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Motoman MLX200
YASKAWA Motoman MLX200 User Manual
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Part Number:
168542-1CD
Revision:
5
MLX200
SOFTW
ARE AND OPERA
TION
USERS MANUAL
VERSION 2.0
Upon receipt of the product and prior to initial op
erat
ion, read these instructions thoroughly
, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOM
AN-
INSTRUCTIONS
MLX200 HARDW
ARE INST
ALLA
TION AND SOFTW
ARE
UPGRADE
1 of 206
2
Table of Contents
Default Chapter
9
Table of Contents
9
1 Introduction
15
Requirements
15
Rockwell Automation PAC/PLC Requirements for the MLX200
15
Rslogix 5000 Files Included with the MLX200 Control Module
16
System Layout for the MLX200 Control Module
16
Customer Support Information
17
2 System Configuration
19
MLX200 Control Module
19
Configuring Rslogix Project
21
Pre-Configured Rslogix Projects
21
Configuring the Logix Controller
21
Configuring an MLX200 Control Module Communication
22
Importing MLX200 into Existing Project
23
Import MLX200 AOIS and UDTS
23
Creating the MLX200 Communications Task
24
Adding an MLX200 Control Module to the I/O Configuration
25
3 Developing with MLX200
27
MLX200 Tag Structures
28
Mlx-Level Tag Structure
28
Robot-Level Tag Structure
29
Axis-Level Tag Structure
30
Application Data Tag Structure
31
Instruction Overview
33
System Commands
33
Robot Commands
34
Programming Introduction
35
Task Scheduling
35
Instruction Execution and Status Bits
35
State Management and Configuration Instructions
36
Motion Instructions
37
Speed, Acceleration, Jerk Parameters
38
Trajectory Shape
38
Blend Factor
39
Coordinate Frames Relevant to Robotics
40
Jogging Motions
42
Error Messages
43
Stopping and Recovering Robot Motion
43
Aborted Motions
44
Stopped Motions
44
Using Global Speed Scale
45
Mlx-Hmi
46
Setting up the HMI
46
Importing the Mlx-HMI Task
47
Importing Mlxapplicationdata
48
Running the FTVIEW HMI Application
48
Main Screen
49
HMI Menu Selection
51
Login and Security Settings
53
Alarm Screen
56
Teach Screen
57
Tool and User Frame Screens
58
Cubic Interference Zones
59
Robot Configuration
60
Robot Info
61
Brake Release Screen
61
Interference Zone Status Screen
62
Information Screen
62
4 MLX200 Programming Guide
64
Developing a Simple Application
64
Teaching Points with MLX-MHI
64
Accessing Taught Points from a Program
65
Operating a User Application from Hmi
67
Teaching Points in User Frames
68
Using Reference Position Values
69
Example 1: 6-Axis Robot
70
Example 2: 4-Axis Palletizing Robot
73
Configuration Instructions
75
Using Configuration Instructions
75
Setting Multiple Configuration Instructions
75
Using Configuration Instructions with Motions
76
Using Blend Factors
78
PC Bit Triggering
78
Sequential Motion Instructions
78
Programming Pitfalls and Best Practices
81
Incomplete AOI Executions
81
DN BIT Checking
83
Reused Control Variables
84
Task Overlaps and CPU Load
85
5 Collision Detection
86
Collision Detection Overview
86
Configuring Collision Detection from the HMI
88
Using the Mlxrobotcollisiondetection Instruction
94
Initializing Collision Detection from Application
95
Measuring Collision Detection from Application
96
Changing Collision Detection Behavior During Application
97
6 Conveyor Tracking
99
Conveyor Tracking Overview
99
Conveyor Tracking Requirements
101
Configuring Conveyor Tracking
102
1756-HSC Counter Card Configuration
104
Wiring the 1756-HSC
104
Configuring the 1756-HSC in RSLOGIX
104
Linking the Conveyor Tags for a 1756-HSC
105
Conveyor Parameter Configuration for MLX200
106
Conveyor Tracking Setup Procedure
108
Verify Counter Card Is Functional
108
Calculate Conveyor Resolution
108
Teach a User Frame
108
Teach Point and Setup Tracking Parameters
109
Debugging Pickup Position Errors
110
Part Is Gripped at Different Locations on Part
110
Part Is Gripped Consistently at the Wrong Location on the Part
111
Developing a Conveyor Tracking Application
112
Conveyor Tracking Instructions
112
Mlxrobotconvsyncstart Instruction
112
Mlxrobotconvsyncstop Instruction
113
Mlxrobotconvsyncstopwithlinearmot Instruction
114
Mlxrobotconvsyncstopwithaxismot Instruction
114
Programming Structure for a Conveyor Tracking Application in Ladder
115
Program Structure Overview
115
Program Structure Details
116
Advanced Application Options
119
Conveyor Tracking Programming Pitfalls
122
7 Configuration and Maintenance of MLX200 Control Module
124
MLX200 Control Module Status Display
124
Connecting to MLX200 Control Module Display Remotely
125
Maintenance and Configuration Operations
128
Logging in to Perform Maintenance Operations
128
Changing the Password of the MLX200 Control Module
129
Changing the IP Address of the MLX200 Control Module
130
Rebooting the MLX200 Control Module
131
Retrieving Log Files
132
Updating Configuration and License Files
133
Backup and Restore Operations
135
Performing Firmware Update
137
Advanced Operations to Assist with Maintenance and Troubleshooting
139
Disabling Automatic Restart of MLX-R.exe
139
Manually Starting MLX-R.exe after Auto-Start Is Disabled
141
Mlxabort
142
Mlxenable
143
Mlxhold
144
Mlxreset
145
Mlxresetandhold
146
Mlxrestart
147
Mlxstop
148
Mlxrobotmoveaxisabsolute
149
Mlxrobotmoveaxisrelative
151
Mlxrobotmovelinearabsolute
153
Mlxrobotmovelinearrelative
155
Mlxrobotmovecircular
157
Mlxrobotjogaxes
159
Mlxrobotjogaxestopoint
160
Mlxrobotjogtcp
161
Mlxrobotjogtcptopoint
163
Mlxrobotcoordinatetransform
164
Mlxrobotsetbasepose
165
Mlxrobotsetcubicizbycenterpoint
166
Mlxrobotsetcubicizbytwocorners
167
Mlxrobotsetframeshift
168
Mlxrobotsettoolproperties
169
Mlxrobotsetuserframe
170
Mlxrobotcollisiondetection
171
Mlxrobotconvsyncstart
173
Mlxrobotconvsyncstop
174
Mlxrobotconvsyncstopwithaxismot
175
Mlxrobotconvsyncstopwithlinearmot
177
Mlxgeterrordetail
179
Mlxgetmoduleinfo
180
Mlxreaddigitalinputs
181
Mlxwritedigitaloutputs
182
Mlxrobotgethomeoffsets
183
Mlxrobotsethomeoffsets
184
Mlxrobotgetproperties
185
Mlxrobotsetproperties
186
Mlxsetglobalparameter
187
Appendix A MLX200 Add-On Instructions
142
MLX200 Control Module Performance Results and Memory Usage
188
Appendix B
188
4
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YASKAWA Motoman MLX200 Specifications
General
Brand
YASKAWA
Model
Motoman MLX200
Category
Control Unit
Language
English
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