MOTOMAN DX200 Motion Primitive Control

Controls DX200 with FTP Ethernet functions

Settings

• Maintaince Mode: Press {MAIN MENU} and boot
• Set IP: (Maintaince Mode) -> HOST SETUP -> IP ADDRESS -> 192.168.1.31
• Management Mode: {MAIN MENU} -> {SECURITY} -> {MANAGEMENT MODE}, password is 999999999
• Safety Mode: {MAIN MENU} -> {SECURITY} -> {SAFETY MODE}, password is 555555555
• Command Remote: {MAIN MENU} -> {IN/OUT} -> {PSEUDO INPUT SIGNAL} -> CMD REMOTE SEL, press [INTERLOCK]+[SELECT]
• Enable FTP: {Main Menu} -> {EX.MEMORY} (Username is ftp and arbitrary password, use the IP set above.)
• PC IP: Change computer's IP to manual, under the same subnet as DX200's IP
• Pulse to Deg: {Main Menu} -> {SETUP} -> {FUNCTION ENABLE}. Set ALL AXES ANGLE DISP Function to VALID. {ROBOT} -> {CURRENT POSTION}: Toggle DISPLAY to Pulse/Absolute Degrees
• Tool Calibration/Data: Under Safety Mode, {Main Menu} -> {ROBOT} -> {TOOL} -> {Utility} -> {Calibration}/{W.GRAV.POS.MEASURE}
• Base Pose Calibration: {Main Menu} -> {ROBOT CALIB} -> top bar {DISPLAY} -> {COORDINATE DATA}

Useful Tips

• Wire Feed/Retract: Under Teach Mode, Number 9 and Number 6.
• Digital Output: {Main Menu} -> {IN/OUT} -> {Universal Out}, use [Page] (or [Shift]+[Page]) button to switch pages, use [INTERLOCK]+[SELECT] to toggle the output
• Robot Control: Shift+Robot to switch between robots; Coord to change among (joint space, Base frame, tool frame)
• Job Save/Load: Jobs created on teachpendant need to be saved to EX.MEMORY (USB drive on the back) manually. Same for loading
• Pulse2Deg: Absolute Angle and Pulse have sign flip for some joints, USE PULSE sign as reference.
• Alarm Release for Manual Jogging: {OVERRUN&SHOCK SENSOR} and {LIMIT RELEASE}
• Digital I/O Board: CN306 ~ CN309, refer to diagram in the cabinet
• Functional Safety Reset: Boot into Maintance Mode, under Safety Mode {FILE} -> {INITIALIZE} -> {Functional Board Safety Reset}
• I/F Panel: Monitor welding parameters (current/voltage, etc.)
• Register: M368, M362 and M363 for welding parameters
• Units: {Main Menu} -> {SETUP } -> {OPERATE COND.}
• Positioner J2 limit release: {Main Menu} -> {ROBOT} -> {SOFTLIMIT SETTING}, D500B J2 can set to +/-1e9-1 pulses

MotoPlus Setting

Motoplus program will run at background after boot up, and it's a .out file compiled in VS. Boot into Maintenance Mode and load .out file to USB drive. Motoplus could be connected with VGA display, see manual.

• MotoPlus APL.: LOAD(USER APPLICATION)

Welder Setting

Set IP and Gateway of Fronius Welder to communicate with DX200.

• Fronius IP: Deselect DHCP, IP Address: 192.168.1.55, Standard Gateway: 192.168.1.31.
• DX200 (Management): Weldcom Options -> ARC DIGITAL I/F FUNC. -> Power Source IP Address: 192.168.1.51, HTTP POWER SOURCE IP ADDRESS: 192.168.1.55.
• External Control: Defaults -> Interface -> external (to make DX200 have control over jobs), see below to set up Motoman to switch between jobs.
• DX200 (Parameters): AIP107=1 (Fronius control, 0 for robot control, leave it at 0).

Welder Interface could be accessed through browser at its IP.

Job Linkage

To allow Motoman to switch between Fronius Jobs, it is necessary to set up {ARC START COND.} under {ARC WELDING}. Toggle Job mode (Fronius) in {OTHER} tab, and change both red circles to the job number in Fronius.

Usage

Connect Ethernet from DX200 to computer, and make sure you can ping DX200 from your computer. python dx200_motion_program_exec_client.py, the program will generate .JBI file, send to DX200 and execute.

Install the package by python setup.py install.

Motosim

Refer to Motosim Manual.