Motoman NX100 User Manual
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Motoman NX100 User Manual

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Motoman NX100 Controller
User's Manual
Part Number:
150010-1CD
Revision
0
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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  • Page 1 Motoman NX100 Controller Search Function User’s Manual Part Number: 150010-1CD 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 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp 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.
  • Page 3 Provides general information about the structure of this manual, a list of reference documents, and customer service information. 5'%6+10   5#('6; This section provides information regarding the safe use and operation of Motoman products. 5'%6+10   5'#4%* (70%6+10 +05647%6+105 Provides detailed information for the Search Function.
  • Page 4 U…q„ … 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: • Robot Type (Search Function) •...
  • Page 5 Sqg„it @‡€i†u€ # %JCRVGT  5CHGV[ +PVTQFWEVKQP +V KU VJG RWTEJCUGT U TGURQPUKDKNKV[ VQ GPUWTG VJCV CNN NQECN EQWPV[ UVCVG CPF PCVKQPCN EQFGU TGIWNCVKQPU TWNGU QT NCYU TGNCVKPI VQ UCHGV[ CPF UCHG QRGTCVKPI EQPFKVKQPU HQT GCEJ KPUVCNNCVKQP CTG OGV CPF HQNNQYGF :H VXJJHVW WKDW \RX REWDLQ DQG UHYLHZ D FRS\ RI WKH $16,5,$ 1DWLRQDO 6DIHW\ 6WDQGDUG IRU ,QGXVWULDO 5RERWV DQG 5RERW 6\VWHPV 7KLV LQIRUPDWLRQ FDQ EH REWDLQHG IURP WKH 5RERWLF ,QGXVWULHV $VVRFLDWLRQ E\ UHTXHVWLQJ $16,5,$ 5 7KH DGGUHVV LV DV IROORZV...
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  • Page 7 Sqg„it @‡€i†u€ # )GPGTCN 5CHGIWCTFKPI 6KRU $OO RSHUDWRUV SURJUDPPHUV SODQW DQG WRROLQJ HQJLQHHUV PDLQWHQDQFH SHUVRQQHO VXSHUYLVRUV DQG DQ\RQH ZRUNLQJ QHDU WKH URERW PXVW EHFRPH IDPLOLDU ZLWK WKH RSHUDWLRQ RI WKLV HTXLSPHQW $OO SHUVRQQHO LQYROYHG ZLWK WKH RSHUDWLRQ RI WKH HTXLSPHQW PXVW XQGHUVWDQG SRWHQWLDO GDQJHUV RI RSHUDWLRQ *HQHUDO VDIHJXDUGLQJ WLSV DUH DV IROORZV ‡...
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  • Page 9 Sqg„it @‡€i†u€ # ‡ $Q\ PRGLILFDWLRQV WR 3$57  6\VWHP 6HFWLRQ RI WKH URERW FRQWUROOHU FRQFXUUHQW ,2 SURJUDP FDQ FDXVH VHYHUH SHUVRQDO LQMXU\ RU GHDWK DV ZHOO DV GDPDJH WR WKH URERW 'R QRW PDNH DQ\ PRGLILFDWLRQV WR 3$57  6\VWHP 6HFWLRQ 0DNLQJ DQ\ FKDQJHV ZLWKRXW WKH ZULWWHQ SHUPLVVLRQ RI 0RWRPDQ ZLOO 92,' <285 :$55$17<...
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  • Page 11 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. Be sure to use the appropriate manual. YASKAWA MANUAL NO. HW0482008 1...
  • Page 12 HW0482008 MANDATORY • This manual explains the search function of the NX100. Read this man- ual carefully and be sure to understand its contents before handling the NX100. • General items related to safety are listed in Section 1: Safety of the NX100 Instructions.
  • Page 13 HW0482008 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 Injury may result if anyone enters the P-point maximum envelope of the manipulator dur- ing operation. Always press an emergency stop button immediately if there are prob- lems.The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.
  • Page 15 -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 NX100 cabi- net after use. The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator, on the floor, or near fixtures.
  • Page 16 HW0482008 Descriptions of the programming pendant 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.
  • Page 17 HW0482008 Search Function Wiring 2.1 Direct IN Signal Connection to NX100 ....2-1 2.2 Direct IN Signal Connection of More than One Manipulator to NX100 ......2-3 2.3 Confirmation of Direct IN Signal Status...
  • Page 18 HW0482008 1 Search Function The search function moves the manipulator to a specified position and stops it when a speci- fied direct input signal comes ON. Position data at the point the manipulator stops can be taken-in. This information can be used with other instructions, for instance, to obtain the distance from a goal position and modify operation accordingly.
  • Page 19 HW0482008 3. On the base of the calculated difference, the program is modified to proceed the oper- ation.
  • Page 20 Direct IN Signal Connection to NX100 Connect the direct IN signal to the NX100 in the following manner. 1. Turn the breaker handle of NX100 to the OFF position to turn OFF the main power sup- ply. 2. Open the door of the NX100 and connect the direct IN signals to the robot system input terminal block (MXT) which is located at the bottom as shown in "Fig.
  • Page 21 HW0482008 2.1 Direct IN Signal Connection to NX100 NX100 Robot system input terminal block 024V AXDIN1 Direct IN (Servo) 1 Direct IN (Servo) 2 AXDIN2 AXDIN3 Direct IN (Servo) 3 Direct IN (Servo) 4 AXDIN4 Direct IN (Servo) 5 AXDIN5...
  • Page 22 HW0482008 2.2 Direct IN Signal Connection of More than One Manipulator to NX100 Direct IN Signal Connection of More than One Manipulator to NX100 In case of connecting more than one manipulator (up to 4 manipulators), connect the 1st manipulator following the procedures in "2.1 Direct IN Signal Connection to NX100".
  • Page 23 HW0482008 2.3 Confirmation of Direct IN Signal Status Confirmation of Direct IN Signal Status Check the status of direct-input signal on the RIN INPUT window. 2.3.1 RIN INPUT Window Operation Explanation Select {IN/OUT} under the main menu. Select {RIN}. The RIN INPUT window appears. “...
  • Page 24 GETS (System Variable Fetch Instruction) Saves the system variable ($ variable) as a user variable. NX100 cannot use system variables directly for operating instructions. Use GETS instruction to fetch the values as a user variable. Format : GETS <user variable> <system variable>...
  • Page 25 HW0482008 3.3 CNVRT (Position Type Variable Conversion Instruction) 3.2.1 System Variables The GETS is the only instruction that refers to system variables written by the controller sys- tem. System Variable Type Explanation $B002 : Specifies detected/not detected of $B type B type the SRCH instruction 0 : Not detected 1 : Detected...
  • Page 26 HW0482008 3.3 CNVRT (Position Type Variable Conversion Instruction) 3.3.1 PX Variables The PX variables are a group of position type variables that are defined by the control group specified in the job header. • When the control group is R1, PX000 indicates P000. •...
  • Page 27 HW0482008 4.1 SRCH Instruction 4 Registration of Instructions SRCH Instruction Operation Explanation Move the cursor to the instruc- tion area. Move the cursor to the move instruction where SRCH instruction is to be registered. Press [SELECT] twice. Press [SELECT] once to display the contents registered in the job in the input buffer line.
  • Page 28 HW0482008 4.2 GETS Instruction GETS Instruction Operation Explanation Move the cursor to the address area. Move the cursor to the line where GETS instruction is to be registered. Press [INFORM LIST]. The instruction list dialog box appears. The cursor moves to the instruction list dialog box while the cursor in the address area changes to an under bar.
  • Page 29 HW0482008 4.3 CNVRT Instruction Operation Explanation Press [ENTER] twice. The DETAIL EDIT window of GETS instruction appears. EDIT DISPLAY UTILITY DETAIL EDIT GETS PUT TO B000 GET FROM $B000 GETS B000 $B000 Main Menu Short Cut Set variables in the DETAIL EDIT window of GETS instruc- tion.
  • Page 30 HW0482008 4.3 CNVRT Instruction Operation Explanation Select {CNVRT}. At this stage, the instruction on the cursor position is displayed with the previously registered additional items in the input buffer line. JOB CONTENT IN/OUT JOB NAME: TEST CLEAR CNVRT GETS CONTROL GROUP: R1 CONTROL 0018 MOVJ...
  • Page 31 HW0482008 5 Alarm List Alarm Message Cause Remedy WRONG The CALL/JUMP destination job • Make the setting in advance so CONTROL could not be executed. that the control group of the GROUP AXIS • An attempt was made to call or CALL/JUMP destination job is jump to a job whose control included in that of the CALL/...
  • Page 32 HW0482008 6 Instruction List • < > indicates numerical or alphabetical data. • If multiple items are shown in one section, select one of the items. Function Executes a search function. RIN#(<direct IN No.>) = <status> Direct IN No. : 1 to 5 Status : ON, OFF, B <vari-...
  • Page 33 HW0482008 Converts a pulse data position type data of Data 2 into a Carte- sian data position type variable using a specified coordinate Function system, then saves in Data 1. Format : CNVRT <Data 1><Data 2> coordinate system Data 1 PX <variable No.>...
  • Page 34 60-3-6092-6377 YASKAWA ELECTRIC TAIWAN CORPORATION 9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 886-2-2505-1280 SHOUGANG MOTOMAN ROBOT CO., LTD. 7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China Phone 86-10-6788-0541 86-10-6788-2878 YASKAWA ELECTRIC CORPORATION YASKAWA MANUAL NO.

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