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Part Number: 147019-1

Release Date: January 25, 2002
Document Version: 1
Document Status: Final

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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 MOTOMAN
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 Page
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 T-AXIS ENDLESS ROTATION INSTRUCTIONS
1 T-Axis Endless Rotation Function ................................................................................. 1-1
2 Specifying T-axis Continuous Rotation.......................................................................... 2-1
3 Registering MRESET Instruction ................................................................................... 3-1
4 Display of T-Axis Rotating Amount ............................................................................... 4-1
5 Resetting the Axis Rotating Amount .............................................................................. 5-1
6 Job Example ................................................................................................................. 6-1
7 Restrictions................................................................................................................... 7-1
8 Alarm Message List ...................................................................................................... 8-1

MOTOMAN i T-axis Endless Rotation Instruction Manual

 NOTES

T-axis Endless Rotation Instruction Manual ii MOTOMAN

 SECTION 1
INTRODUCTION
1.1 About this Document
This manual provides instructions for the XRC T-axis endless rotation function
and contains the following sections:
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 – T-AXIS ENDLESS ROTATION INSTRUCTIONS
Provides detailed instructions for the T-axis endless rotation function.

1.2 Reference to Other Documentation

For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• 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 Manipulator Manual (P/N 142104-1)
• Motoman UP20, XRC Manipulator Manual (P/N 144342-1)
• Motoman UP50, XRC Manipulator Manual (P/N 144343-1)
• Motoman UP130, XRC Manipulator Manual (P/N 142107-1)

1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (UP6, SK16X, 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)

MOTOMAN 1-1 T-axis Endless Rotation Instruction Manual

INTRODUCTION

NOTES

T-axis Endless Rotation Instruction Manual 1-2 MOTOMAN

 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: (734) 994-6088
FAX: (734) 994-3338
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)

MOTOMAN 2-1 T-axis Endless Rotation Instruction 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.

T-axis Endless Rotation Instruction Manual 2-2 MOTOMAN

 SAFETY

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.
• 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.

MOTOMAN 2-3 T-axis Endless Rotation Instruction 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.

T-axis Endless Rotation Instruction Manual 2-4 MOTOMAN

 SAFETY

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

MOTOMAN 2-5 T-axis Endless Rotation Instruction 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 non-
functioning 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).

T-axis Endless Rotation Instruction Manual 2-6 MOTOMAN

 YASKAWA

YASNAC XRC OPTIONS

INSTRUCTIONS
FOR T-AXIS ENDLESS FUNCTION

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

MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-¨¨¨ INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

YASKAWA MANUAL NO. HW9482695

 MANDATORY
• This manual explains the T-axis endless 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 examples

and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes 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 rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative 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 prod-
uct’s warranty.

ii
NOTES FOR SAFE OPERATION
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 could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided,

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.

Always be sure to follow explicitly the items listed under this

M A N D A T O R Y heading.

PROHIBITED Must never be performed.

Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.

N OT E To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.

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

Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.

Emergency Stop Button

• 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.

TURN

Release of Emergency Stop

• 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.

• 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 predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the manipulator’s work envelope

and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations

Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.

iv
 CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator 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 programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.

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

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 programming pen-
dant, and supply cables.
The MOTOMAN manipulator is the YASKAWA industrial robot product.
In this manual, the equipment is designated as follows.

Equipment Manual Designation

YASNAC XRC Controller XRC

YASNAC XRC Playback Panel Playback Panel

YASNAC XRC Programming Pendant Programming Pendant

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

Equipment Manual Designation

Programming Character Keys The keys which have characters printed on them are
Pendant 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. page key

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

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

Keys pressed When two keys are to be pressed simultaneously,

simultaneously the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}

Playback Panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel

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.

vi
1 T-axis Endless Function
1.1 Endless Rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Resetting the Rotating Amount . . . . . . . . . . . . . . . . . . . . .1-1

2 Specifying T-axis Continuous Rotation

3 Registering MRESET Instruction

4 Display of T-Axis Rotating Amount

5 Resetting the Axis Rotating Amount

6 Job Example

7 Restrictions
7.1 FWD and BACK Operations . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2 When NWAIT is Specified . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.3 Maximum Endless Rotating Amount . . . . . . . . . . . . . . . .7-1
7.4 Execution of MRESET Instruction . . . . . . . . . . . . . . . . . . .7-2
7.5 T-axis Position at Teaching . . . . . . . . . . . . . . . . . . . . . . . . .7-2
7.6 Display of Rotating Amount . . . . . . . . . . . . . . . . . . . . . . . . .7-2

8 Alarm Message List

vii
viii
 1.1 Endless Rotation

1 T-axis Endless Function

This function is used for endless rotation of the T-axis. Since interpolation is not possible if
the T-axis rotates more than one time for the endless rotation, a function to reset the endless
rotation position to a position within one revolution is also available.

The following outlines the functions.

1.1 Endless Rotation

By specifying “ How many times the T-axis is to be rotated” for a move instruction (MOVJ), the
T-axis rotates for “the specified rotating amount + the taught position pulse” during moving to
the target position. “How many times the T-axis is to be rotated” is specified with “MT” tag.

For the rotating amount, up to ±100 revolutions can be specified for one move instruction. To
rotate the axis more than 100 times continuously, register consecutively multiple number of
move instructions for which the tag “MT” is registered.

<Format>
MOVJ VJ=Speed, MT=T-axis rotating amount

1.2 Resetting the Rotating Amount

To perform an interpolation after completion of endless rotation, re-create the T-axis current
value pulse and the motor feedback pulse at a position within one revolution in one of the fol-
lowing operations.

• Execution of MRESET instruction

• Operation from the programming pendant

1-1
1.2 Resetting the Rotating Amount

1-2
2 Specifying T-axis Continuous Rotation

The T-axis continuous rotation is specified by setting a T-axis rotating amount tag “MT” to a
move instruction (MOVJ) for joint motion.

Operation

Move the cursor to the instruction area Move the cursor to the move instruction for
which a T-axis rotating amount is to be set Press [SELECT] two times*1 Select “T-
ROTATION” Select “MT=”*2 Press [ENTER] two times*3

Explanation
*1 Press [SELECT] once to display the contents registered in the job in the input buffer
line. Press [SELECT] once more to call the detail edit display of the move instruction.

JOB EDIT DISPLAY UTILITY

L
DETAIL EDIT R1 C S
MOVJ
JOINT SPEED VJ= 50.00
POS LEVEL UNUSED
T-ROTATION MT= 1 2
NWAIT NWAIT

=>MOVJ VJ=50.00 MT=12

!

*2 The contents are displayed in the input buffer line.

*3 The set contents are registered.

2-1
2-2
3 Registering MRESET Instruction

Register a MRESET instruction to reset the rotating amount in the following manner.

Operation

Move the cursor to the address area Move the cursor to the line where a MRESET
instruction is to be registered Press [INFORM LIST]*1 Select “OTHER” Select
*2 *3
“MRESET” Press [ENTER]

Explanation
*1 The instruction list dialog appears. Move the cursor to the instruction list dialog. The
cursor in the address area changes to an under-bar.

JOB EDIT DISPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:010 TOOL:00
0018 MOVJ VJ=12.50 IN/OUT
0019 MOVJ VJ=50.00 CONTROL
0 0 2 0 MOVJ VJ=50.00 MT=12 DEVICE
MOTION
0021 MOVL V=50 ARITH
0022 MOVL V=50 SHIFT
0023 MOVL V=100 OTHER
0024 MOVJ VJ=100.00
=> OR B000 0
!

*2 The selected instruction is displayed in the input buffer line.

J:TEST S:010 TOOL:00

0018 MOVJ VJ=12.50
0019 MOVJ VJ=50.00 MRESET
0 0 2 0 MOVJ VJ=50.00 MT=12
0021 MOVL V=50
0022 MOVL V=50
0023 MOVL V=100.00
0024 MOVJ VJ=100.00
=> MRESET

*3 The set contents are registered in the job.

3-1
3-2
4 Display of T-Axis Rotating Amount

The T-axis rotating amount can be displayed in the rotation display.

Operation

Select {ROBOT} under the top menu Select {ROTATION}*1

Explanation

*1 The rotation display appears.

DATA EDIT DISPLAY UTILITY

L
ROTATION R1 C S
R1:S 0
L 0
U 0
R 0
B 0
T 180

4-1
4-2
5 Resetting the Axis Rotating Amount

The rotating amount can be reset to “0” on the rotation display.

Operation

Select {ROBOT} under the top menu Select {ROTATION} Select {DATA} of the
menu*1 Select {RESET ROTATION}*2

Explanation
*1 The pulldown menu appears.

DATA EDIT DISPLAY UTILITY

L
RROETSAETTI ORNO T A T I O N R1 C S
R1:S 0
L 0
U 0
R 0
B 0
T 180

*2 The T-axis rotating amount (T) is reset to “0”.

5-1
5-2
6 Job Example

An example of job preparation using the T-axis endless function is shown below.

Line Instruction Contents

0000 NOP

0001 MOVJ VJ=25.00 Normal move instruction

0002 MOVL V=500.0 Normal move instruction

0003 MOVJ VJ=25.00 Normal move instruction

0004 MOVJ VJ=25.00 MT=100 T-axis rotates 100 times until reaching the step 4.

0005 MOVJ VJ=25.00 MT=100 T-axis rotates 100 times until reaching the step 5.

MRESET In order to perform an interpolation motion at the next

0006 step, a MRESET instruction is executed to reset the
T-axis position to a position within one revolution.

0007 MOVL V=500.0 Linear interpolation motion

0008 MOVJ VJ=25.00 Normal move instruction

0009 END End of the job

6-1
6-2
 7.1 FWD and BACK Operations

7 Restrictions

The restrictions for the T-axis endless function are as follows.

7.1 FWD and BACK Operations

During FWD and BACK operations, the T-axis does not perform a continuous rotation motion.

Also when a playback is executed after having executed the FWD operation until 1 to 3 steps
before the step where an endless operation is specified, the T-axis does not perform a contin-
uous rotation motion. This is because the status of FWD operation and BACK operation
remains. In this case, after having executed the FWD and BACK operation, move the cursor
and start the job in play mode. Thus, the T-axis performs a continuous rotation motion.

Normally, when the manipulator current value coincides with the reference position value after
having reached the target step by FWD or BACK operation, the cursor stops blinking. In FWD
or BACK operation after the T-axis continuous rotation by using playback operation, the T-axis
does not have the manipulator current position coincident with the reference position even
after having reached the target position. Therefore, the cursor does not stop blinking. In this
case, execute a MRESET instruction before FWD or BACK operation so that the cursor stops
blinking when the manipulator reaches the target position.

7.2 When NWAIT is Specified

Normally, when a move instruction where a NWAIT is added is executed, the instructions that
are registered before the next move instruction, are executed sequentially. For the MRESET
instruction, NWAIT specification is not applied and the MRESET instruction will be executed
after the completion of the move instruction.

7.3 Maximum Endless Rotating Amount

The maximum endless rotating amount can be obtained by the following equation. The
amount differs depending on the type of manipulator.

Maximum endless rotating amount = ±1073741823 (pulse) / Resolution (pulse/revolution)

7-1
7.4 Execution of MRESET Instruction

7.4 Execution of MRESET Instruction

Since the execution of MRESET instruction is processed for the manipulator feedback pulse,
it is executed in the status that the manipulator is completely stopped. Accordingly, it takes a
several seconds to execute the MRESET instruction. In the meantime, the manipulator does
not stop and the start lamp is not unlit even by hold or changing mode operation.

7.5 T-axis Position at Teaching

In a position where the T-axis has rotated more than one time, the teaching is disabled. If
teaching is executed in this state, the following error occurs.

Error 2110 ; Over softlimit

When the above error occurs, reset the axis rotating amount manually.

7.6 Display of Rotating Amount

When the sign of the taught position of the MOVJ instruction where a rotating amount is spec-
ified and the sign of the rotating amount specification are different, the display value of rotat-
ing amount may be one revolution less than the specified rotating amount. For example,
when the taught position is at -1000 pulses and the rotating amount is specified to be 100 rev-
olutions, the displayed value of rotating amount is 99 revolutions.

7-2
8 Alarm Message List

Alarm
Message Cause Corrective Action
No.

DEFECTIVE Linear interpolation disabled. When this alarm occurs

TAUGHT POINT During playback operation or at operation from the
(ENDLESS)[1] operation from the programming programming pendant,
pendant, a linear interpolation has reset the alarm and
been attempted without execution reset the axis rotating
of MRESET instruction after com- amount.
pletion of continuous rotation. When this alarm occurs
during playback opera-
4490
tion, set a MRESET
instruction before execu-
tion of MOVL or MOVC
instruction.

DEFECTIVE The reference position of the step Reconsider the teach-

TAUGHT POINT where the cursor is, exceeds ing positions.
(ENDLESS)[4] 1073741823 pulses.

8-1
8-2
YASNAC XRC OPTIONS
INSTRUCTIONS
FOR T-AXIS ENDLESS FUNCTION

TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-6891, Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600 Fax 1-937-440-2626
YASKAWA MOTOMAN CANADA LTD.
2280 ARGENTIA ROAD, MISSISSAUGA, ONTARIO, L5N 6H8, CANADA.
Phone 1-905-813-5901 Fax 1-905-813-5911
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Gemany.
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Germany
Phone 49-8166-900 Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003 Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice MANUAL NO. HW9482695

for ongoing product modifications and improvements. C Printed in Japan August 1999 99-8
-4