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YASKAWA Motoman NX100 Manual

Form cut function
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See also: Operator's Manual , Manual
Enlarged version
Motoman NX100 Controller
Form Cut
Function Manual
Part Number:
149648-19CD
Revision:
1
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200

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Summary of Contents for YASKAWA Motoman NX100

  • Page 1 Motoman NX100 Controller Form Cut Function Manual Part Number: 149648-19CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
  • Page 2 Motoman, Inc. ©2007 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.
  • Page 3 @„y 7‡† "'$"&' %JCRVGT  +PVTQFWEVKQP #DQWV 6JKU &QEWOGPV This manual provides information for the Form Cut option and contains the following sections: 5'%6+10   +0641&7%6+10 Provides general information about the structure of this manual, a list of reference documents, and customer service information.
  • Page 4 @‡€i†u€ Gg€‡gx 7tg‚†q„  C€†„p‡i†u€ %WUVQOGT 5GTXKEG +PHQTOCVKQP 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: ‡ 5RERW 7\SH )RUP &XW ‡ $SSOLFDWLRQ 7\SH DUFZHOGLQJ VSRW ZHOGLQJ KDQGOLQJ ‡...
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  • Page 11 YASKAWA NX100 OPTIONS INSTRUCTIONS FORM CUTTING FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage.
  • Page 12 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.
  • Page 13 HW0482342 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. 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.
  • Page 14 HW0482342 WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the program- ming pendant is turned OFF.
  • Page 15 • Read and understand the Explanation of the Warning Labels 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 programming pendant, and supply cables.
  • Page 16 HW0482342 Descriptions of the programming pendant, 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.

  • Page 17: Table Of Contents

    HW0482342 Form Cutting Motion Patterns for Cutting Teaching 3.1 How to Teach a Pattern ......3 3.2 Tool Position and Cutting Pattern .
  • Page 18 HW0482342 6.3 Examples of File Setting for Each Pattern ..6 6.3.1 Circle..........6-5 6.3.2 Rectangle Including Squares .
  • Page 19 HW0482342 1 Form Cutting Motion The form cutting motion cuts workpieces according to a pattern with a tool such as a laser cutting machine handled by a manipulator. In the form cutting function, there may be some differences between the set design and the NOTE actual cutting motion path, depending on the calibration, ambient temperature, and load applied to the manipulator.
  • Page 20 HW0482342 2 Patterns for Cutting Five patterns, circle, rectangle (including square), ellipse, pentagon, and hexagon are available. The minimum and maximum set values of a pattern can be set at the following parameters. Parameter Contents Initial Value 1,000 µm Minimum set value 1,000,000 µm Maximum set value The minimum and maximum values of data required for a pattern are set as follows.

  • Page 21: How To Teach A Pattern

    HW0482342 3.1 How to Teach a Pattern 3 Teaching Follow the example of teaching shown below to teach a motion instruction for cutting a form. The items to be set in the form cut setting file are shown in " " How to Teach a Pattern With the form cutting function, teaching can be done by registering the FORMAPR and FORMCUT instructions.
  • Page 22 HW0482342 3.1 How to Teach a Pattern Do not register any move instruction (MOVJ, MOVL, etc.) between the FORMAPR and NOTE FORMCUT instructions. If any move instruction is registered, normal operation is disabled or an alarm occurs. Set the same value for both the FORMAPR and FORMCUT instruction tag values (form NOTE cut setting file No., etc.) except for "SPEED".
  • Page 23 HW0482342 3.1 How to Teach a Pattern When a specified point is set to as the "START POINT" When a specified point is set as the "START POINT", the position is set with "CUT IN SUPPLE- LENGTH" and "CUT IN ANGLE" of the form cut setting file for the starting point (a point MENT near the pattern).

  • Page 24: Tool Position And Cutting Pattern

    HW0482342 3.2 Tool Position and Cutting Pattern Tool Position and Cutting Pattern The following figures show the relation between the tool position each the cutting pattern. : Tool coordinate system   : Tool coordinate system    X-axis direction    Y-axis direction Overlap Overlap Overlap Radius Radius Height Corner radius Width Width Circle Re ct a ng le Ellipse Overlap...

  • Page 25: Cutting Width Correction Function

    HW0482342 3.3 Cutting Width Correction Function Cutting Width Correction Function The cutting width correction function shifts the scale of the cutting width of the laser for the cutting path when cutting the form according to the pattern. The following parameter is used for the setting.

  • Page 26: Example Of Form Cutting Function

    HW0482342 3.4 Example of Form Cutting Function Example of Form Cutting Function 3.4.1 Example of a Job An example of a job for cutting the following pattern is shown. 0000 NOP 0001 MOVJ VJ=100.00 0002 MOVJ VJ=100.00 0003 FORMAPR FCF#(1) Move to the starting point (center) Set the same file 0004 CALL LASERON...

  • Page 27: Example Of A Motion Path

    HW0482342 3.4 Example of Form Cutting Function 3.4.2 Example of a Motion Path By setting the "END POINT" to PATH or to PLACEMENT in the form cut setting file, the FORMCUT instruction can be used to cut in on the pattern path or inwards from the path to complete a cutting motion.

  • Page 28: Motion Example 1

    HW0482342 3.4 Example of Form Cutting Function Motion Example 1 Conditions are as follows. FIGURE: RECTANGLE START POINT: CENTER END POINT: PATH ROTATION DIRECTION: CW 1. The starting point is the center of pattern. Center of pattern 2. The manipulator moves in the direction of the X- axis on the tool coordinate system in the positive direction.

  • Page 29: Motion Example 2

    HW0482342 3.4 Example of Form Cutting Function Motion Example 2 Conditions are as follows. FIGURE: RECTANGLE START POINT: PLACEMENT END POINT: PLACEMENT ROTATION DIRECTION: CW 1. The starting point is the point near the form cutting pattern. Starting point Center of pattern 2. The manipulator moves to the intersection of the cut- ting pattern and the X-axis direction on the tool coor- Starting point dinate system in the positive direction.

  • Page 30: Form Cutting Start Motion Instruction

    HW0482342 4.1 FORMAPR Instruction (Form Cutting Start Motion Instruction) 4 Form Cutting Start Motion Instruction FORMAPR Instruction (Form Cutting Start Motion Instruction) The FORMAPR instruction is to move the manipulator to the position where the form cutting motion starts according to the conditions set in the form cut setting file. The additional items to the FORMAPR instruction are as follows.
  • Page 31 HW0482342 4.2 Registering Instructions Set the same value for both the FORMAPR and FORMCUT instruction tag values (form NOTE cut setting file No., etc.) except for "SPEED". If the values are different, the FORMAPR instruction tag value is validated. The speed in the FORMAPR instruction is for the speed when moving to the starting point, and the FORMCUT instruction is for the speed when cutting.
  • Page 32 HW0482342 4.2 Registering Instructions Operation Explanation Change the numerical data. <Register without changing> Proceed to the next step to register the instruction in the input buffer line without changing it. <Edit additional items> To change the numerical data of the additional items, press [SELECT] and move the cursor to the input buffer line.
  • Page 33 HW0482342 4.2 Registering Instructions Operation Explanation (cont’d) Type the file No. in the input buffer line, press [ENTER] and the number changes. EDIT DISPLAY UTILITY DETAIL EDIT FORMAPR FORM CUT FILE FCF#( ) 2 RADIUS UNUSED WIDTH UNUSED HEIGHT UNUSED APPROACH SPEED V= 66 ROTATION ANGLE UNUSED  FORMARP FCF#(2)  V=66 Main Menu ShortCut To register the form cut file No.
  • Page 34 HW0482342 4.2 Registering Instructions Operation Explanation (cont’d) To change a variable No., select the variable to be changed. EDIT UTILITY DISPLAY DETAIL EDIT FORMAPR FORM CUT FILE   FCF#( ) 1 RADIUS UNUSED WIDTH UNUSED HEIGHT UNUSED APPROACH SPEED V= 66 ROTATION ANGLE UNUSED  FORMARP FCF#(B000)  V=66 Main Menu ShortCut Turn on servo power Type the new variable No., press [ENTER], and the number changes.

  • Page 35: Registering In Variables

    HW0482342 4.2 Registering Instructions 4.2.2 Registering in Variables Operation Explanation Move the cursor to the previ- ous line where the FORMCUT instruction to be registered. Press [INFORM LIST]. The instruction list dialog box opens. EDIT DISPLAY UTILITY JOB CONTENT IN/OUT JOB NAME : CUT-CIR STEP NO : 021 CONTROL CONTROL GROUP : R1...
  • Page 36 HW0482342 4.2 Registering Instructions Operation Explanation Change the numerical data. Refer to Section " 4.2.1 Registering by Teaching " for how to change the numbers. EDIT DISPLAY UTILITY DETAIL EDIT FORMAPR P-VAR ROBOT P000 FORM CUT FILE FCF#( ) 1 RADIUS UNUSED WIDTH UNUSED HEIGHT UNUSED APPROACH SPEED V= 66 ROTATION ANGLE...

  • Page 37: Form Cutting Instruction

    HW0482342 5.1 FORMCUT (Form Cutting Motion Instruction) 5 Form Cutting Instruction FORMCUT (Form Cutting Motion Instruction) The FORMCUT instruction is to execute the form cutting motion according to the conditions set in the form cut setting file. The additional items to the FORMCUT instruction are as follows. The additional items can be omitted except for "FORM CUT SETTING".

  • Page 38: Registering Instructions

    HW0482342 5.2 Registering Instructions Set the same value for both the FORMAPR and FORMCUT instruction tag values (form NOTE cut setting file No., etc.) except for "SPEED". If the values are different, the FORMAPR instruction tag value is validated. The speed in the FORMAPR instruction is for the speed when moving to the starting point, and the FORMCUT instruction is for the speed when cutting.
  • Page 39 HW0482342 5.2 Registering Instructions Operation Explanation Select {DEVICE}. The FORMCUT instruction is displayed. DATA DISPLAY EDIT UTILITY JOB CONTENT IN/OUT STEP NO : 003 JOB NAME : CUT-CIR ARCON ARCCTE CONTROL GROUP : R1 TOOL : 00 CONTROL 0019 MOVJ VJ=50.00 ARCOF FORMAPR DEVICE 0020 MOVJ VJ=100.00 0021 MOVL V=100 FORMCUT VWELD MOTION 0022 MOVL V=100 ARITH AWELD 0023...
  • Page 40 HW0482342 5.2 Registering Instructions Operation Explanation (cont’d) To add or change any additional items, move the cursor to the instruction in the input buffer line. Then press [SELECT] to call up the detailed editing dialog box. DISPLAY EDIT UTILITY DETAIL EDIT FORMCUT ROBOT UNUSED...

  • Page 41: Registering Instructions

    HW0482342 5.2 Registering Instructions Operation Explanation (cont’d) To register the form cut file No. in variables, select EDIT DISPLAY UTILITY DETAIL EDIT FORMCUT ROBOT UNUSED FORM CUT FILE FCF#( ) 2 CONSTANT RADIUS UNUSED ROUNDNESS ERR UNUSED WIDTH UNUSED HEIGHT UNUSED CUTTING SPEED UNUSED CORNER RADIUS UNUSED ROTATION ANGLE UNUSED  FORMCUT FCF#(2) Main Menu...
  • Page 42 HW0482342 5.2 Registering Instructions Operation Explanation (cont’d) Type the new variable No., press [ENTER], and the number changes. EDIT DISPLAY UTILITY DETAIL EDIT FORMCUT ROBOT UNUSED FORM CUT FILE FCF#( ) B001 RADIUS UNUSED ROUNDNESS ERR UNUSED WIDTH UNUSED HEIGHT UNUSED CUTTING SPEED UNUSED CORNER RADIUS UNUSED ROTATION ANGLE UNUSED  FORMCUT FCF#(B001) Main Menu...

  • Page 43: Form Cut Setting File

    HW0482342 6.1 Settings 6 Form Cut Setting File The form cut setting file is to set the conditions for a form cutting motion and used in the FORMAPR and FORMCUT instructions. Up to 200 files can be registered. 200 files FORM CUT SETTING FILE COND NO.1 COND NO.200 Form Cut Setting Files...
  • Page 44 HW0482342 6.1 Settings EDIT DISPLAY UTILITY FORM CUT SETTING COND NO. : 1 / 200 FIGURE         CIRCLE CUTTING SPEED       10.0  mm/sec RADIUS 150.000  mm ROUNDNESS ERR     0.250  mm WIDTH     0.000  mm HEIGHT     0.000  mm CORNER RADIUS     0.000  mm START POINT CENTER END POINT PATH CUT IN LENGTH         5.0  mm CUT IN ANGLE       45.0  deg. AMOUNT OF OVERLAP   10.000  mm FIRST STOP TIME       0.50  sec SECOND STOP TIME       0.00  sec ROTATION DIRECTION ROTATION ANGLE         0.0  deg. PAGE Main Menu ShortCut Please set (     ) data only COND NO.
  • Page 45 HW0482342 6.1 Settings END POINT Select the end point. "PATH" or the "PLACEMENT" can be selected. When "PATH" is selected, a point on the cutting pattern becomes the end point. When the "PLACEMENT" is selected, a point near the cutting pattern that is defined by "CUT IN LENGTH"...

  • Page 46: Details Of File Settings

    HW0482342 6.2 Details of File Settings Details of File Settings 6.2.1 Specifying the ROUNDNESS ERR The manipulator operates within the set value of "ROUNDNESS ERR" and completes a cut- ting motion inward from the taught path as shown by the dashed line circle in the figure below. Because the cutting speed is automatically adjusted according to the value of "ROUNDNESS ERR", users do not need to adjust the taught speed confirming the path.

  • Page 47: Specifying The Rotation Direction

    HW0482342 6.2 Details of File Settings 6.2.3 Specifying the ROTATION DIRECTION Specify the rotational direction (cutting direction) for a form cutting motion. Specify the direction in "ROTATION DIRECTION". Pattern: Rectangle   Counterclockwise Clockwise 6.2.4 Specifying the ROTATION ANGLE Specify the rotational angle for the center of the cutting pattern. Specify the angle in "ROTATION ANGLE".

  • Page 48: Examples Of File Setting For Each Pattern

    HW0482342 6.3 Examples of File Setting for Each Pattern Examples of File Setting for Each Pattern The examples of file setting for each pattern are shown. 6.3.1 Circle Clockwise It e m s   to   b e   S e t First stop time position CUTTING SPEED RADIUS...

  • Page 49: Rectangle Including Squares

    HW0482342 6.3 Examples of File Setting for Each Pattern 6.3.2 Rectangle Including Squares Clockwise It e m s   to   b e   S e t CUTTING SPEED First stop time position Amount of  WIDTH overlap End point HEIGHT Cut in length (arc) Cut in length (arc) (path) CORNER RADIUS START POINT END POINT CUT IN LENGTH CUT IN ANGLE Start point...

  • Page 50: Pentagon

    HW0482342 6.3 Examples of File Setting for Each Pattern 6.3.4 Pentagon Clockwise It e m s   to   b e   S e t First stop time position Amount of  CUTTING SPEED overlap RADIUS Cut in length (arc) Cut in length (arc) START POINT End point END POINT (path) CUT IN LENGTH CUT IN ANGLE AMOUNT OF OVERLAP FIRST STOP TIME End point Start point SECOND STOP TIME...

  • Page 51: Displaying And Editing File

    HW0482342 6.4 Displaying and Editing File Displaying and Editing File Operation Explanation Select the application menu The application menu differs depending on the robot application : • For arc welding : {ARC WELDING} under the top menu. • For handling : {HANDLING} •...

  • Page 52: Alarm Message List

    HW0482342 7 Alarm Message List Alarm Message Cause Remedy Number CAN’T DO 1 : Wrong setting for • Check the radius value. FIXED FORM RADIUS • Move the cursor to the instruc- CUT MOTION tion (FORMAPR, etc.) which was executed for teaching the center of the pattern, and exe- cute the instruction again.
  • Page 53 HW0482342 Alarm Message Cause Remedy Number CAN’T DO 10: FORMAPR instruc- • Execute the FORMAPR instruc- FIXED FORM tion not executed tion. CUT MOTION • Do not register any move instruction between the FRO- MAPR and FORMCUT instruc- tions. • To execute the FORMCUT instruction by pressing PLAY- BACK, TEST RUN, or INTER- LOCK and NEXT at the same...
  • Page 54 49-8166-90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone 82-53-745-7844 82-2-784-8495 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.

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