Motoman NX 100 Function Manual
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Motoman NX 100 Function Manual

Data transmission
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Enlarged version
Motoman NX 100 Controller
Data Transmission
Function Manual
Part Number:
152388-1CD
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 NX 100 Controller Data Transmission Function Manual Part Number: 152388-1CD 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 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. ©2006 by MOTOMAN All Rights Reserved Because we are constantly improving our products, we reserve the right to change specifications without...
  • Page 3 • Vendor manuals for system components not manufactured by Motoman Customer Service Information 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 (IA20) •...
  • Page 4 Function Manual Chapter 1 Introduction Notes page 2 Final...
  • Page 5 We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system.
  • Page 6 Function Manual Chapter 2 Safety This safety section addresses the following: • Standard Conventions (Section 2.2) • General Safeguarding Tips (Section 2.3) • Mechanical Safety Devices (Section 2.4) • Installation Safety (Section 2.5) • Programming, Operation, and Maintenance Safety (Section 2.6) Standard Conventions This manual includes the following alerts in descending order of severity...
  • Page 7 Data Transmission 152388-1 General Safeguarding Tips All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation.
  • Page 8 Function Manual Chapter 2 Safety Installation Safety Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location.
  • Page 9 Motoman will VOID YOUR WARRANTY! • Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords. • The robot controller allows modifications of PART 2, User Section, of the concurrent I/O program and modifications to controller parameters for maximum robot performance.
  • Page 10 Function Manual Chapter 2 Safety Notes page 8 Final...
  • Page 11 NX100 OPTIONS INSTRUCTIONS FOR DATA TRANSMISSION 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 MANDATORY • This manual explains the data transmission function of the NX100 sys- tem. Read this manual carefully and be sure to understand its contents before handling the NX100. • General items related to safety are listed in the Section 1: Safety of the NX100 Instructions.
  • Page 13 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 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 in the NX100 Instructions 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 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: Table Of Contents

    Outline 1.1 DCI Function ........1-2 1.2 Stand-alone Function .

  • Page 18: 4.1 Outline

    " Function ........3-3 "...
  • Page 19 " Switching Selection Mode ......4-11 4.3.5 Selecting Job and Data File......4-12 "...
  • Page 20 Comparison of Data Transmission Functions Remote Function Setting...
  • Page 21 1 Outline The data transmission function is for communication with a host computer such as a personal computer in BSC complying protocol. The data transmission function adopts a serial transmission line and standard protocol, mak- ing easy connection to a host computer. The data transmission function is not only for transmission of job but also for controlling robot system by a host computer using a set of commands.
  • Page 22 1.1 DCI Function DCI Function The DCI function executes instructions described in a job to perform data transmission with a host computer. This function loads and saves jobs and variables. NX100 Host computer (personal computer, etc.) Execute DCI Function Job can be transmitted in either mode. Load •...
  • Page 23 1.2 Stand-alone Function Stand-alone Function The stand-alone function is for data transmission with host computer by operation on the pro- gramming pendant. This function loads and saves jobs and condition data. NX100 Host computer Operation (personal computer, etc.) Stand-alone Function Job can be transmitted in either Load mode.

  • Page 24: Host Control Function

    1.3 Host Control Function Host Control Function The host control function is for loading and saving jobs, reading robot status, and controlling the system by sending a command from a host computer. NX100 Host computer (personal computer, etc.) Operation Host Control Function Jobs can be transmitted in either Load mode :...
  • Page 25 1.3 Host Control Function Host Control Function • Read of error and alarm codes • Read of current position in a joint coordinate system • Read of current position in a specified Carte- sian coordinate system • Read of mode, cycle, motion, alarm error and servo status •...

  • Page 26: For Using Data Transmission Function

    2.1 Remote Mode 2 For Using Data Transmission Function Remote Mode The data transmission function can be used with NX100 in remote mode. 2.1.1 Remote Mode To use the data transmission function, set NX100 to remote mode. In remote mode, the operation is ordered from a host computer ; whereas in local mode, teach mode, and play mode, the programming pendant is used for operating the system.
  • Page 27 2.1 Remote Mode Operation-site Mode Operation-site Condition to Enable the Operation Local Mode Programming pendant The remote lamp is OFF, or “INHIBIT PP/ PANEL” in the pseudo input display is set to invalid. Remote Mode I/O remote enable External I/O control board The remote lamp is ON, and “INHBIT IO”...

  • Page 28: Command Remote Valid/Invalid

    2.1 Remote Mode 2.1.2 Command Remote Valid/Invalid Availability of each function of data transmission differs depending on the command remote setting (Enabled / Disabled). When the command remote is set invalid, the read/monitor system commands (hereinafter called read-only function) in the host control function in addition to the DCI function and stand- alone function can be used.

  • Page 29: Serial I/F Port Assignment

    2.2 Serial I/F Port Assignment DATA EDIT DISPLAY UTILITY REMOTE A message shown in IO and Command mode the table below is displayed. CURR PREV DISP Main Menu ShortCut Remote Select Status Message Remarks Command Remote Remote × × “Remote mode not specified” Same when the remote lamp is OFF.
  • Page 30 2.2 Serial I/F Port Assignment Major Axes Control Control Circuit Board Robot I/F Unit Circuit Board Control Circuit Board JANCD-NCP01 SGDR-AXA01A JZNC-NIF01 CPS-420F TYPE JANCD-NCP01 TYPE JANCD-NCP01 TYPE JANCD-NCP01 POWER SUPPLY DATE CPS-NX1 DATE Fuji Electric Co.,Ltd. JAPAN 03040506 080910 SOURCE 13141516 181920...

  • Page 31: Parallel Operation Of Nx100

    2.3 Parallel Operation of NX100 Parallel Operation of NX100 The NX100 is capable of parallel processing. For instance, it can check signals with program- ming pendant while saving files to YASNAC FC2, or can edit files with the programming pen- dant while monitoring operation status by the host control function.

  • Page 32: Differences From Mrc/Xrc

    2.4 Differences from MRC/XRC Differences from MRC/XRC The data transmission function in NX100 is intended to reuse basically the user applications with succession to the data transmission of MRC/XRC. There are some differences resulted from functional differences between the MRC/XRC and the NX100.

  • Page 33: Transmission Specifications

    2.5 Transmission Specifications Transmission Specifications This section explains the transmission specifications for the data transmission. 2.5.1 Basic Specifications Interface Complies to RS-232C (RS/CS method) 9600 bps Transmission Speed Half-duplex transmission system (point-to- Transmission Mode point) Synchronization Asynchronous (stop bit 1 * system BSC LIKE Protocol...

  • Page 34: Transmission Format

    2.5 Transmission Specifications 2.5.3 Transmission Format The transmission format is as follows. HEADING TEXT HEADING TEXT TEXT TEXT ACK0 ACK1...

  • Page 35: Error Control System

    2.5 Transmission Specifications 2.5.4 Error Control System The error control is performed by a check sum of all the characters from SOH or STX to ETB or ETX. The check sum is calculated as shown below. <Example> TEXT 0000 0101 0000 0000 0011 0110 1010 1100...

  • Page 36: Configuration Of Heading And Text

    2.5 Transmission Specifications 2.5.7 Configuration of Heading and Text The configuration of heading and text is as follows. Heading 6 characters fixed Max. 256 characters TEXT Subcode No. , (comma) Header No. 2.5.8 Transmission Parameters " Transmission Control Monitoring Timer Two timers are provided for transmission control monitoring.

  • Page 37: Transmission Control Resending Sequence

    2.5 Transmission Specifications Transmission Control Resending Sequence " Two constants below are related to the transmission control resending sequence. Both are transmission parameters like the transmission control monitoring timers, whose settings can be changed for each system. Retry 1 : Number of resendings of a sequence character at an invalid or no response at all.

  • Page 38: Connection Of D-Sub Connector Pins

    2.5 Transmission Specifications 2.5.9 Connection of D-SUB Connector Pins The connection of D-SUB connector pins is shown below. NCP01 board (D-SUB9P) NX100 Carrier detect Data receive Data send Data terminal ready Grounding for signal Request to send Sending enabled Protective grounding 2.5.10 Connection Since the system is “null-modem”, connect the pins as shown below.

  • Page 39: Dci Function

    3.1 Outline 3 DCI Function Outline The data communication by instruction (DCI) function loads, saves jobs and variables accord- ing to an instruction that executes data transmission with a host computer. The DCI function is classified as follows. • Job load, save and delete functions •...

  • Page 40: Configuration

    3.2 Commands for Job Transmission Configuration " JOB:<Job name> Unit of IG#<Input group No.> LOADJ loading B<Variable No.> JBI, JBR NWAIT IF statement • If the NX100 memory already contains a job having the same name as the job to be loaded, the existing job is deleted and the new job is loaded.

  • Page 41: Savej

    3.2 Commands for Job Transmission 3.2.2 SAVEJ " Function Saves a specified job as single or related jobs, from the memory of the NX100 to the external memory unit. " Configuration JOB:<Job name> Unit of saving SAVEJ IG#<Input group No.> JBI, JBR B<Variable No.>...

  • Page 42: Swait

    3.3 Commands for Variable Transmission 3.2.4 SWAIT " Function Waits for completion of loading or saving jobs or variables. Use this command to recognize a completion of LOADJ, SAVEJ, LOADV, and SAVEV com- mands when a NWAIT is specified for these instructions. "...

  • Page 43: Registering Dci Instruction

    3.4 Registering DCI Instruction Registering DCI Instruction Operation Explanation Move the cursor to the address area. Move the cursor to the line In the job content display in teach mode, move the cursor to the where an instruction is to be line just above the place where an instruction is to be registered.
  • Page 44 3.4 Registering DCI Instruction Operation Explanation Change the additional items <To register items as displayed in the input buffer> and variable data. Perform operation described in the step 6 below. <To edit any additional items> With the cursor on the instruction to be registered, press [SELECT].

  • Page 45: Concurrent Tasks From Multiple Jobs

    3.5 Concurrent Tasks from Multiple Jobs Operation Explanation (cont’d) • Changing the data type To change the data type of additional item, move the cursor to the the additional item and press [SELECT] to select a data type. EDIT DISPLAY UTILITY DETAIL EDIT LOADV...

  • Page 46: Dci Parallel Execution

    3.6 DCI Parallel Execution DCI Parallel Execution By using the function described below, the DCI instruction can be executed in parallel with general instructions such as a move instruction and operating instruction. When this function is used, the robot can be moved or the calculation is executed during data transmission ; this function is effective for reduction of tact time, etc.

  • Page 47: Parallel Execution Using Pstart (Optional)

    3.7 Transmission Procedure Parallel Execution Using PSTART (Optional) " By using an independent control command (optional), DCI commands can be executed in par- allel with general commands. For example, to execute the job “R1” for robot 1 is to be exe- cuted in parallel with the job “S1”...

  • Page 48: Loading Procedure

    3.7 Transmission Procedure The data type is distinguished by the header number and the subcode number. Refer to the header number list. ACK0 SOH 02, 001 STX File name ACK1 Data ACK0 Data ACK0 SOH 90, 000 STX Data ETX ACK1 File name : CR (File name does not include extension.) ACK0 or ACK1...
  • Page 49 3.7 Transmission Procedure At transmission, memory capacity is checked and if received data cannot be stored, an alarm occurs. If the transmission itself is normal, reception is continued and an alarm is displayed after the transmission is terminated. If an error occurs during reception, the job data will not be stored.

  • Page 50: Variable Transmission

    3.7 Transmission Procedure 3.7.2 Variable Transmission The variable transmission is performed in the same way as for the data as shown below. " Saving Procedure ACK0 SOH 03,001 STX Data ACK1 ACK0 SOH 90,000 STX Data ACK1 " Loading Procedure ACK0 SOH 03,051 STX ACK1...
  • Page 51 3.7 Transmission Procedure Byte type global variable : (0 to 255) Integer type global variable : ± +++ (-32768 to +32767) Double precision type glo- ± ++++++++++ (-2147483648 to 2137383647) bal variable : Real number type global 7 significant digits (-1.70141E+38 to +1.70141E+38) variable : Position type (robot axis)

  • Page 52: Axis Data Transmission Format

    3.8 Axis Data Transmission Format Axis Data Transmission Format The NX100 data transmission function has the following restrictions on transmission of the NX100 internal data. The robot axes are fixed to a 6-axis set. A base axis and a station axis are recognized as an external axis. Up to three base axes are available.

  • Page 53: Alarm Codes

    3.9 Alarm Codes Alarm Codes Code Message Data WRONG EXECUTION OF Refer to the 4104 LOAD INST table below. WRONG EXECUTION OF 4105 SAVE INST WRONG EXECUTION OF 4106 DELETE INST Data Contents Insufficient memory capacity Job editing prohibited Attempted to load or delete a job being executed. No specified job Position data destroyed Position variable not registered...
  • Page 54 3.9 Alarm Codes Data Contents Data range exceeded Destroyed file exists No serial port setting This serial port already used. This protocol already used. File accessing in other function System block error (Receiving EOT while waiting ACK) System block error (Receiving EOT at starting receiving) System block error (Receiving EOT before receiving the last block) System block error (Receiving codes other than EOT before receiving the last block) Sending error (Retry for NAK exceeded)

  • Page 55: Outline

    4.1 Outline 4 Stand-alone Function Outline In stand-alone mode, the file data transmission function is available. By the operations on the NX100 programming pendant, file data can be sent from the NX100 to a host computer such as personal computer to be saved, and from a host computer to the NX100 memory to be loaded.

  • Page 56: Operation Flow

    4.2 Operation Flow Operation Flow Transmission of file data is performed in the following manner. <Top menu> {EXT MEM} Sub menu {LOAD} {SAVE} {VERIFY} {DEVICE} Select a Select a data group device Select a data Press "EXECUTE"...

  • Page 57: Selecting External Memory Unit

    4.3 Operation Operation 4.3.1 Selecting External Memory Unit Operation Explanation Select {FD/PC CARD} under the main menu. Select {DEVICE}. The device selection display is shown. EDIT UTILITY DATA DISPLAY FLOPPY DISK/CompactFlash CompactFlash DEVICE Main Menu ShortCut Select “DEVICE”. The selection dialog is shown. DATA EDIT DISPLAY...

  • Page 58: Save

    4.3 Operation 4.3.2 Save The operation to transmit data from the NX100 to the external memory unit is explained in the following. " Saving Job Operation Explanation Select {FD/PC CARD} under the main menu. Select {SAVE}. The external memory menu display is shown. DATA EDIT DISPLAY...
  • Page 59 4.3 Operation Operation Explanation Press [ENTER]. The confirmation dialog is shown. DATA EDIT DISPLAY UTILITY FLOPPY DISK/CompactFlash PC (SAVE) SINGLE TEST001 TEST002 TEST003 TEST004 TEST005 TEST006 TEST007 Save? PAGE Main Menu ShortCut Select “YES”. The job starts to be saved, and the transmission display is shown. DATA EDIT DISPLAY...

  • Page 60: Saving File

    4.3 Operation Saving File " Operation Explanation Select {FD/PC CARD} under the main menu. Select {SAVE}. The external memory menu display is shown. DATA EDIT DISPLAY UTILITY FLOPPY DISK/CompactFlash PC (SAVE) FILE/GENERAL DATA SYSTEM INFORMATION Main Menu ShortCut Select the file group to be The file selection display is shown.
  • Page 61 4.3 Operation Operation Explanation Press [ENTER]. The confirmation dialog is shown. DISPLAY DATA EDIT UTILITY FLOPPY DISK/CompactFlash PC (SAVE) TOOL DATA TOOL .CND WEAVING DATA WEAV .CND USER COORDINATE DATA UFRAME .CND VARIABLE DATA .DAT Save? ARC START COND DATA ARCSRT .CND ARC END COND DATA...

  • Page 62: Load

    4.3 Operation 4.3.3 Load The operation to transmit data from the external memory unit to the NX100 is explained in the following. " Loading Job Operation Explanation Select {FD/PC CARD} under the main menu. Select {LOAD}. The external memory menu display is shown. DATA EDIT DISPLAY...

  • Page 63: Loading File

    4.3 Operation Loading File " Operation Explanation Select {FD/PC CARD} under the main menu. Select {LOAD}. The external memory menu display is shown. DATA EDIT DISPLAY UTILITY FLOPPY DISK/CompactFlash PC (LOAD) FILE/GENERAL DATA SYSTEM INFORMATION Main Menu ShortCut Select the file group to be The file selection display is shown.

  • Page 64: Job Selection Mode

    4.3 Operation Operation Explanation Press [ENTER]. The confirmation dialog is shown. DATA EDIT DISPLAY UTILITY FLOPPY DISK/CompactFlash PC (LOAD) TOOL DATA TOOL .CND WEAVING DATA WEAV .CND USER COORDINATE DATA UFRAME .CND VARIABLE DATA .DAT ARC START COND DATA ARCSRT .CND Save? ARC END COND DATA...

  • Page 65: Switching Selection Mode

    4.3 Operation For related selection mode For single selection mode EDIT DISPLAY UTILITY EDIT DISPLAY UTILITY JOB CONTENT JOB CONTENT JOB NAME JOB-1 STEP NO. 000 JOB NAME TEST STEP NO. 000 CONTROL GROUP R1 TOOL 00 CONTROL GROUP R1 TOOL 00 0006 CALL JOB:JOB-11...

  • Page 66: Selecting Job And Data File

    4.4 Transmission Procedure 4.3.5 Selecting Job and Data File There are two ways to select a job and various data files to be loaded, saved, verified, or deleted. " EACH Selection Selects job and data file one by one. " BATCH Selection Selects all the jobs and data files at once.

  • Page 67: Host Control Function

    5.1 File Data Transmission Function 5 Host Control Function The NX100 supports the host control function which carries out the following file data transfer or robot control according to the commands given by the host computer. • File data transfer function •...

  • Page 68: Save

    5.1 File Data Transmission Function The data type is distinguished by the header number and the subcode number. Refer to the header number list. ACK0 SOH 02, 001 STX File name ACK1 Data ACK0 Data ACK0 SOH 90, 000 STX Data ETX ACK1 Loading File Data (Host Control Function)

  • Page 69: Data Management

    5.1 File Data Transmission Function ACK0 SOH 02, 051 STX File name ACK1 ACK0 SOH 02, 001 STX File name ACK1 Data Data Saving File Data (Host Control Function) ACK0 or ACK1 File name : CR (File name does not include extension) 5.1.2 Data Management The jobs for the NX100 may refer to another job or condition data according to instructions.

  • Page 70: Robot Control Function

    5.2 Robot Control Function Robot Control Function To control manipulators by a host computer, the host control function can executes the com- mands listed in the outline. 5.2.1 Command Transmission The command transmission proceeds as follows. 1. The ENQ code is sent from the host computer to establish a data link. 2.

  • Page 71: List Of Interlock For Commands Of Host Control Function

    5.2 Robot Control Function ACK0 SOH 01,000 STX DELETE WORK-A ACK1 ACK0 SOH 90,000 STX 000 ACK1 Sending Command from Host Computer 5.2.2 List of Interlock for Commands of Host Control Function The executability of each command differs depending on the status of the NX100 as shown in the following table.
  • Page 72 5.2 Robot Control Function Only Read Read/Write Enabled Enabled Non-alarm/Non-error Command Name Non- Teach Mode Play Mode Alarm/ alarm/ Alarm/ Error Non- Error error Operat- Operat- Stop Stop HOLD RESET CANCE MODE ./A* CYCLE ./A* Operation SVON 0 (OFF) SVON 1 (ON) HLOCK MDSP CGROUP...

  • Page 73: Command That Handle Axis Data

    5.2 Robot Control Function <Interpreter message> . : Possible to execute A : Alarm/error occurring 2060 M : Incorrect mode 2080 H : Hold 2020 to 2050 MOVE : Manipulator moving 2010 C : No command remote setting 2100 “.” if not being held ; “H” if being held “MOVE”...

  • Page 74: Status Read Function

    5.2 Robot Control Function 5.2.5 Status Read Function The details of each command are described. " Read/Monitor Command RALARM Reads the error alarm code. Although the NX100 has the subcode to error code, it cannot read by RALARM because the command has no argument of the subcode. Command format : RALARM Response format : Data-1, Data-2, )))), Data-10 or Error code Data-1...
  • Page 75 5.2 Robot Control Function <Example> Command RPOSJ Response 500, 2600, 1250, 10789, 624, 36, 0, 0, 0, 0, 0, 0 RPOSC Reads the current position in a specified coordinate system. Whether there is an external axis or not can be specified. Command format : RPOSC Data-1, Data-2 Data-1 = Specification of coordinate system 0 : Base coordinate...
  • Page 76 5.2 Robot Control Function D4 D3 D2 D1 D0 0 : Flip 1 : No flip 0 : Upper arm 1 : Lower arm 0 : Front 1 : Back 0 : R<180 1 : R>=180 0 : T<180 1 : T>=180 0 : S<180 1 : S>=180 <Example>...
  • Page 77 5.2 Robot Control Function RJSEQ Reads the current job name, line No. and step No. Command format : RJSEQ Response format : Data-1, Data-2, Data-3 or Error code Data-1 = Read job name (8 characters which can be processed in MS-DOS) Data-2 = Read line No.
  • Page 78 5.2 Robot Control Function <Status> <Response> Waiting timeup Not completed Stopped (including when the control power ON) Completed Stopped (hold) Interpreter message 2020 to 2050 Stopped (Elmer/error occurring) Interpreter message 2060 Stopped (servo OFF) Interpreter message 2070 <Example> Command JWAIT 10 Response 0000 RGROUP Reads the current control group set by CGROUP command or CTASK command, and the...

  • Page 79: Read/Data Access System Commands

    5.2 Robot Control Function Data-2 = Station control group information. The control group information differs depending on the number of manipulators in the system. S1: Station 1 S2: Station 2 S3: Station 3 S4: Station 4 S5: Station 5 S6: Station 6 S7: Station 7 S8: Station 8 S9: Station 9...
  • Page 80 5.2 Robot Control Function Response format : Name-1, Name-2, )))), Name-N or Error code Name-1 = Job name-1 (8 characters) Name-2 = Job name-2 (8 characters) Name-N = Job name-N (8 characters) <Example> Command RJDIR MASTER-1 Response WORK-A, WORK-B, SAMPLE-1 RUFRAME Reads a specified user coordinate data.
  • Page 81 5.2 Robot Control Function Data-23 = Number of 7th axis pulses (for travel axis, mm) Data-24 = Number of 8th axis pulses (for travel axis, mm) Data-25 = Number of 9th axis pulses (for travel axis, mm) Data-26 = Number of 10th axis pulses Data-27 = Number of 11th axis pulses Data-28 = Number of 12th axis pulses •...
  • Page 82 5.2 Robot Control Function Data-5 = Number of R-axis pulses / Number of base 4th axis pulses / Number of station 4th axis pulses Data-6 = Number of B-axis pulses / Number of base 5th axis pulses / Number of station 5th axis pulses Data-7 = Number of T-axis pulses / Number of base 6th axis pulses / Number of station 6th axis pulses...

  • Page 83: System Control Function

    5.2 Robot Control Function 5.2.6 System Control Function " Operation System Commands HOLD Turns HOLD ON/OFF Command format : HOLD [Data] Data = Specification of HOLD ON/OFF status (0 : OFF, 1 : ON) Response format : 0000 or Error code <Example>...
  • Page 84 5.2 Robot Control Function MODE Selects a mode. Command format : MODE Mode-No Mode-No.=1 or 2 1 : Teach mode 2 : Play mode Response format : 0000 or Error code <Example> Command MODE 2 Response 0000 This function can be used when the external mode switch is permitted on the OPERATING NOTE CONDITION window.
  • Page 85 5.2 Robot Control Function <Example> Command SVON 1 Response 0000 HLOCK Sets an interlock between the programming pendant and I/O operation signals. While the interlock is ON, all operations except the followings are prohibited. • Emergency stop from the programming pendant •...
  • Page 86 5.2 Robot Control Function Response 0000 DATA EDIT DISPLAY UTILITY REMOTE IO and Command mode CURR PREV DISP EXEC CANCEL Main Menu ShortCut CGROUP Changes an objective control group of various commands used in the host control function. The NX100 can support multiple number of manipulators and stations. In this case, CGROUP is used when any control group for commands such as RPOSC is to be changed.
  • Page 87 5.2 Robot Control Function S1: Station 1 S2: Station 2 S3: Station 3 S4: Station 4 S5: Station 5 S6: Station 6 S7: Station 7 S8: Station 8 S9: Station 9 S10: Station 10 S11: Station 11 S12: Station 12 Response format : 0000 or Error code <Example>...

  • Page 88: Start-Up System Commands

    5.2 Robot Control Function Response format : 0000 or Error code <Example> Command CTASK 1 Response 0000 Start-up System Commands " START Starts a job. If a job name is specified for an operand, the relation between the job and the master job is checked and the execution is started from the beginning of the job.
  • Page 89 5.2 Robot Control Function Data-12 = Number of 8th axis pulses (for travel axis, mm) Data-13 = Number of 9th axis pulses (for travel axis, mm) Data-14 = Number of 10th axis pulses Data-15 = Number of 11th axis pulses Data-16 = Number of 12th axis pulses •...
  • Page 90 5.2 Robot Control Function Response format : 0000 or Error code <Example> Command MOVL 0, 500.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 Response 0000 IMOV Moves a manipulator from the current position for a specified coordinate incremental value in linear motion.
  • Page 91 5.2 Robot Control Function PMOVJ Moves a manipulator to a specified pulse position in joint motion. Command format : PMOVJ Data-1, Data-2, )))), Data-14 Data-1 = Motion speed (0.01 to 100.0 %) Data-2 = Number of S-axis pulses Data-3 = Number of L-axis pulses Data-4 = Number of U-axis pulses Data-5 = Number of R-axis pulses Data-6 = Number of B-axis pulses...

  • Page 92: Editing System Commands

    5.2 Robot Control Function Data-14 = Number of 11th axis pulses Data-15 = Number of 12th axis pulses • In a system without external axis, Data-10 to Data-15 should be set to “0”. Response format : 0000 or Error code <Example>...
  • Page 93 5.2 Robot Control Function NOTE This function requires the relative job function of the NX100. CVTSJ (Optional) Converts a specified job to a standard job (pulse job) in a specified converting method. Command format : CVTSJ Data-1, Data-2, Data-3 Data-1 = Name of job to be converted Data-2 = Converting method specification 0 : Previous step regarded (B-axis sign same) 1 : Form regarded...
  • Page 94 5.2 Robot Control Function Data-4 = ORG Z coordinate value (unit : mm, significant 3 decimal points) Data-5 = ORG wrist angle TX (unit : degree (°), significant 2 decimal points) Data-6 = ORG wrist angle TY (unit : degree (°), significant 2 decimal points) Data-7 = ORG wrist angle TZ (uunit : degree (°), significant 2 decimal points) Data-8 = ORG type Data-9 = XX X coordinate value (unit : mm, significant 3 decimal points)
  • Page 95 5.2 Robot Control Function LOADV Receives variable data from a host computer and write it in a specified variable. Command format : LOADV Data-1, Data-2, )))), Data-12 Data-1 = Type of variables 0 : Byte type variables 1 : Integer type variables 2 : Double precision type variables 3 : Real number type variables 4 : Robot axis position type variables...

  • Page 96: Job Selection System Commands

    5.2 Robot Control Function Data-5 = X coordinate value / Base 1st axis Cartesian value (unit : mm, significant 3 decimal points) Data-6 = Y coordinate value / Base 2nd axis Cartesian value (unit : mm, significant 3 decimal points) Data-7 = Z coordinate value / Base 3rd axis Cartesian value (unit : mm, significant 3 decimal points) Data-8 = Wrist angle RX coordinate value (unit : degree (°), significant 2 decimal points)

  • Page 97: I/O Read/Write Function

    5.2 Robot Control Function JSEQ Sets a job name and a line No. Command format : JSEQ Data-1, Data-2 Data-1 = Job name to be set (8 characters which can be processed in MS-DOS) Data-2 = Line No. to be set (0 to 9999) Response format : 0000 or Error code <Example>...

  • Page 98: Transmission Procedure

    5.2 Robot Control Function Transmission Procedure " The transmission from the host computer proceeds as follows. The ENQ code is sent from the host computer to establish a data link. After the data link is established, the data is sent from the host computer. The data transmission should be completed in a single block.

  • Page 99: Write-In Of I/O Signal Status

    5.2 Robot Control Function DATA-2 Response format (at normal completion) : Data-1, Data-2, )))), Data-256 Data-1 = First 8 points of data Data-2 = Second 8 points of data Data-256 = Last (up to 256th) 8 points of data Response format (at abnormal completion) : SOH 90,000 STX Error code CR ETX BCC Error code Number with 4 digits other than 0000 Number smaller than 1000, 0 is added before the number.
  • Page 100 5.2 Robot Control Function DATA-4 Response format (at normal completion) : 0000 Response format (at abnormal completion) : Number with 4 digits other than 0000 Number smaller than 1000, 0 is added before the number. <Example> When status of 3 points is changed from 22010 Command 22010, 3, 4, 3, 12 Response 0000...

  • Page 101: Commands For Multi-Control Group And Independent Control Functions

    5.3 Commands for Multi-control Group and Independent Control Functions Commands for Multi-control Group and Independent Control Functions 5.3.1 Commands for Multi-control Group The NX100 can control more than one manipulator or station simultaneously. The following commands are available for this multi-control function. •...

  • Page 102: Commands For Independent Control Function

    5.3 Commands for Multi-control Group and Independent Control Functions 5.3.2 Commands for Independent Control Function The NX100 supports the independent control function which can execute more than one job simultaneously. For this independent function, the following commands are available. • CTASK : Changing the tasks •...

  • Page 103: Alarm Codes

    5.4 Alarm Codes Alarm Codes Code Contents Remarks Data sending error The EOT code is sent out and 1 : NAK retry over the data link is canceled. 4112 2 : Timer A timeup retry over 3 : Alternating response error retry over Data receiving error For 3 to 7, the EOT code is 1 : Receiving timeup (Timer A)

  • Page 104: Interpreter Message List

    5.5 Interpreter Message List Interpreter Message List The interpreter messages are classified into the following categories. • 1xxx : Command text general error • 2xxx : Command execution mode error • 3xxx : Command execution error • 4xxx : Job registration error •...
  • Page 105 5.5 Interpreter Message List Interpreter Message List Code Contents Perform home positioning. 3040 Confirm positions. 3050 Current value not made 3070 Panel lock ; mode/cycle prohibit signal is ON. 3220 Panel lock ; start prohibit signal is ON. 3230 User coordinate not taught 3350 User file destroyed 3360...
  • Page 106 5.5 Interpreter Message List Interpreter Message List Code Contents END instruction for job which is not master job 4150 Instruction data destroyed 4170 Invalid character in job name 4190 Invalid character in label name 4200 Invalid instruction in this system 4230 No step in job to be converted 4420...
  • Page 107 6.1 Header Number List 6 Data List Header Number List Contents File Name Command from a external computer Single job data xxxxxxxx. JBI Related job data xxxxxxxx. JBR Request for single job data xxxxxxxx. JBI Request for related job data xxxxxxxx.
  • Page 108 6.1 Header Number List Contents File Name Spot welder condition data SWELDER.DAT Clearance setting data CLEARNCE.DAT System information SYSTEM. SYS Alarm history data ALMHIST. DAT Request for tool data TOOL.CND Request for weaving condition data WEAV.CND Request for user coordinate data UFRAME.CND Request for welding start condition data ARCSRT.CND...
  • Page 109 6.1 Header Number List Contents File Name Double precision type variable Real number type variable Robot axis position type variable (pulse type) Robot axis position type variable (XYZ type) External axis position type variable (pulse type) External axis position type variable (XYZ type) Request for byte type variable Request for integer type variable Request for double precision type variable...

  • Page 110: Parameter List

    6.2 Parameter List Parameter List Parameter for Transmission Initial Parameter Contents and Set Value Value S2C110 Programming pendant operation (in remote) specification 0 : Invalid 1 : Valid D4 D3 D2 D1 D0 Programming pendant servo ON ([SERVO ON READY] key) Programming pendant servo ON (Enable Switch) Mode change...
  • Page 111 6.2 Parameter List Parameter for Transmission (for BSC protocol) Initial Parameter Contents and Set Value Value RS032 Parity specification 0 : No specification 1 : Odd parity 2 : Even parity RS033 Transmission speed specification 1 : 150 (baud rate) 2 : 300 3 : 600 4 : 1200...
  • Page 112 7 Comparison of Data Transmission Functions Comparison of Functions Related to Controller Basic Functionality Function NX100 / XRC Multipart Function Not supported Supported Setup Two ports are available for FC1 and data trans- mission • Serial processing is possible but parallel pro- cessing impossible •...
  • Page 113 Comparison of Functions Related to Data Transmission (Host Control) Function NX100 / XRC RPOSJ Supported Supported RSTATS Supported Supported RJSEQ Supported Supported RJDIR Supported Supported RPOSC Supported Supported JWAIT Supported Supported RUFRAME Supported Supported START Supported Supported HOLD Supported Supported RESET Supported Supported...
  • Page 114 Comparison of Functions Related to Data Transmission (Host Control) Function NX100 / XRC CVTSJ Supported Supported SAVEV Supported Supported LOADV Supported Supported...
  • Page 115 8 Remote Function Setting Whether I/O remote control or command remote control should be enabled can be set in the pseudo input display when selecting the remote mode in the management mode. Operation Explanation Select {IN/OUT} under the main menu. Select {PSEUDO INPUT SIG}.
  • Page 116 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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