINGCasesinwhichdeathorseriousinjurycanbeexpectedifhandledincorrectly.CAUTIONCasesinwhichinjuryorphysicaldamagecanbeexpectedifhandledincorrectly.Thefollowingsymbolsarealsousedforimportantcheckpoints:IMPORTANTAparticularlyimportantcheckpointisshown.INFO.Usefulinformationisshown.POINTInfofordeeperunderstandingforthemaintextisshown.NotethateventhematterswhicharedescribedasCAUTIONcanresultinseriousaccidentdependingontheconditions.Besuretokeepthesafetynotessincetheydescribeveryimportantmatters.Themeaningsof“Seriousinjury”,“Minorinjury”,and“Damage”describedaboveareasfollows.SeriousinjuryInjurywhichhastheaftereffectbylossofeyesight,aninjury,theburn(high/lowtemperature),anelectricshock,fracture,poisoning,etc.andthatwhichrequireshospitalizationandlong-termtreatmentasanoutpatient.MinorinjuryInjurywhichdoesnotrequireeitherhospitalizationorlong-termtreatmentasanoutpatient,aburn(hightemperature,lowtemperature),andanelectricshock.DamageDirectandindirectdamageinconnectionwithdamageofpropertyandequipment.NoticeTableofcontentsTableofcontents1.Outline............................................................................................................................................................11.1Positioncontrol.....................................................................................................................................11.2Speedcontrol.......................................................................................................................................11.3Changecontrol.....................................................................................................................................12.Setup..............................................................................................................................................................22.1Settinguptheoptionalsoftware...........................................................................................................22.2EnablingEndlessRotationfunction.....................................................................................................22.3Encoderresetfortheendlessaxis.......................................................................................................42.4Setupofmachineconstantsof"Position"controltypeendlessaxis....................................................42.5Setupofmachineconstantsfor"Speedcontrol”endlessaxis.............................................................52.6Setupofmachineconstantsfor"Changecontrol”endlessaxis...........................................................52.7Settingthehomeposition.....................................................................................................................53.TeachingandPlayback..................................................................................................................................73.1Manualoperation..................................................................................................................................73.2Teachingfor"Positioncontrol"..............................................................................................................73.3MotionforCHECKGO/BACKandplayback(Positioncontrol)..........................................................73.4Editingtheangleoftheendlessaxisonthescreeneditor(Positioncontrol)......................................83.5Manualoperation..................................................................................................................................93.6Teachingfor"Speedcontrol"................................................................................................................93.7MotionfortheCHECKGO/BACKandtheplayback(Speedcontrol)..............................................103.8Editingthevelocityoftheendlessaxisonthescreeneditor(Speedcontrol)....................................103.9Changeendlesscontrol(FN373).......................................................................................................113.10Teachingexample............................................................................................................................123.11Shortcut:Changeendlesscontrol(R506)........................................................................................133.12Confirmingthepresentcontrolmethod............................................................................................134.Errorcodelist...............................................................................................................................................141Tableofcontents2NOTE1.Outline11.OutlineThe"EndlessAxis"isanaxiswhichcanrotateunlimitedlytowardsthesamedirection,andthereexistthreetypesofcontrollikethefollowing.PositioncontrolMovetheaxistowardsadesignatedposition(angle).SpeedcontrolRotatetheaxisatdesignatedspeed.ChangecontrolItispossibletoswitch"Positioncontrol"and"SpeedControl"foroneendlessaxis.CAUTIONIncasethattheendlessaxisis“Positioncontrol”or“Changecontrol”,whenperformingtherestoreoperationofbackupfilesorcopyoperationofconstantfiles,thefollowingpop-upwindowisdisplayed,whichaskswhethertomaintaintheendlessrotationdata.Select“No”ifthesystemconfigurationbeforeandaftertherestoration(copy)isdifferent.Then,resettheencoderoftheendlessaxisandexecutetheencodercorrectionoperation.("2.3Encoderresetfortheendlessaxis")1.1PositioncontrolThisisacontrolmethodinwhichthecontrolswitchabletypeendlessaxisiscontrolledbasedonpositioncontrol.Theaxiswillmovetothepositionrecordedinthemovementcommandalongtheshortestway.RecordedpositionStartpositionShortestway1.2SpeedcontrolThisisacontrolmethodinwhichthecontrolswitchabletypeendlessaxisiscontrolledbaseonspeedcontrol.TheaxiswillnotfollowthepositionrecordedinthemovementcommandandrotatebyfollowingtherotationalspeeddesignatedviaFN309SETVELOfunction.Designatedvelocity1.3ChangecontrolItispossibletoswitchthecontrolmethod"Positioncontrol"and"SpeedControl"foroneendlessaxis.2.Setup22.Setup2.1SettinguptheoptionalsoftwareThe"Endlessrotation"functionisoptionalsoftware.Theoptionalsoftwarewasalreadysetupattheshipmentfromthefactoryorinstallationstagesonofurtherstepsarenecessarybycustomer.POINTThesetupoperationdependsonthetypeofoperationalmodealreadyconfigured.≪OperationalmodeA≫2.2~2.6havebeensetupatthefactoryshipment.≪OperationalmodeS≫Setup2.2andlater.Thecurrentoperatingmodecanbecheckedonthesystemenvironmentscreendisplayedwithshortcutcode"286".Fordetails,see“BasicOperationsChapter1Introduction”intheInstructionManual.2.2EnablingEndlessRotationfunctionAftersettingtheoptionalsoftware,setthecontrolmethodandthereductionratioofthetargetaxis(e.g.positioner)fortheendlesscontrol.Tosetthefunction,theoperatormusthavethequalificationslevelofSPECIALIST.1Open<ConstantSetting>[3MachineConstants][23EndlessRotation]menu.>>Ascreenlikethefollowingwillbedisplayed.2Selectthetargetaxisfortheendlesscontrolandset"Position","Speed"or"Change"fortheitemof"Controlmethod".Andthenpress[Enter]POINTThe"Speed"andthe"Change"canbesetonlyfora"1-axisconfigurationmechanism".Foramechanismthathas2ormoreaxescannotusethissetting.2.Setup33Incaseof"Position"and"Change",movethecursorto“Reductionratio”andsetthereductionratioofendlessaxis.(Incaseof"Speed",theratiocannotbeset)Inputanumeratorandadenominator,respectivelybyanintegralnumber,ofthetotalreductionratiofromthemotoraxistothemechanismaxis.IMPORTANT●Nowthatcheckingthespecificationsofreductiondevice,exactlyinputanumeratorandadenominatorofthetotalreductionratiowithanintegralnumber,respectively.●Ifthesettingoftotalreductionratiodisagreeswiththespecificationsofreductiondevice,thepositiondeviationoccurs.4Lastly,pressf12<Complete>keytosavethesettingtotheinternalmemory.2.Setup42.3EncoderresetfortheendlessaxisIncasethatendlessaxisis“Positioncontrol”or“Changecontrol”,afterresettingtheencoderoftheendlessaxis,besuretoperformtheencodercorrectionfortheendlessaxisatthereferenceposition.(Performtheencodercorrectionby"Positionrecord"operation.)Ifinputtingtheencodercorrectionvaluesthataresetatshipmentbynumericalvaluesinthemenuof[ConstantSetting][3MachineConstants][4EncoderCorrection:Datainput]ornotcorrectingtheencoderoffset,positionaldeviationmayoccurintheendlessaxis.Withtheendlessaxis,themotorangleinthereferencepositiondoesnotalwayscometothesameposition.Therefore,positionaldeviationmayoccurifjustusingtheencodercorrectionvaluesatshipment.IMPORTANTWiththeendlessaxis,thepositioninformationisstoredinthecontrollermemorybecausethemotorangleatthereferencepositiondoesnotbecomethesamealways.IftherestoringoperationforthedatathatwassavedatthetimingofpowerfailuredetectionisfailedortheendlessaxisrotateswhilethecontrollerprimarypowerisOFF,apositionaldeviationbetweenthestoredpositioninformationintheinternalmemoryofthecontrollerandtheactualpositioninformationoccursandtheabsolutepositionoftheendlessaxiswillbeshifted.Inacaselikethat,resettheendlessaxisencoderandexecuteencodercorrectionatthereferencepositiontoinitializethepositioninformation.Ifpositionaldeviationoccurs,theendlessaxiscannotbeoperatednormallyuntiltheinitializationforthepositioninformationwiththismethodisfinished.POINTIfthe"Controlmethod"ofa"Change"typeendlessaxisissetto"Speed",itbecomesdifficulttomovetheaxistoadesiredpositionpreciselywhenoperatingtheaxisinjointoperationbecausetheaxisrotatesbasedonspeedcontrol.Tomovetheaxispositionprecisely,switchtheControlmethodto"Position"inadvancebyusingashortcutcode"R506Changeendlesscontrol".2.4Setupofmachineconstantsof"Position"controltypeendlessaxisIncaseof“Positioncontrol”,.followingmachineconstantsshouldbesetin[ConstantSetting][3MachineConstants].OperatorshouldhavequalificationsofEXPERTormore.Table2.1Setupofmachineconstantsofendlessrotationaxis("Position"control)MenuDescriptionAxisconstantsItenablessettingencoderangleofzerodegree.EncodercorrectionItistosetupcompensationvalueforencoder(whichismountedonthemotortodetecttheaxisangles).ShiftlimitItistosetuptheupperlimitwhichisfollowedwhenmovingshift.Motor&encoderItistosetupelectricspecificationsofmotorandencoder,suchastheratedcurrentorcapacityofdecomposingpulsesforangledetection.ServospeedloopItistosetupparametergroupsofservospeedloops/currentloops.ServopositionloopItistosetupparametergroupsofinstructionvaluesandservopositionloops.ServoerrorItiserrordetectinglevelwhichistobeprovidedbyservosuchasover-currentorexcessrotation.ManipulatorItistosetupmechanicalparametersofmechanismcoveredbythecontrol.2.Setup52.5Setupofmachineconstantsfor"Speedcontrol”endlessaxisIncaseof“Speedcontrol”,.followingmachineconstantsshouldbesetin[ConstantSetting][3MachineConstants].OperatorshouldhavequalificationsofEXPERTormore.Table2.2Setupofmachineconstantsofendlessrotationaxis("Speed"control)MenuDescriptionMotor&encoderItistosetupelectricspecificationsofmotorandencoder,suchastheratedcurrentorcapacityofdecomposingpulsesforangledetection.ServospeedloopItistosetupparametergroupsofservospeedloops/currentloops.ServopositionloopItistosetupparametergroupsofinstructionvaluesandservopositionloops.ServoerrorItiserrordetectinglevelwhichistobeprovidedbyservosuchasover-currentorexcessrotation.ManipulatorItistosetupmechanicalparametersofmechanismcoveredbythecontrol.2.6Setupofmachineconstantsfor"Changecontrol”endlessaxisWhenusing"Change"control,referto"2.4Setupofmachineconstantsof"Position"controltypeendlessaxis".(NOTE)Someparametersarenotusedinthe"Speed"control.2.7SettingthehomepositionIf"Aux.mechanism"inthe"HomePosition"screenissetto"Inclusive"foranendlessaxis,pleasepayattentiontothefollowingpoints.[Positioncontrol]Theaxisisregardedtobeinthedefinedhomepositiononlywhentheaxispositionisinthedesignatedanglerange.[Speedcontrol]Theaxisisregardedtobeinthehomepositionalwaysnomatterwherethecurrentposition(angle)is.2.Setup6IMPORTANTWhenmakingahomepositionsettingforthe"Change"controltypeendlessaxis,pleasemakethesettingsothatthehomepositionrange(referenceangle±margin)doesnotexceedtheangleof180deg(or-180deg).Ifthesettingismadelikethat,thehomepositionsignalisnotoutputtedcorrectlyifthecurrentpositiondataexceedstheborderlineof180degor-180deg.(example)HomePositionの範囲が170deg±30degの場合信号が出力される範囲：140deg～180deg信号が出力されない範囲：-180deg～-160deg170°0°140°-160°180°信号が出力されない範囲3.TeachingandPlayback73.TeachingandPlaybackTeachingandPlaybackofthe"Position"controltypeendlessaxis3.1ManualoperationSelecta"Position"controltypeendlessaxis(mechanism)tooperatemanuallywith[MECHANISM]keyandthensetthemanualoperationspeedwith[ManualSpeed]keyin5levelsandpress[X+]or[X-]keytomovetheaxis.3.2Teachingfor"Positioncontrol"Theteachingprocedurefor"Positioncontrol"isthesamewithnormalteachingprocedure.But,thecontrolswitchtypeendlessaxiswillmakea"Shortcut"motionfromthecurrentpositiontothetargetpositionifthecontrolmethodis"Positioncontrol".Therefore,werecommendyoutomakeateachingprogramsothattherotationamountbetweenthecurrentpositionandthetargetpositionbecomessmallerthan±180[deg]Pleasebesurethattheaxiswillrotatetowardsthe"closer"directionalwayseveniftherotationamountbetweenthecurrentpositionandthetargetpositionislargerthan±180[deg]POINTIfthe"Controlmethod"foranendlesscontrolswitchtypeaxisissetto"Speed",itbecomesdifficulttomovetheaxistoadesiredpositionpreciselywhenoperatingtheaxisinjointoperationbecausetheaxisrotatesbasedonspeedcontrol.Tomovetheaxispositionprecisely,switchtheControlmethodto"Position"inadvancebyusingashortcutcode"R506Changeendlesscontrol".3.3MotionforCHECKGO/BACKandplayback(Positioncontrol)IncaseofCHECKGO/BACKandplayback,allendlessaxeswillrotatetowardsthedirectionof180[deg]orsmalleralways.Therefore,forexample,iftheprogramismadebyrotatingtheendlessaxiswith200[deg],theaxiswillrotatetowardstheoppositedirectionandrotatewith160[deg]incaseofCHECKGO/BACKandplayback.200°0°160°0°TeachingCHECKGO/BACKandplaybackFig.3.1Endlessaxismotion(1)CurrentmechanismManualoperationspeed3.TeachingandPlayback8Iftheteachingprogramismadebyrotatingtheendlessaxiswith400[deg],theaxiswillrotateonly40[deg].400°0°40°0°TeachingCHECKGO/BACKandplaybackFig.3.2Endlessaxismotion(2)3.4Editingtheangleoftheendlessaxisonthescreeneditor(Positioncontrol)Therecordedpositionfortheendlessaxiscanbeeditedinthesamewaywithnormalaxisinthescreeneditfunction.However,theaxisvaluerangeis±180[deg]always.Itisnotpossibletorecordapositionoutsidethisrange.3.TeachingandPlayback9Teachingandplayback(speedcontrol)3.5ManualoperationSelecta"Velocity"controltypeendlessaxis(mechanism)tooperatemanuallywith[MECHANISM]keyandthensetthemanualoperationspeedwith[ManualSpeed]keyin5levelsandpress[X+]or[X-]keytomovetheaxis.Theaxiswillrotateregardingthevalueof"Manualmax.spd"in[ConstantSetting][3MachineConstants][13ServoPositionLoop]screen.3.6Teachingfor"Speedcontrol"Whenthecontrolmethodtypeis"Speed",theendlessaxisdoesnotrequirerecordedposition.And,therecordedpositiondatainthemovecommanddoesnotaffecttheendlessaxismotion.Whenthecontrolmethodtypeis"Speed",theendlessaxisisrotatedbydesignatingtherotationspeed(velocity)fortheoutputsideofthereductiongearvia"FN309;Setvelocity"function.Thisfunctionistoberecordedatthebeginningoftheareatostarttherotation.POINTIfthis"FN309SETVELO"functionisexecutedwhenthe"Controlmethod"fortheendlesscontrolswitchtypeaxisis"Position",anerrorisdetected.Ifitisnecessarytooperatetheendlessaxiswith"Speedcontrol",donotforgettochangethecontrolmethodto"Speed"via"FN373CHGENDLESS"inadvanceofusingthisfunction.CommandnameDescriptionSETVELOSetvelocity1stparameterDataDescriptionandsettingrangeMechanismnumberThisspecifiesthemechanismnumberoftheendlessaxis.(1-9)2ndparameterDataDescriptionandsettingrangeVelocity[rpm]Thisspecifiesthecommandvelocityoftherotation.Ifthisvalueisminus,therotationdirectionisreversed.(NOTE)Themaximumvelocitydiff