TECHNICAL BULLETIN

MOTOMAN a YASKAWA company

PRODUCT: XRC SERVO FLOAT FUNCTION

PREPARED BY: IZZAT HAMMAD, PRODUCT MANAGER (QUESTIONS? CALL 937/847-3231)

Introduction
The XRC servo float function can be used with a variety of material handling applica-
tions, such as die cast and machine loading. This function allows the robot axis to be
moved to a desired position by an external force, such as a part ejector cylinder or part
clamps. This document provides a brief overview of this function. For additional
information, refer to the Servo Float Test Report (located on the iNet) and the Servo
Float Instruction Manual, 133863-1.

Servo Float Configurations

The servo float function can be easily configured to one of two configurations/modes:
link (joint) or linear. In link mode, each axis reacts to external forces independently.
The sensitivity for each axis is set independently in the servo float files. The sensitivity
of each axis is also set independently of the other robot axis in the servo float files.
Each file contains six settings S, L, U, R, B, T.
In linear mode, the servo float function affects the robot S, L, and U axes so that these
axes are combined in their reaction to an external force. However, the wrist axis R, B,
and T axes react independently, as in the link configuration. The sensitivity of the robot
S, L, and U axes is combined in the X, Y, and Z settings in the servo float files. The
wrist sensitivity is set for each axis (R, B, and T) independently.

Note: Servo float files can be edited only in management mode.

Servo Float Parameter Settings

The values of the servo float parameters and files depend on application, robot model
and payload. The parameter settings currently available are for UP6, SK16X, SK45X,
UP130, UP165 robots. The following parameters activate the various servo float con-
figurations:
FD34 =1 activates the servo float function, link configuration.
FD34 =2 activates the servo float function, linear configuration.
Attached is a set of parameters that must be set to specific values based on the manipu-
lator.
TECHNICAL SPECIFICATION SUBJECT TO CHANGE WITHOUT NOTICE MOTOMAN CORPORATE HEADQUARTERS MOTOMAN IS A REGISTERED TRADEMARK
FEBRUARY 2000 MTB-39 805 LIBERTY LANE, WEST CARROLLTON, OHIO 45449
TEL: 937/847-6200 • FAX: 937/847-6277
WEB PAGE: www.motoman.com
TECHNICAL BULLETIN

Robot UP6 SK1 6 X SK4 5 UP1 3 0 UP1 6 5

Par amet er Link Linear Link Linear Link Linear Link Linear Link Liner
MFxG0 5 0 - 300 - 1500 - 1500 - 1500 - 1500
MFxG0 5 1 - 100 - 100 - 100 - 100 - 200
MFxG0 5 2 - 20 - 20 - 20 - 20 - 20
MFxG0 5 3 - 3 - 0 - 0 - 0 - 0
MFxG0 5 4 - 100 - 100 - 100 - 100 - 100
MFxG0 5 5 - 0 - 0 - 0 - 0 - 0
MFxG0 5 6 - 0 - 0 - 0 - 0 - 0
MFxG0 5 7 - 0 - 0 - 0 - 0 - 0
MFxG0 5 8 - 0 - 0 - 0 - 0 - 0
MFxG0 5 9 - 0 - 1 - 1 - 0 - 0
MFxG0 6 0 - 1000 - 1000 - 1000 - 2000 - 3000
MFxG0 6 1 - 1000 - 1000 - 1000 - 2000 - 3000
MFxG0 6 2 - 1000 - 1000 - 1000 - 2000 - 3000
MFxG0 6 3 - 1000 - 1000 - 1000 - 2000 - 3000
MFxG0 6 4 - 166 - 166 - 166 - 166 - 166
MFxG0 6 5 - 0 - 0 - 0 - 0 - 0
MFxG0 6 6 - 0 - 0 - 0 - 0 - 0
MFxG0 6 7 - 0 - 0 - 0 - 0 - 0
MFxG0 6 8 - 0 - 0 - 0 - 0 - 0
MFxG0 6 9 - 0 - 0 - 0 - 0 - 0
MFxG0 7 0 - - - - -
MFxG3 2 8 0 0 0 0 0 0 0 4 0 4
MFxG3 2 9 0 0 0 0 0 0 0 3 0 4
MFxG3 3 0 0 0 0 0 0 0 0 4 0 4
MFxG3 3 1 0 0 0 0 0 0 0 0 0 0
MFxG3 3 2 0 0 0 0 0 0 0 0 0 0
MFxG3 3 3 0 0 0 0 0 0 0 0 0 0
MFxG3 3 4
MFxG3 3 5
MFxG3 3 6 100 100 100 100 100 100 200 200 200 200
MFxG3 3 7 100 100 100 100 100 100 200 200 200 200
MFxG3 3 8 100 100 100 100 100 100 200 200 200 200
MFxG3 3 9 100 100 100 100 100 100 200 200 200 200
MFxG3 4 0 100 100 100 100 100 100 200 200 200 200
MFxG3 4 1 100 100 100 100 100 100 200 200 200 200
MFxG3 4 2
MFxG3 4 3
MFxG3 4 4 30 30 30 30 30 30 30 30 30 30
MFxG3 4 5 30 30 30 30 30 30 30 30 30 30
MFxG3 4 6 30 30 30 30 30 30 30 30 30 30
MFxG3 4 7 30 30 30 30 30 30 30 30 30 30
MFxG3 4 8 30 30 30 30 30 30 30 30 30 30
MFxG3 4 9 30 30 30 30 30 30 30 30 30 30
MFxG3 5 0
MFxG3 5 1
MFxG3 5 2 0 10 0 10 0 10 0 10 0 10
MFxG3 5 3 0 10 0 10 0 10 0 10 0 10
MFxG3 5 4 0 10 0 10 0 10 0 10 0 10
MFxG3 5 5 0 10 0 10 0 10 0 10 0 10
MFxG3 5 6 0 10 0 10 0 10 0 10 0 10
MFxG3 5 7 0 10 0 10 0 10 0 10 0 10
MFxG3 5 8
MFxG3 5 9
MFxG3 6 0
AMCxG2 4 8 0 0 1844 1844 72275 72275 72275 72275
AMCxG2 4 9 0 0 1232 1232 17675 17675 19000 19000
AMCxG2 5 0 0 0 876 876 17025 17025 13000 13000
AMCxG2 5 1 0 0 0 0 0 0 10000 10000 4000 4000
AMCxG2 5 2 0 0 0 0 0 0 7000 7000 4000 4000
AMCxG2 5 3 0 0 0 0 0 0 5000 5000 0 0

TECHNICAL SPECIFICATION SUBJECT TO CHANGE WITHOUT NOTICE MOTOMAN CORPORATE HEADQUARTERS MOTOMAN IS A REGISTERED TRADEMARK
FEBRUARY 2000 MTB-39 805 LIBERTY LANE, WEST CARROLLTON, OHIO 45449
TEL: 937/847-6200 • FAX: 937/847-6277
WEB PAGE: www.motoman.com
TECHNICAL BULLETIN

The S, L, and U axis can be moved easily by hand in the X, Y, and Z directions at set-
tings between 30 and 40%. Check this value for each coordinate depending on the
application and payload of the robot.
The R, B, and T axis on the other hand, are impossible to move even when the setting is
at the minimum, 30%. Changing the values for parameter MFXG 347-349 from 30% to
1% helps somewhat, but even at this low setting, wrist axis movements are still very
difficult.

TECHNICAL SPECIFICATION SUBJECT TO CHANGE WITHOUT NOTICE MOTOMAN CORPORATE HEADQUARTERS MOTOMAN IS A REGISTERED TRADEMARK
FEBRUARY 2000 MTB-39 805 LIBERTY LANE, WEST CARROLLTON, OHIO 45449
TEL: 937/847-6200 • FAX: 937/847-6277
WEB PAGE: www.motoman.com