Ratoc Systems USB-Serial Converter REX-USB60 User Manual

User’s ManualENGLISHEE98-Ver. 1.03TOPRD series YAMAHA Tool for Optimizing Parameters

How to install11-21. How to install1.2 Installing the TOP software1. Start Windows.(The following steps are explained using Windows XP screens.)2. Q

1-31How to install1. How to install6. The following dialog box then appears.Select the language you want to use with the TOP software and click the [N

How to install11-41. How to install8. When the following screen appears, select the folder where the TOP software will be installed.If you want to cha

1-51How to install1. How to install The following screen appears when the installation is complete. Click the [Finish] button.11. The following dialo

How to install11-61. How to install13. A confirmation dialog box appears.Click the [Yes] button to start installing data.14. The following dialog box

1-71How to install1. How to install1.3 Uninstalling the TOP softwareUse the following procedure to uninstall the TOP software. (The procedure is expl

How to install11-81. How to install3. After selecting "TOP for Windows", click the [Remove] button.4. The uninstall program starts and the f

1-91How to install1. How to install5. The following screen appears when the software has been removed. Click the [Finish] button to end the uninstalla

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Chapter 2 Connecting to the robot driverThis chapter describes the cable for connecting the PC to the robot driver and explains how to make the conne

2-12Connecting to the robot driver2. Connecting to the robot driver 2. Connecting to the robot driverPrecautions when connecting/disconnecting the c

Connecting to the robot driver22-22. Connecting to the robot driver2.1 Connection cableAssemble the connection cable as shown in the wiring diagram b

Chapter 3 Operating ProceduresThis chapter describes how to start and exit the TOP software, monitor operation, make parameter setups, perform operat

3-13Operating Procedures3. Operating Procedures 3. Operating Procedures3.1 Starting and exiting3.1.1 Starting the TOP software1. From the Start men

Operating Procedures33-23. Operating ProceduresNote 1: The PC will not connect to the robot driver if any screen other than the opening screen is alre

3-33Operating Procedures3. Operating Procedures3.1.2 Exiting the TOP software(1) To exit the TOP software1. Close all open screens except the opening

Operating Procedures33-43. Operating Procedures3.2 Monitor functionThe monitor function allows you to check operation information in real time.3.2.1

3-53Operating Procedures3. Operating Procedures3.2.2 Monitor display window descriptionThe "Monitor display" window is described below.Show

1Note to the userKeep this manual handy so that anyone using this software can easily refer to it when needed.Before installing and operating "TO

Operating Procedures33-63. Operating Procedures3.3 Parameter setup functionThe parameter setup function allows you to set and control the robot drive

3-73Operating Procedures3. Operating Procedures3.3.2 Parameter setting window descriptionThe "Parameter setting" window is displayed as sho

Operating Procedures33-83. Operating Procedures3.3.3 Changing the parameters This section explains how to change parameters, using the following two

3-93Operating Procedures3. Operating Procedures4. The following screen then displays. To proceed with the operation, click the [OK] button.5. The foll

Operating Procedures33-103. Operating Procedures[Example 2] To change the electronic gear denominator (FA-13).1. Select the [FA] tab, place the mouse

3-113Operating Procedures3. Operating Procedures5. The following message then appears indicating the parameter is being written.6. When the parameter

Operating Procedures33-123. Operating Procedures3.3.4 Saving the parametersThe parameters can be saved and managed as files.1. In the "Parameter

3-133Operating Procedures3. Operating Procedures3.3.5 Loading the parametersFiles saved as described in the preceding section can be loaded to set th

Operating Procedures33-143. Operating Procedures3.3.6 Retuning to the default settingAll parameters can be returned to their default settings (factor

3-153Operating Procedures3. Operating Procedures3.3.7 Printing the parametersParameter data can be printed out as a report.1. In the "Parameter

Safety precautionsSafety precautions2 Safety precautionsTo use this software correctly and safely, always read this manual and all other attached docu

Operating Procedures33-163. Operating Procedures3.4 Operation trace functionThis function allows you to visually check the robot and robot driver ope

3-173Operating Procedures3. Operating Procedures3.4.1 Starting the operation trace functionThe "Trace display" window opens when you click

Operating Procedures33-183. Operating Procedures3.4.2 Trace display window descriptionThe "Trace display" window is described below.OpenSav

3-193Operating Procedures3. Operating Procedures3.4.3 Operation trace sequence1. Open the "Trace display" window.2. Set the trace condition

Operating Procedures33-203. Operating Procedures4. Start operation trace.Select "Trace Start" from the "Trace operation" menu or c

3-213Operating Procedures3. Operating Procedures3.4.4 Setting the operation trace conditionsTo set the operation trace conditions, open the "Tra

Operating Procedures33-223. Operating Procedures(2) To set the digital trace conditions:1. Select the check boxes for the channels you want to enable.

3-233Operating Procedures3. Operating Procedures3.4.5 Setting the graph display(1) Setting the X-axis directionThe toolbar buttons above each graph

Operating Procedures33-243. Operating Procedures(3) Hiding a graphed lineYou can hide a graphed line by clearing the check box as described below. To

3-253Operating Procedures3. Operating Procedures3.5 Test run and adjustment functionsThis section describes the functions useful for a test run.3.5.1

General ContentsChapter 1 How to install 1. Installing the TOP software 1-11.1 Check before installation 1-11.2 Installing the TOP software 1-

Operating Procedures33-263. Operating ProceduresTo run normal jog:1. Click the [Test run and Adjustment] button on the opening screen.The "Test r

3-273Operating Procedures3. Operating Procedures2. Enter the speed command in the "Jogging speed" box (2).Note: When "Linear Motor&quo

Operating Procedures33-283. Operating Procedures(1)-B Pulse feed jog operationIn this jog operation, the robot moves in position control mode up to

3-293Operating Procedures3. Operating Procedures3. Check safety and then click the [Forward] or [Reverse] button (B).(The robot will start moving in t

Operating Procedures33-303. Operating Procedures3.5.2 Offline tuningThe total inertia including motor inertia can be approximately calculated in offl

3-313Operating Procedures3. Operating Procedures2. Set the following parameters that are required for tuning.(A)(B)(D)(C)(E)Note 1Note 2Note 3 (A)

Operating Procedures33-323. Operating Procedures3. Click the [Continuous pattern tuning start] button.4. Check safety conditions and then turn on the

3-333Operating Procedures3. Operating Procedures(2) Procedure for offline auto-tuning while checking the result each time1. Click the [Test run and A

Operating Procedures33-343. Operating Procedures(A)(B)(D)(C)(E)Note 1Note 2Note 33. Click the [1 pattern tuning start] button.4. Check safety conditio

3-353Operating Procedures3. Operating Procedures6. Check if the waveform is satisfactory and click the [1-pattern tuning start] button again if necess

3.6 Changing the communication format 3-453.7 Generation setup 3-46Chapter 4 Troubleshooting Guide 4. Troubleshooting guide 4-14.1 If failed to

Operating Procedures33-363. Operating Procedures3.5.3 Mechanical system diagnostic measurement procedureUse the following procedure when measuring th

3-373Operating Procedures3. Operating Procedures3. Enter settings for mechanical system diagnosis.Set each item in the "Machine diagnosis setting

Operating Procedures33-383. Operating Procedures(1) Overall setupRead the following instructions and check if your machine is in safe condition. If th

3-393Operating Procedures3. Operating Procedures(2) Detailed settingClicking the [Options] button opens the following dialog box. Make settings as nee

Operating Procedures33-403. Operating Procedures4. Click the [Start] button to start diagnosis.ClickNote: When a PHASER series robot is used, magneti

3-413Operating Procedures3. Operating Procedures7. Results from mechanical system diagnosis appear as shown below.8. Turn off the servo ON (SON) termi

Operating Procedures33-423. Operating Procedures9. Check the waveform to determine whether or not to make measurements again.When the resonance point

3-433Operating Procedures3. Operating Procedures3.5.4 Notch filter setup procedureUse the following procedure to set the notch filter parameters (Fd-

Operating Procedures33-443. Operating Procedures3. Click the [Filter 1] button. The recommended settings then appear in the boxes to the right of the

3-453Operating Procedures3. Operating Procedures3.6 Changing the communication format1. Click the [Communication format] button on the opening scree

Chapter 1 How to installThis chapter explains what you need to check before installing the TOP software and how to install it. This chapter also desc

Operating Procedures33-463. Operating Procedures3.7 Generation setupThis function returns all robot driver parameters to the robot's initial par

3-473Operating Procedures3. Operating Procedures2. Select the robot model number from the "Model" drop-down list. Generation data on robots

Operating Procedures33-483. Operating Procedures4. The following message appears when generation setup ended normally.Before starting operation, you m

Chapter 4 Troubleshooting GuideThis chapter explains how to troubleshoot problems or errors that might occur during operation of this product.Content

4-14Troubleshooting Guide4. Troubleshooting Guide 4. Troubleshooting guide4.1 If failed to connect to the robot driverIf the PC cannot connect to t

Troubleshooting Guide44-24. Troubleshooting Guide4.3 If failed to load parametersIf parameters cannot be loaded, check the following cause and correc

Chapter 5 AppendixContents 5. Appendix 5-15.1 Files copied to system 5-15.2 Connection to a PC with no serial port (RS-232C) 5-25.2.1 Connection

5-15Appendix5. Appendix 5. Appendix5.1 Files copied to systemThe table below lists the names of files that are copied to the c:\windows\system direc

Appendix55-25. Appendix5.2 Connection to a PC with no serial port (RS-232C)When running the TOP software on a PC with no RS-232C port and connecting

5-35Appendix5. Appendix5.2.1 Connection procedures and precautions(1) Installing the PC cardInstall the PC card by following the instructions in the

Appendix55-45. Appendix5. When the following dialog box appears, click the [OK] button.6. Click the [Close] button.7. Connect the PC card RS-232C cabl

5-55Appendix5. Appendix5.3 Adding a generation modelIf the robot you are using is not found in the generation setup list, then you must add it as a g

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Chapter 6 Index

6-16Index6. IndexIndexAAdding a generation model ... 5-5CCheck before installation ...1-1Commu

User's ManualJul. 2008Ver. 1.03 This manual is based on Ver. 1.05 of Japanese manual.© YAMAHA MOTOR CO., LTD. IM CompanyRobot DriverAll rights re

1-11How to install1. How to install 1. Installing the TOP software1.1 Check before installationBefore installing the TOP software, make the followin