Sankyo Robotics 3000SPWin software user manual
Contents
1. A safety plug shall be placed at the entrance which the operator pulls out before entering the Manipulator workspace to disable the Manipulator from moving 2 2 Installation Environment If your installation site is relevant to any of the following items consider improving the installation environment or taking countermeasures required 9000 OO The temperature at the installation site is out of the range of 0 40 C The humidity at the installation site is out of the range of 30 90 RH or the temperature changes so quickly that moisture condensing is caused Some noise generator s such as high voltage equipment electric driving systems etc is located near to the installation site Oil mist and or dust is generated at or around the installation site Corrosive gas is generated at or around the installation site The installation site is in explosive or inflammable atmosphere Excessive vibration and or mechanical shock is generated at or around the installation site The installation site is ill ventilated because of bad ventilation condition 2 3 Installation When installing the robot system pay attention to the following notes In order to perform teaching operation and maintenance inspection work safely provide the robot system and its peripheral equipment with sufficient working area for the operator The robot system and its peripheral equipment shall be so installed as that the operator can always see t2. Do not perform check work while turning your back to the Manipulator During check work the observing personnel shall keep the Emergency Stop button in his hands to get ready for pressing it anytime Neither operate nor allow to operate any equipment which may act as a noise generator at the check work area or its surrounding area When an error condition comes up during check work take actions as described below a Press the Emergency Stop button immediately when any erroneous motion is observed b Communicate with the observing personnel to turn off the main power and place a DO NOT TURN ON sign plate at the main power switch c When you check the failure after causing an emergency stop first make sure that the other related equipment is also in stop condition d Pull out the safety plug at the entrance of the barrier and carry it with you during your work e If the robot automatically stops due to power failure ensure to stop the robot and then check the problem cause to take actions required f If any emergency stop device does not work immediately turn off the main power and then check the problem cause to take actions required g Only the appointed personnel can do the work of problem solving h To boot up the robot again after causing an emergency stop because of some problem first make the problem cause s clear and take the actions required Then re install the safety plug and boot up the robot again
3. Ifthe system integrator performs systematization in cooperation with the system user clearly describe the scope of responsibility of each party Describe the safety notices about the main operation service of the robot xiii AMO NP 03017 33 3000SPWin Operation Manual for General Users 1 Generals Being prepared as the operation manual for 3000SPWin i e Maintenance Software for the SC3000 Controller this document describes the way of using the various functions of 3000SPWin Operating on a Windows software platform this application provides the SC3000 Controller with the maintenance functions for the Controller through the serial communication from a personal computer hereinafter called the PC Depending on the user level the contents of the functions that 3000SPWin provides are different and this manual describes only the functions that 3000SPWin provides for general users 2 Operation Environment To operate this program application you need to have the operation environment described below OS Operating System Microsoft Windows 95 Windows 98 Windows ME Windows NT or Windows 2000 Windows XP e Microsoft Windows 95 Windows 98 Windows ME Windows NT Windows 2000 or Windows XP are registered trademarks of Microsoft Corporation in the USA and other countries Display Minimum requirements Desktop area Resolution of 800 X 600 pixels Font size Small fonts Font size 100 Recommended specifications De
4. MOUT4 ON ON 0019 0020 Remarks Out5 button becomes the fixed formed button which indicates this function is used Not Used is default setting at delivery of the machine from the manufacturer Please take off the check from the box input the parameters and press the OK button Then changed the HWDEF cfg file is downloaded to the controller As a result the saved data becomes effective when the Controller gets turned on next time lt The port initial status gt When you enter the teach mode on the Pendant the system reads the current port status automatically so that LED indication reflects the current port status 16 AMO NP 03017 33 3000SPWin Operation Manual for General Users 3 ON the Robot _Pendant page AWOL editor UM tine Controle Pendant Frototl_Pardand Hai dog ey of pardani ls h Hoad Thi Pardon minemas motion 1 Hoad oti hirta on pandri AR FIL M Hossa Directoral Aid Ica I Motrased Added Joghas Hane FEMDAUF BENDRA DeM BRENDA Fi D npl ha hap topes o Jog key of pendant Assignment of the jog keys Description Define the assignment for the jog Jog3 keys of the Pendant In the first data column No 1 specify the axis number with the moving direction of the axis that moves when you press the Jog1 button of the drawing shown on the right To make the axis move in the minus direction set the axis number with In the sec
5. Provides the functions required for changing workspace HWDEF setting and Robot current position monitor Provides the functions required for motor replacement HWDEF setting Homing operation Initial homing TH2 axis calibration for SCARAs Robot current position monitor and Calculate coordinate shift value Provides the functions required for changing home position HWDEF setting Return to Initial Home Position SCARA TH2 0 2 axis calibration and Robot current position monitor Carries out ROM communication Causes each axis to work Carries out file management AMO NP 03017 33 3000SPWin Operation Manual for General Users 5 Various Maintenance Functions When any axis is designated for using the maintenance functions described below it is named as a logic axis and expressed with blue characters in the monitor screen 5 1 HWDEF editor o Generals e The HWDEF editor is used to edit the contents of the HWDEF cfg file which is a configuration file of the SC3000 Robot controller e The items to be edited are classified into the groups of Controller and Robot _Pendant The contents of Robot Pendant can be set for each robot e The HWDEF editor can be used in both the online and offline conditions If it is used in online condition the HWDEF cfg file of the objective Controller connected at the time is automatically uploaded On the other hand if it is used in offline condition you can designate an objective f
6. 03017 33 3000SPWin Operation Manual for General Users 4 3 Main Screen The main screen of 3000SPWin appears as shown below lt 30005PWin EY 5 2002 04 45 14 25 54 3000S pin configuration Hweef editor Maintenance for user Configuration status HS number 2 Axis number axes Target Sole 503000 Communication pny 9600bps port Userlevel User Read controller information Help Version into Exit ie Configuration status Indicates the information on the configuration status of the Controller that 3000SPWin has at the time 2 Read controller information Loads the information on the Controller to which the PC of 3000SPWin is connected 3000SPWin configuration Brings the screen of 3000SPWin configuration Regarding setup of 3000SPWin refer to 4 4 Setup of 3000SPWin AMO NP 03017 33 3000SPWin Operation Manual for General Users Hwdef editor Boots up HWDEF editor Regarding the functions of HWDEF editor refer to 5 1 HWDEF Editor Maintenance for user Enables you to carry out ABS Homing and or Return to Initial Home Position Regarding each function refer to 5 2 ABS Homing and 5 3 Return to Initial Home Position in this manual Help Gives you Help information of 3000SPWin Version info Gives you information on the version of the 3000SPWin Exit Causes you to exit 3000SPWin Note If you operate 3000SPWin on Windows 95 98 or ME and chan
7. Controller and Manipulator having different C CODEs be connected the Manipulator may cause overrun 2 5 Connecting Peripheral Equipment Before connecting any peripheral equipment check the rated voltage and current of the equipment Connecting peripheral equipment having its rated voltage and or current outside the specified allowable range may cause the Controller to get damaged Do not keep the STBY input always being turned on Keeping it always turned on a realtime error occurs Be sure to use pulse input switching for the STBY input 2 6 Releasing Brakes DANGER When you release a brake by pulling its brake release ring the section of the robot hand and chuck would unsafely drop down On this occasion keep your body away from the space under the robot hand and chuck iii AMO NP 03017 33 3000SPWin Operation Manual for General Users 3 Preparation of Working Norm Referring to the descriptions below and the manuals on the SC3000 Robot Systems make up your working norm and ensure to observe it For the communication to the observing personnel and the operator s of the other related equipment prepare the safety care sheets and perform communication according to the descriptions on them On such an occasion oral communication may have some problem because of noisy working locations and using body language may be recommended 3 1 Checks Before Robot Operations Before placing the SC3000 Series Robo
8. This manual has been prepared on the premise for safety reasons that the personnel who read and use this manual have already acquired sufficient knowledge on operation of automated equipment and devices Before any operation or maintenance work begins on the robot system s be sure to read and understand the section titled For Safety Work which soon appears in this manual AMO NP 03017 33 3000SPWin Operation Manual for General Users Related Documents For the robot system s there are various instruction manuals listed below and you are requested to refer to those documents as you require Listed below are the documents related only to the SC3150 5C3400 robot systems System Instructions Rev 3 provides the comprehensive information on the SC3150 SC3400 Robot Systems Installation Manual Rev 3 describes how to install the Controller the way of cabling work how to perform the ABS homing etc C3150 Controller Hardware Manual C3400 Controller Hardware Manual describes electrical specifications on the corresponding Controller Instructions on AD1309 Expansion I O Card Option Instructions on AD1319 Expansion I O Card Option Instructions on AD1339 HS Card Option describes electrical specifications and other information on each expansion card Instructions on AD1316 Safety Connector Option describes electrical specifications and other information on the AD1316 Safty Connector Instructions on AD1340 Remote S
9. be observed 1 2 Training Course In the codes and standards regarding industrial robots it is described that the operators who perform teaching inspection and tuning and repair work for industrial robots are obligated to receive special training for their work All the operators for such work of the Sankyo Robot Systems and their safety administrators need to receive instruction through the special training course organized by Sankyo 1 3 Scheme for Safety Operation Administration For using the Sankyo Robot Systems you shall designate the persons in charge of the Robot operation and its safety operation respectively Furthermore organize the scheme for safety operation administration such as emergent norm and reporting network in preparation for emergencies 1 4 Working Norm For safety operation administration prepare the working norm and ensure to observe the norm i AMO NP 03017 33 3000SPWin Operation Manual for General Users 2 Precautions for Installation and Operations 2 1 Installing a Safety Barrier Consider installing a safety barrier to avoid any person from stepping into the Manipulator workspace It must be possible to see the Manipulator movement through the barrier from its outside The barrier shall have enough rigidity with which the barrier would neither easily get moved broken nor damaged The barrier shall have an entrance only through which the operator can enter the barrier inside
10. on each line to 2 lines for one key Put a semicolon to designate the end of a line Possible 204 25 or later 4 30 or later Not Used e g To display alike the figure below BEND R BEND R BEND L BEND L JOG UP DOWN UP DOWN OUT Input alike following figure Added Jogkey Name BEND R UP BEND R DOWN BEND L UP BEND L DOWh 20 AMO NP 03017 33 3000SPWin Operation Manual for General Users 5 2 ABS Homing o Generals When the robot system gets into ABS home lost condition or Loss of ABS home you need to carry out ABS homing For details of ABS homing refer to the descriptions on ABS Homing in the Installation Manual ABS homing can be carried out only in online condition Procedures The procedures of ABS homing are as described below 1 2 3 4 Upload the HWDEF CFG file from the Controller Carry out the homing operation by following the instructions that appear on the monitor screen Download the HWDEF CFG file into the Controller Once turn off the Controller and then turn it on again Putting the above procedures into practice you can get rid of ABS home lost condition 21 AMO NP 03017 33 3000SPWin Operation Manual for General Users This page left blank intentionally 22 AMO NP 03017 33
11. to be edited 1 On the Controller page MILE editar pontine Conboler Perder Finbott_Perclare a glad EEE cupi AEDOF arr mmidi Hace eno Mot made asar Rot usd Shop he ten Hot ap e de FF EHF E Hol coed Diesacelal por ipe m1 i Hol und F1 Dap the help topac o High speed MDOSET Description Define the setup if you want to specify the time interval to be faster for the DO control command MDOSET command in the SSL E that synchronizes with the robot motion Setting Not used Possible Version of the applicable Version 1 40 or later Controller Applicable values High speed 2 4 m sec Standard 10 m sec Note If the Controller version is 3 19 or later setting this parameter to be High speed 2 4 m sec also puts the MARKxxxx commands into 2 4 m sec synchronizing condition 12 AMO NP 03017 33 Option of error output Description Setting Not used Version of the applicable Controller Applicable values JOBDEF error control Description Setting Not used Version of the applicable Controller Applicable values Real time error control Description Setting Not used Version of the applicable Controller Applicable values Network address Description Setting Not used Version of the applicable Controller Applicable values 3000SPWin Operation Manual for General Users Define the setup for the error signals to be output at
12. Gives you Help information e Editing the HWDEF cfg file The procedures of editing the HWDEF cfg file by using the HWDEF editor are as described below 1 Booting up the HWDEF editor Boot up the HWDEF editor in the main screen of 3000SPWin At this time the HWDEF cfg file is automatically uploaded from the Controller If the uploading fails a dialog appears to ask you if you want to boot up the editor application in offline condition Then selecting Yes boots up the editor When you boot up the editor application in offline condition open a HWDEF cfg file existing in the PC that you want to edit The name of the file you open does not necessarily need to be HWDEF cfg The window title section shows the editor operating mode at the time i e Online or Offline 2 Editing the file contents Edit the contents of the file you open 3 Quitting the HWDEF editor After editing the contents of the file press the OK button If the application i e 3000SPWin is operated in online condition pressing the OK button downloads the edited HWDEF cfg into the Controller To make the edited contents effective at the time you need to once turn off the Controller and then turn it on again On the other hand if it is operated in offline condition the edited contents are saved into the file being opened at the time 11 AMO NP 03017 33 3000SPWin Operation Manual for General Users Details of the items
13. Maintenance Tool for the SC3000 Robot Systems 3000SPWin Operation Manual For General Users AMO NP 03017 33 3000SPWin Operation Manual for General Users SC3000 Robot Systems 3000SPWin Operation Manual For General Users This English version manual has been prepared according to the descriptions of the latest issue of the corresponding Japanese version 7 issue dated March 1 2005 listed below m 7 issue dated March 1 2005 Software version 1 2 3 or later Notices for Safety DANGER This notice advises of a condition that could present a potential hazard where serious personal injury or loss of life is possible unless care is used This notice advises of a condition that could present a potential hazard where personal injury or damage of material are possible unless care is exercised and correct operations are performed No part of this manual may be used or reproduced in any manner whatsoever without the written permission of Sankyo Seiki Mfg Co Ltd All descriptions included in this manual are subject to change without notice This publication may contain technical inaccuracies or typographical errors Any of your questions and comments on the contents of this document should be directed to Sankyo Seiki Mfg Co Ltd Sankyo Seiki Mfg Co Ltd is exempt from any responsibilities for damages caused directly and or indirectly by the contents of this manual March 2005 Edi
14. ations of the Maintenance level must be carried out only by the people who have been trained in order to be provided with enough expertise required for the robot maintenance work in the robot operation training course organized by the robot supplier Therefore the operations of the Maintenance level are protected with the enabling amp disabling setup for the user level change as well as the password setup User level e HWDEF editor Edits the HWDEF cfg file which is configuration file of the Controller e Maintenance for user To carry out ABS Homing and Return to Initial Home Position 8 AMO NP 03017 33 3000SPWin Operation Manual for General Users Maintenance level For details of each function refer to 3000SPWin Operation Manual For Maintenance Work Users HWDEF editor Controller status monitor lt Functions gt Servo monitoring lt Functions gt Change Operation Range lt Functions gt Motor Replacement lt Functions gt Change Home Position lt Functions gt ROM communication Each axis action File management Edits the HWDEF cfg file which is configuration file of the Controller Monitors various kinds of the Controller condition Controller error Task status monitor DI DO monitor Robot current position monitor and Version check Monitors various data of the servo operation Buffering and Monitor the thermal value and implementation value
15. by operation from the safety barrier outside viii AMO NP 03017 33 3000SPWin Operation Manual for General Users If a failure comes up during the robot operation and you need to perform check work to make the problem cause s clear pay attention to the points described below a When the failure comes up make sure of the operating condition of the system by checking the operation indicator lamps b Determine if you can take actions while the system being out of operation c Regarding the failure classification way to determine failures and way of problem solving refer to the problem solving procedures which will be prepared separately for each system according to its particular specifications After all check work and making sure of nobody inside the Manipulator workspace remove the NOW CHECKING sign plate from the control panel Then inform the personnel in charge of the system operation of the completion of your work ix AMO NP 03017 33 3 0 00OSPWin Operation Manual for General Users 4 Notices on the Manipulator and Controller 4 1 C Code Label Shown below are the detailed caution notices regarding the C CODEs on the C CODE labels which you would find on the Manipulator and Controller Ensure to observe these caution notices DANGER Connect only the Controller and Manipulator that have the identical C CODE Should any Controller and Manipulator that have different C CODEs be connected the Man
16. ccording to what operation you want to do turn the mode of the Controller 1 to the Local or Teach b Turn the Key Switch of the Pendant to the same position as the mode of the Controller is turned to c Press the Manip Power Switch servo power switch Green button of the Pendant d Make sure that the Servo power LED Manip Power gets lighted e Ifthe Manipulator shows any motion even slightly at this time press the Emergency Stop button to turn off the servo power f If any error happens in the procedures up to here consult your maintenance team to ask for taking actions lt In the case of the SC3000 amp SC3200 Controllers gt a According to what operation you want to do turn the Key Switch of the Controller front section to the Local or Teach b Press the Manip Power Switch servo power switch Green button of the Pendant c Make sure that the Servo power LED Manip Power gets lighted d Ifthe Manipulator shows any motion even slightly at this time press the Emergency Stop button to turn off the servo power e If any error happens in the procedures up to here consult your maintenance team to ask for taking actions Note 1 The mode of the Controller The mode of the Controller means the mode setup of the Controller side It is different between the Controller models lt In the case of the SC3150 amp SC3400 gt The mode setting input has prepared at the AUX
17. connector in the rear section of the Controller It is set by equipment that users wired or the mode change switch of the Remote Switch Box AD1340 Option lt In the case of the SC3100 amp SC3300 gt It is set by the mode change switch in front of the Controller lt In the case of the SC3000 amp SC3200 gt The mode change switch of the Controller do not exist therefore only the mode change switch of the Pendant decide the operation mode vi AMO NP 03017 33 3000SPWin Operation Manual for General Users Initial operation check Perform initial operation check usually at the beginning of the robot operation to make sure that not only the robot system but also the other related equipment work properly a Selecting the operation mode Turn the Key Switch of the Pendant and the mode of the Controller to the Local Verifying the robot motion by the Step operation a Press the Step key on the Pendant LCD screen b Make sure that there is neither unusual motion nor any teaching point displacement Verifying the robot motion by continuous operation a Press the Start key on the Pendant LCD screen to perform the continuous operation from the top of the program On this occasion by using the Speed Override function first perform the continuous operation at low speed and then at the specified speed if there exists no problem b Make sure that there is neither unusual motion nor any teaching
18. d to create Robot programs in SSL E on a PC and download them to the Controller to enable testing of source program level AMO NP 03017 33 3000SPWin Operation Manual for General Users For Safety Work 1 Introduction Industrial robots usually have wide workspace and their manipulators move in high speed Since they require special working procedures such as teaching operation any industrial robots is accompanied by some critical operating condition that other industrial systems do not have Furthermore erroneous motion may potentially be caused in the robot systems by wrong operation or electromagnetic noise effect The Sankyo SC3000 Robot Systems are supplied with various safety operation functions and descriptions on safety operations are included in the manuals and their related publications All the Sankyo Robot users are highly recommended to read the entire For Safety Operation publication and the other related manuals to become familiar with safety operations and instructions for the SC3000 Robot Systems 1 1 General Notice Ensure compliance with all local state and national safety and electrical codes for the installation and operation of the Sankyo Robot System For example if you used the Sankyo robot in the USA you need to be very familiar with the American National Standards Institute Robotic Industries Association ANSI RIA safety standard R15 06 1992 In other countries the equivalent codes and or standards shall
19. e the Manipulator workspace be sure not to penetrate under the Robot or between the Robot and the wall always be ready to press the Emergency Stop button in preparation for unpredictable erroneous motion and operation As a general rule check work should be done while the robot is out of operation If you must perform check work while the robot is in operation you shall do it keeping your body outside the Manipulator workspace xi AMO NP 03017 33 3000SPWin Operation Manual for General Users 5 Other Precautions 5 1 Ban on Reconstruction of Robot Without consulting Sankyo you shall not reconstruct any of the Manipulator Controller Pendant etc 5 2 Translocation Grant or Re sale of Robot If you translocate grant or re sell the robot you shall attach the operation manuals to the system and explain that the new owner also needs to read and understand them The robot operators of the new owner shall receive instruction for their work through the special training course organized by Sankyo 5 3 Discarding Robot When being discarded the robot shall be dealt with as an industrial scrapped material You shall observe the following precautions to discard the robot Used up Ni Cd batteries are to be recycled When discarding the robot you are expected to return the used up Ni Cd battery to the battery manufacturer while paying your attention to the following points 1 Way of dealing with Ni Cd batteries Insulate the co
20. ency stop button Before teaching work perform pre work checking with the check list which you make according to item 3 1 Checks Before Robot Operations of this manual In case any unusual condition is found take an appropriate action to solve the problem The Manipulator speed in teaching shall be 250 mm sec or less Place a NOW TEACHING sign plate onto the control panel If you must enter the safety barrier inside section pull out the safety plug at the entrance of the barrier and carry it with you For the communication to the observing personnel and the operator s of the other related equipment the descriptions of the safety care sheets shall be observed Neither operate nor allow to operate any equipment which may act as a noise generator at the teaching operation area or its surrounding area Do not use the Teaching Pendant by groping it while paying attention to only the teaching points Do not perform your work while turning your back to the Manipulator Before teaching work make sure that there is no obstacle near your feet Be careful to perform teaching work while standing on any high step 2 m or higher When a failure comes up during your teaching operation take actions as described below a Press the Emergency Stop button immediately when any erroneous motion is observed b Communicate with the observing personnel to turn off the main power and place a DO NOT TURN ON sign plate at the main power s
21. endant Description Setting Not used Version of the applicable Controller Applicable values Default values o Lifting elevation of reference Description Setting Not used Version of the applicable Controller Default values You can change the names characters of the coordinate axes for the teach data indication and current position indication on the Pendant Specify the first axis second axis from the left to right in due order Possible Version 2 31 or later 4 2 characters or less Place at the end You cannot place a null space instead A Y Z S motion You can specify the lifting elevation of the Pendant reference motion Move to function Specify the first axis second axis from the left to right in due order Possible Version 3 31 or later 18 AMO NP 03017 33 3000SPWin Operation Manual for General Users o Display 8 axes on Pendant Description You can input and display up to 8 axes for the teach data on the Pendant regardless of the number of robot axes Change the setup Not Used to Enable It had been set to Not Used at delivery of the machine from the manufacture The 8 axes data input or display can be used at The display of the teaching data in the teaching main screen The MDI input screen in Menu Note When the Data Repl key is pushed on main teach screen the value of no axis portion is n
22. et controller Defines the objective Controller Usually you are to define in offline condition If you use 3000SPWin in online condition it is defined automatically with the Read controller information command e Communication port Defines the communication port of the PC e Baud rate bps Defines the baud rate of the serial port of the PC When the objective Controller is an SC3000 Controller only 9600bps is applicable When the objective Controller is an SC3100 Controller you can choose a baud rate as you require from the multiple selections It is possible to identify the baud rate setup of the Controller at the time with the Pendant The default baud rate of the SC3100 Controller is 115 200bps e ArcNet Node ID Defines the Node ID of the communication object when ArcNet communication is used e User level Defines the user level for using 3000SPWin There are three user levels i e User Maintenance Sankyo only and there are some restrictions on using the functions depending on each user level Generally you can use only the functions of the User level Return to Main menu Pressing this key exits the screen of 3000SPWin configuration to return to the main menu 4 5 Functions of 3000SPWin for the User Levels This section describes the functions of 3000SPWin that can be used for each user level Regarding the way of changing the user level refer to 3000SPWin Operation Manual For Maintenance Work Users Oper
23. ge the screen display to have a new message box sometimes your objective message box may not appear on top of the monitor screen so that you cannot enter from the keyboard In such a case press the Alt key to make the message box appear on top 6 AMO NP 03017 33 3000SPWin Operation Manual for General Users 4 4 Setup of 3000SPWin The setup screen of 3000SPWin i e 3000SPWin configuration appears as shown below LCi io x HS C No e 1 No of axes daxes Bares Target controller ScC3000 503100 Communication COM1 COM2 COM3 COM4 COM5 Port C ArcNet Baud rate bps 9600 14400 19200 38400 C 57600 115200 ArcNet 255 NodelD 255 User level User Maintenance 20 Return to Main menu Various setup data The setup condition specified in this screen is saved when the application quits Then the robot system starts operation on the basis of the setup when it gets booted up e HS Defines the no of HS cards in the Controller Usually you are to define in offline condition If you use 3000SPWin in online condition it is defined automatically with the Read controller information command e No of axes Defines the no of axes of the Controller Usually you are to define in offline condition If you use 3000SPWin in online condition it is defined automatically with the Read controller information command 7 AMO NP 03017 33 3000SPWin Operation Manual for General Users e Targ
24. hem Wire emergency stop button s from more than 1 of 1 0 1 1 O 2 or AUX connector of the Controller to make operators push the emergency stop button easily and stop the Manipulator The Pendant shall be so placed that the operator can use it outside the Manipulator workspace while watching the Manipulator movement Refer to the Installation Manual as well for the other notices regarding installation work ii AMO NP 03017 33 3000SPWin Operation Manual for General Users 2 4 Connecting Cables DANGER If you perform soldering work for the primary power cable plug with the primary power cable being connected to the switchboard you would potentially have electric shock Be quite sure not to perform soldering work under such condition The primary power connector POWER and Manip Power connector C1 also the C2 C3 connectors in any case of 6 axis models of the SC3150 and the SC3400 include some high voltage sections that may cause electric shock Before you connect or disconnect any of those related cables be sure to turn off the Controller power switch and breaker switch then follow the procedure to prevent someone from turning the power ON accidentally the Lock out the Tag out Disconnecting any robot interface cable while the Manipulator is in operation may cause overrun Fasten the connectors with screws for sure Connect only the Controller and Manipulator that have the identical C CODE Should any
25. ile existing in the PC e Screen of HWDEF editor The screen of HWDEF editor appears as shown on the next page MILE editar Ondina Conbaler Pendant Robotl_Pencera d Slander Diiira ania Er ae ence LED Level capris pupi JOEDOF aro conil Hide emos Mal sde ae sano Hg usd Shop the jan Hol ap he ade liak hack Aes bret toe Heinink scene FF EHF uipi pod during fe Alot mod barian baat Deae por ipe my Bt ured F1 Dips the hasip kapi 10 AMO NP 03017 33 3000SPWin Operation Manual for General Users Q Editing section Enables you to edit the contents of the HWDEF cfg file When you boot up the HWDEF editor initially the Controller tab page is indicated to show the setup condition at the time The Pendant tab and The Robot _ Pendant tab page can be set OK Saves the edited contents of the tab page s and quits the HWDEF editor If the application i e 3000SPWin is operated in online condition the edited HWDEF cfg file is downloaded into the Controller To make the edited contents effective at the time you need to once turn off the Controller and then turn it on again On the other hand if it is operated in offline condition the edited contents are saved into the file being opened at the time Cancel Quits the HWDEF editor without saving the edited contents Save to PC Enables you to save the edited contents at the time into the PC O Help
26. ile transmission 2 AMO NP 03017 33 3000SPWin Operation Manual for General Users 3 Installing and Uninstalling of 3000SPWin 3 1 Installing When installing the 3000SPWin software insert the installation CD into the CD drive of your PC to execute the Setup exe of 3kSpWin installer folder Then follow the instructions given by the installer program 3 2 Uninstalling When uninstalling the 3000SPWin software use the function of Add Remove Programs from Control Panel 1 Execute Control Panel Add Remove Programs 2 Select 3000SPWin from the list of programs to delete it 3 The uninstaller gets booted to delete 3000SPWin and you are to follow the instructions that appear on the screen 4 Uninstalling completes Note Whenever you update 3000SPWin with its newer version be sure to uninstall the existing 3000SPWin software at first and then install the new one 3 AMO NP 03017 33 3000SPWin Operation Manual for General Users 4 Basic Operations 4 1 Online Operation a When the objective Controller is the SC3000 SC3200 1 Connect the PC to the SC3000 Controller with a communication cable 2 Boot up 3000SPWin 3 4 Inthe main screen execute the Read controller information command by pressing the In the 3000SPWin configuration screen set the Baud rate bps to be 9600 corresponding button to read the key information on the Controller Execute various functions as you require b When the ob
27. ipulator may cause overrun 4 2 Hazardous Voltage Label e Shown below are the detailed caution notices regarding hazardous voltage label See above which you would find on the Controller Ensure to observe these caution notices DANGER The primary power connector POWER Manip Power connector C1 also the C2 connector in any case of 6 axis models of the SC3150 and the C2 C3 connector of the SC3400 include some high voltage sections that may cause electric shock Before you connect or disconnect any cable of these connectors ensure to turn off the Controller power switch and turn off the main breaker switch then follow the procedure to prevent someone from turning the power ON accidentally the Lock out the Tag out After removing the Controller top cover make sure that the hazardous voltage indicator LED on the servo amplifier Yellow or the mother board Amber is surely off Xx AMO NP 03017 33 3 0 00OSPWin Operation Manual for General Users 4 3 No Entry Warning Label AS Shown below are the detailed notices regarding the No Entry warning labels See above which you would find on the Manipulator or safety barrier Ensure to observe these caution notices DANGER While the robot is in operation do not penetrate the Manipulator workspace Whenever possible carry out teaching operation while the operators being outside the Manipulator workspace If you must penetrat
28. jective Controller is the SC3100 SC3150 SC3300 SC3400 1 2 3 Connect the PC to the SC3100 Controller with a communication cable Boot up 3000SPWin In the 3000SPWin configuration screen set the conditions for communication At this step check the baud rate by using the Pendant if you carry out communication through RS232C Then set the communication speed as you checked Inthe main screen execute the Read controller information command by pressing the corresponding button to read the key information on the Controller Execute various functions as you require When you change the connection of the communication cable to another Controller while keeping on 3000SPWin operation you must carry out step 3 above again In the online operation this application operates on the basis of the information acquired by executing the Read controller information command If there exists any conflict between the information that the application has at the time and the actual information of the Controller the functions of this application software do not work properly 4 2 Offline Operation 1 Boot up 3000SPWin In the 3000SPWin configuration screen specify the Axis number No of axes and HS The number of the HS cards to be used Execute various functions as you require In the offline operation this application operates on the basis of the information specified in the 3000SPWin configuration screen 4 AMO NP
29. nnector s of the used up battery s with insulation tape and then package up the battery s Do not take apart any Ni Cd battery Return used up batteries collectively if possible Do not try to put any used up Ni Cd battery into fire and or to heat up or take part it Trying to do so may result in explosion of the battery or make the electrolyte scatter to cause some critical condition Destination SANYO GS Soft Energy Co Ltd Environmental Control Section 1 FL Office Central 2 Bld Ichinodan cho 5 Kichijohin Shinden Minami ku Kyoto City Post Code 601 8397 Japan TEL 075 311 1292 3 The freight charge for returning the used up battery s shall be paid by the user Electrolytic condensers are to be discarded as industrial waste without being disassembled xii AMO NP 03017 33 3000SPWin Operation Manual for General Users 5 4 Remarks for Systematization The system integrator for the Sankyo robot shall make the operation manual s for the systematized total robot system by themselves The manual s shall describe the following contents at least e Clearly describe how to operate the system and the system movements 2 Noticeably give descriptions about possibly dangerous operations to call attention Noticeably give descriptions about the cases where system damages may be caused and or critical condition may come up When the system is modified accordingly revise the operation manual s at once
30. o right in due order as shown above you can control up to 8 ports at the same time when pushing each key You set the names which are displayed on the keys on the Port Name on Pendant the port numbers on the Port No and 1 On O Off information on the On Off 1 On O Off information must be corresponded to LED on state and the first port must be set to On 1 When the button is pressed the LED is turned on and the ports are outputted according to the Port No and the On Off information on the Pendant page If you press the same button again the ports are outputted in reverse The each output is toggled on and off in turn The name of the key consists of 2 lines You can put 5 characters on the first line and 6 characters on the second line The first line is less one character than the second line because of the LED character space Put a semicolon between the first line and second line to specify the lines on the Port Name on Pendant 15 AMO NP 03017 33 3 0 00SPWin Operation Manual for General Users For example if you set the parameters as the above figure the output buttons are displayed below If you press RRVacOn key the port 217 port number becomes on the port 218 becomes off and the LED becomes turned on Moreover press the key once more the port 217 becomes off the port 218 becomes on and the LED becomes turned off RRVac MRLVac OUT3
31. ond data column No 2 specify the axis number with the moving Jog4 direction of the axis that moves when you press the Jog2 button of the drawing Likewise setthe No 3 No 4 No 5 and No 6 data columns for the jog keys of Jog3 Jog4 Jog5 and Jog6 buttons respectively Jog4 17 AMO NP 03017 33 3000SPWin Operation Manual for General Users Setting Not used Version of the applicable Controller Default values Possible Version 2 31 or later 1 2 3 4 0 0 o Pendant reference motion To specify the lifting axis in the Pendant reference motion Move to function Description Setting Not used Version of the applicable Controller Applicable values You can change the lifting axis in the Pendant reference motion Move to function When the Move Over or Jump To is selected the lifting axis specified by this setup moves at first to make its coordinate value 0 Usually the Z axis is specified by this setup However in such a case where a CCR type robot is used for a vertical working plane changing the assignment may improve the teaching performance This setup is effective only for the reference motion Move to function and it does not work for the JMPM command of SSL E Possible Version 2 31 or later 1 To cause the lifting motion and 0 Not to cause the lifting motion o Axis name on pendant Characters on the P
32. ot replaced Setting Not used Possible Version of the applicable 204 25 or later Controller Version of the applicable 4 30 or later Pendant Default values Not Used o Direction of added jog key Description You can assign the jog key of 7 and 8 axis to Out1 4 button Select the logic axis number of the operated axis by pressing the output button There are 4 boxes alike the figure which is shown below You can set the logic axis number to Out 1 Out 2 and Out 4 from the left to right in due order as shown below To operate the axis to minus direction select the axis number with sign In case of 7 axes robot select 0 for the extra key The 0 selected key is not shown You can also assign 1 6 axis there However in such case you need to adjust not to overlap with the setup of Output button assignment Setting Not used Possible Version of the applicable 204 25 or later Controller Version of the applicable 4 30 or later Pendant Default values Not Used Direction of Y 7 nd 8 8 v Added Jogkey I Not used 19 AMO NP 03017 33 3000SPWin Operation Manual for General Users a Added jog key name Description Setting Not used Version of the applicable Controller Version of the applicable Pendant Default values When you assign jog key of 7 and or 8 axis to the output button you can set their names to be displayed You can put 6 characters
33. point displacement c In this operation you shall always be ready to press the Emergency Stop button Teaching operation a Selecting the Teach mode Turn the Key Switch of the Pendant and the mode of the Controller to the Teach Using the Pendant operate each axis to perform teaching and save the teaching data The following precautions shall be observed through the teaching operation a Make sure that nobody is in the Manipulator workspace Avoid any sudden motion of the Manipulator c Operate the Manipulator as slow as possible d Make sure that there is no obstacle near your feet e Do not deal with the Pendant roughly f Always be ready to press the Emergency Stop button g While holding the Pendant with your left hand operate it with your right hand Debugging Debug the program created by using Buzz On this occasion with the Speed Override function first perform the operation at low speed and then at the specified speed if there exists no problem vii AMO NP 03017 33 3000SPWin Operation Manual for General Users 3 4 Check Work Procedures As a general rule check work should be done while the robot is out of operation If you must perform check work while the robot is in operation you shall do it keeping your body outside the Manipulator workspace If you perform check work inside the Manipulator workspace while the robot is out of operation ensure to turn off the main
34. power switch of the control panel and place a DO NOT TURN ON sign plate onto the control panel 2 Check work shall be done only by the personnel who has received special instruction for their work and has been appointed by the responsible chief person 3 Even if having received special instruction for their work the personnel shall not perform any check work for other equipment for which the personnel is not responsible Be sure to wear safety helmets safety shoes and safety glasses To perform check work contact with the responsible chief person to get permission for it Then after obtaining the permission perform the work with observing the precautions described below a b For check work two men are required One of the two shall work as observing personnel The observing personnel is to do the following a Devote himself herself to observing while standing at the position where all the robot motion can be seen b Press the emergency stop button immediately in an emergency c Make no body other than the teaching personnel penetrate the work area Place a NOW CHECKING sign plate onto the control panel For the communication to the observing personnel and the operator s of the other related equipment the descriptions of the safety care sheets shall be observed Enough attention shall be paid in preparation for unpredictable erroneous motion and operation because the Manipulator moves at high speed
35. s of the Pendant and the external emergency stop button if any surely stops operation Making sure of no obstacle Make sure that there exists no obstacle inside the Manipulator workspace iv AMO NP 03017 33 3000SPWin Operation Manual for General Users 3 2 Precautions for Teaching Operation SIS ao e 68 000 Whenever possible teaching operation shall be done while the operators being outside the Manipulator workspace If it is impossible to perform teaching operation in that way extreme attention shall be paid in preparation for unpredictable erroneous motion and operation because the Manipulator moves at high speed All personnel for teaching operation including observing personnel shall have received special instruction for their work and only the personnel appointed by the responsible chief person can perform teaching operation Be sure to wear safety helmets safety shoes and safety glasses For teaching work two men are required One does teaching operation while the other is observing the teaching at the control panel The observing personnel is to do the following a Devote himself to observing while standing at the position where all the robot motion can be seen b Press the emergency stop button immediately in an emergency c Make no body other than the teaching personnel penetrate the work area The personnel carrying out teaching operation shall always be ready to press the emerg
36. s the output port number for the signal Setting Not used Possible Version of the applicable Controller Version 2 31 or later Applicable values Output port number In the case of the standard I O ports the output ports are from 17 to 24 o Output port during system task Description You can reduce the number of DeviceNet I O ports to shorten the reflesh cycle time The default setting is the number of total 1024 points inputs 512 outputs 512 Setting Hof Hof Hof Input Output Value Total Inputs Outputs Port Port 1 64 32 32 6145 6176 6657 6688 2 128 64 64 6145 6208 6657 6720 3 256 128 128 6145 6272 6657 6784 4 512 256 256 6145 6400 6657 6912 5 1024 512 512 6145 6656 6657 7168 Setting Not used Possible Version of the applicable Controller Applicable values 1 2 3 4 5 14 Version 205 11 or later AMO NP 03017 33 3000SPWin Operation Manual for General Users 2 On the Pendant page HWOEF editor CAtiine Conboler Pendant Pioborl_Pendant JAF a0 PaiHa Oai 2 PotHe Orati cit 216 So S S oa os 5 i L L 1 I i 1 J i I i i i lt lt 4 4 OUT1 OUT2 OUT3 OUT4 The output keys in the Teach mode on the Pendant usually can control one port only as shown below OUT1 OUT2 OUTS BOUT4 OUT5 0017 0018 0019 0020 0021 But if you specify the parameters of Out1 Out2 Out4 from the left t
37. sktop area Resolution of 1024 X 768 pixels Font size Small fonts Font size 100 Color palette 65536 color e Ifyou use any fonts larger than the size specified above characters on the screen may become incomplete or the screen itself cannot possibly be displayed in full size e Depending on the language you use for the screen indication the minimum requirement mentioned above may not realize the correct screen indication If you have such a problem apply the recommended specifications described above 3 Communication port RS 232C 1 AMO NP 03017 33 3000SPWin Operation Manual for General Users PC To enable the operation of the OS described above and be equipped with one or more communication port s mentioned above Language used in the screen Depends on the OS to be used Japanese OS Japanese Other language s OS English Note In Windows NT it is possible to change the setting for language in Control Panel Regional Settings However using any other OS Windows 9X systems or Windows 2000 you may have problems in the screen indication if the language of the OS is different from the language specified in Control Panel Regional Settings Types of Controllers Depending on the version of the Controller you use there are some restrictions on the items of the functions If the version of your Controller is Version 2 30 or earlier you are possibly not able to use some of the functions that carry out f
38. t System into operation perform the following checks If you find any problem repair the broken part or take actions required for the problem You are recommended to make your own checklist referring to the following descriptions 2 Check on the safety plug Check that removing the safety plug of the safety barrier entrance surely causes an emergency stop Check on the cables DANGER The primary power connector POWER and Manip Power connector C1 also the C2 C3 connectors in any case of 6 axis models of the SC3150 and the SC3400 include some high voltage sections that may cause electric shock Before you connect or disconnect any of those related cables be sure to turn off the Controller power switch and breaker switch then follow the procedure to prevent someone from turning the power ON accidentally the Lock out the Tag out a Make sure that the interface cables are free from any damage on their outer cover b Make sure that the EMS cable is free from any damage on its outer cover c Check that there exists no damage such as a dent with the Controller Pendant and or Manipulator outside section Check on the Manipulator movement After making sure of no person inside the Manipulator workspace try to move every axis by using the Pendant to check if the Manipulator moves smoothly without any unusual noise Check on the emergency stop button function Check that pressing each of the emergency stop button
39. the ERRN Pin 19 and ERRP PIN 24 of the IO connector 2 1 02 Originally in the default setting the error output signals are the same as what are output to the red error LED positioned on the front panel Therefore depending on the error contents the signals might become flashing If you set this parameter to be Level signal it is simply notified with the signal level whether or not any error exists Possible Version 2 31 or later Level signal Same as error LED Specify whether or not an error shall be caused in case no JOBDEF file exists at the time when the system starts Possible Version 3 17 or later Error not to be caused Error to be caused Specify whether or not the system task shall get stopped when a real time error happens Possible Version 4 00 or later Not stop the system task Stop the system task It shows the ArcNet controller address Define the address when multiple Controllers are connected in the network of ArcNet Use hexadecimal numbers from EO to FF to define it The default setting value is FF For the 2 and 3 Controllers you may as well specify them to be FE and FD respectively Impossible Version 2 31 or later EO FF 13 AMO NP 03017 33 3000SPWin Operation Manual for General Users o Output port during system task Description A special signal which turns on while the system task is in operation can be output It define
40. tion Sankyo Seiki Mfg Co Ltd Ina Plant 6100 Uenohara Ina shi Nagano Pref Japan Postal Code 396 8511 TEL 0265 78 5111 FAX 0265 78 5116 Copyright O 2002 Sankyo Seiki Mfg Co Ltd AMO NP 03017 33 3000SPWin Operation Manual for General Users Contents O Related Documents O For Safety Work E CTI EIE ASE e ol e a E EAE da A E A 1 2 Operation ENVITONMEeNt ccccnccnnccnnnconnnnnnnnnnnnnnnnnnnnnnnnnnn ttrt nn nn nro nn nn nn non n nono nnnnnnnnnnnnnnnnnnnnnnnnnnnnenaninoss 1 3 Installing and Uninstalling Of ZO000SPWiN oooooccnncncccocococccconcnnnnnnnnnnnononnnnnnnonnnnnnnnnancnnnnnnnnnnnnninnnnns 3 Install tai alain T 3 3 2 U installing ea er e eee ia A ai A ceased dees AAA clever 3 A Basic Operation S iii n aeaa oe foetal cnn cece Pel dy E Ii 4 4 1 Online Operation eaen a a e A a nn nn a a r aea aa e a a ii 4 4 2 Offline OperatiON ie aseenaan ea EE AEA EE EEEa N DEE aAA EEEE EAE Oa aaae EEE 4 4 3 Mall OCE GM e ar a a o e odos 5 4 4 Setup ot SO0OSPWiN ee A A AAA a TN 7 4 5 Functions of 3000SPWin for the User Levels oocccccccccccccococononnnncocononocononnnnnonononocinnnaninnns 8 5 Various Maintenance Functions ccccococccccccoccnnccnoconnnononnnnnnnnnnnnnnnnnnnnonnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnons 10 ST AW DEF CGI OM ia ostias ca cba 10 92 ABS OMIA iia ee ee OA A eG ae A re Aes 21 AMO NP 03017 33 3000SPWin Operation Manual for General Users Notices for Robot System Users
41. witch c When you check the failure after causing an emergency stop first make sure that the other related equipment is also stopping d Pull out the safety plug at the entrance of the barrier and carry 1t with you during your work e If the robot automatically stops due to power failure ensure to stop the robot then check the problem cause to take actions required f If any emergency stop device does not work immediately turn off the main power then check the problem cause to take actions required g Only the appointed personnel can do the work of problem solving vV AMO NP 03017 33 3000SPWin Operation Manual for General Users 47 To boot up the robot again after causing an emergency stop because of some problem first make the problem cause s clear and take the actions required Then carry out the re booting operation according to the procedures described in item 3 3 Operation Procedures 3 3 Operation Procedures Powering up a Turn on the main power a Make sure that the switch you are now going to turn on is the main power switch of the control panel b Make sure that nobody is in the Manipulator workspace c Make sure that no sign plate of DO NOT TURN ON is placed at the main power switch d After making sure of the points described above turn on the main power switch of the control panel e At the time check that the manipulator does not move at all b Turn on the servo power a A
42. witch Box describes electrical specifications and other information on the AD1340 Remote Switch Box Instructions on AB4301 CC Link Card Option describes electrical specifications and other information on the AB4301CC Link Card Buzz2 User s Guide describes the operation of Buzz2 which has been developed as ADS Pendant Operation Manual Option Rev 3 describes the operation of the Pendant to be used being connected to the Controller 3000SPWin Operation Manual For General Users describes the operation of the maintenance work software 3000SPWon for the SC3000 series robot systems 3000SPWin Operation Manual For Maintenance Work Users This manual C3150 Controller Maintenance Manual C3400 Controller Maintenance Manual describes the checks and parts replacement work spare parts etc for the corresponding Controller SSL E Language Reference Manual Rev 2 SSL E means Sankyo Structured Language Enhanced a robot language to be used for the SC3000 Series Robot Systems Discussed in this manual are how to create programs in SSL E syntax of SSL E and detailed information on each language command Manipulator Hardware Manual describes the installation maintenance and inspection work for the Manipulator Specifications depending on the Manipulator are given in this manual ADS stands for the Application Development System and it is the name of the software development environment which is use
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