2 Axis OperationFS100 2.1 Control Point Fixed Motion During Base Axis Operation2-3HW1481025HW14810252.1.1 Control Point Fixed Base Axis Operation for Single Arm1. Select {SETUP} in the Main Menu.2. Select {JOG CONDITION SETTING}.– JOG CONDITION SETTING window appears.6/15

System Configuration

Axis Operation

Control Point Fixed Base Axis Operation for Single Arm

Control Point Fixed Base Axis Operation for Dual- Arm

Axis Operation in Cartesian Coordinate System

Setting Method

Job Configuration

YASKAWA MOTOMAN-SDA Instructions Manual

MOTOMAN FS100

Outline of Function

Automatic Adjustment Function of Force Control Parameter

Adjustment Method

MotoFit Teach Guidance Function

Function for Calculation of Force Detection Threshold

Interface Panel

Operation Procedure

Setting the IP address

Operation for Creating Fitting JOB

Detailed Operation Step

Setting Force Condition File

Automatic Adjustment of Force Control Parameter

TOUCH Command Teach

FIT Command Teach

INSERT Command Teach

Creating MotoFit JOB

Chage of Unit Scale (only for the FS100)

Teach of Force Sense Basic Command

Threshold Setting by Data Logging

Operation Check

Monitor Information

Operation Condition Data

Adjustment Condition Data

MotoFit Command Argument Data

Backup of Teach Data

Data for Setting Detection Threshold

Error of Automatic Adjustment Function of Force Control Parameter

Alarm List of FSE-Tools

How to Check the Version

Precautions

Equipment Configuration

Power Flow

Signal Flow

Security System

Changing the Security Mode

User ID

Maintenance and Inspections

Cooling Fan Inspections

Emergency Stop Button Inspections

Battery Inspections

Preparation before Replacing Parts

Creating a Check Program

Replacing Parts

Interior Circulation Fan Replacement

Battery Replacement

Recommended Spare Parts

Operations After Replacing Parts

Home Position Calibration

Calibrating Operation

Registering Individual Axes

Changing the Absolute Data

Clearing Absolute Data

Manipulator Home Position

Position Deviation Check Using the Check Program

Checking of the Check Program

Home Position Data Correction

Setting the Second Home Position (Check Point)

Purpose of Position Check Operation

Procedure for the Second Home Position Setting (Check Point)

Procedure after the Alarm

System Version

Input/Output Status

Universal Output

Modifying the Output Status

Specific Input

Specific Output

RIN Input

Signal Number Search

Direct Search on the Universal/Specified Input/Output Window

Search from the Menu

Relay Number Search

Modification of the Signal Name

Modification from the Menu

System Monitoring Time Display

Individual Window of the System Monitoring Time Display

Clearing the System Monitoring Time Display

Alarm History

Clearing the Alarm History

I/O Message History

Clearing the I/O Message History

Position Data When Power is Turned ON/OFF

Current Position

Servo Monitoring

Changing the Monitor Items

Clearing Maximum Torque Data

Alarm

Alarm Display

Special Alarm Display

Display of Alarm Details

Transition of Alarm Detail Window

Alarm Message List

Error

System and General Operation

Editing

Job Defined Data

External Memory Equipment

Concurrent I/O

Maintenance Mode

Particular Error Message

Application Transaction Error

When the Error is Indicated

LED Indicator on Each Circuit Board

LED-Spot Indicator on the Main CPU Circuit Board (CPU201R)

Segment LED Indicator on the Main CPU Circuit Board (CPU201R)

Status of 7-Segment LED Indicator at Error Occurrence

Status of 7-Segment LED Indicator at Control Power Start-up (one digit)

Status of 7-Segment LED Indicator at Alarm Occurrence

SEG-LED Indicator on Machine Safety Board (SF2300)

SEG-LED Indicator on SERVO Control Board (IFM)

FS100 Replacement

Backup Device Preparation

Replacement of the FS100

Loading the Backup Data

System Diagnosis

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-2A

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A

n/a Input common

n/a Input Common 2_24V

Input common 4

Input common 3_24V

Outline of Interface Panel Function

Display and Operations of Panel Screen

Panel Screen Operation by Touch Panel

Panel Screen Operation by PP Keys

Numeric Display

Change of Panel Screen

Data Setting and Touch Panel I/F Instructions

Setting Procedure

I/F Panel Setting Data and Display Position

Editing of Setup

Editing of Panel Color

Editing of Text Color

Editing of Interlock Enable

Editing of Input

Initialization of Set Data

Details on Interface Panel Setting Items

Save and Load of Set Data

Editing Saved Data

Parameters

Status of General Output Signals at Mode Change

Status of Auxiliary Relay Signals at Power Supply ON

Allocation of General Input Signals to Interface Panel Screens

I/O Trace Function

Basic Specifications

Setup of I/O Trace

System I/O Signal

I/O Trace Log Data

External Memory

Data Format

PMT Function

Data Conversion by PMT Function

PMT data conversion by programming pendant

PMT Data Conversion by Instruction

Registering SETTOOL Instruction

Registering PMT Instruction

Parameter

Tool Data Backup History

Instruction List for PMT Function

Alarm List

Analog Output Function Corresponding to Speed

Instructions

ARATIOF

Registration of Instructions

Analog Output Display

Examples

Example of Variation of Operating Speed and Analog Output Value

Filter Process

Parameter Setting

Outline

Logging Function

Data to be Logged

Operation

Display of detailed log

Update of Logging Information

Delete of Logging Information

Selecting Operation to be Logged

Outline of INFORM

Instruction Set

Variables to be Used in Instructions

Learning Function

Detail Edit Window

Registration of Expression

Registration

INFORM Structure

INFORM Structure Elements

Explanation Table

INFORM Explanation

WAIT

PULSE

AOUT


Contents Table Of Contents System Configuration Axis Operation Control Point Fixed Base Axis Operation for Single Arm Control Point Fixed Base Axis Operation for Dual- Arm Axis Operation in Cartesian Coordinate System Setting Method Job Configuration	2 Axis OperationFS100 2.1 Control Point Fixed Motion During Base Axis Operation2-3HW1481025HW14810252.1.1 Control Point Fixed Base Axis Operation for Single Arm1. Select {SETUP} in the Main Menu.2. Select {JOG CONDITION SETTING}.– JOG CONDITION SETTING window appears.6/15 Previous Next / 15