YASKAWA NX100 Instructions Manual
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YASKAWA NX100 Instructions Manual

For independent / coordinated control function
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See also: Operator's Manual , Instruction Manual
NX100 OPTIONS
INSTRUCTIONS
FOR INDEPENDENT/COORDINATED CONTROL 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.
Be sure to use the appropriate manual.
Part Number:
149648-1CD
Revision:
4
MANUAL NO. RE-CKI-A443
4
1/210

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Summary of Contents for YASKAWA NX100

  • Page 1 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. Part Number: 149648-1CD Revision: MANUAL NO. RE-CKI-A443 1/210...
  • Page 2 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 3 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 4 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 5 -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 6 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 7: Table Of Contents

    Independent/Coordinated Control Function 1.1 Coordinated Control ....... .1-1 1.2 Independent Control .
  • Page 8  Calibration Tool Setting ......3-8  Teaching Position for Calibration ..... 3-9 ...
  • Page 9 4.9 Selecting Axis to be Handled ..... .4-17 4.9.1 When There is an Edit Job ......4-17 4.9.2 When There is No Edit Job .
  • Page 10 Triple Synchronous System 5.1 Outline ..........5-1 5.2 Function Keys .
  • Page 11 5.16.1 Procedure ........5-34 5.16.2 Teaching using Master Task .
  • Page 12 7.7.1 FWD/BWD Operation and Test Run ....7-18  Confirming the Operation of the Task being Displayed . . . 7-18 ...
  • Page 13 Robot Language (INFORM II) Instructions 9.1 Coordinated Motion Instructions ....9-1 9.2 Independent Control Instructions ....9-5 CONVSFT Instruction ( Coordinate System Conversion Instruction of the Shift Value) 10.1 Outline...

  • Page 14: Coordinated Control

    1.1 Coordinated Control 1 Independent/Coordinated Control Function With the NX100, a system can be configured to control multiple manipulators or stations simultaneously with a single controller. With the independent / coordinated control function, manipulators and/or stations can be oper- ated together or individually. Operation can be optimized for the jobs.

  • Page 15: Independent Control

    1.2 Independent Control Independent Control With this function, manipulators and/or stations execute jobs independently without synchroni- zation. <Example> While executing a work job at one station, the other station executes a job to return to the home position for the next job. (Work job) (Home position return job) ...

  • Page 16: Outline

    2.1 Outline 2 Coordinated Positioner System Outline The coordinated positioner system is a system which coordinates a job where a positioner (hereinafter called “station”) holds a workpiece while a manipulator holds a tool. Manipulator Station In order to operate a station and a manipulator simultaneously, a coordinated job is needed. In the coordinated job, there are two operations: a coordinated interpolation where a station and a manipulator perform a reciprocal movement as master and slave, and an individual interpolation where a station and a manipulator move individually.

  • Page 17: Function Keys

    2.2 Function Keys Function Keys The function keys for the coordinated positioner system are assigned to the Numeric keys as shown in the figures below. 2.2.1 Arc Welding Application REMOTE TEACH START HOLD PLAY SYNCRO ARCON FEED SINGLE SMOV RETRACT ARCOFF TIMER CUR/VOL...
  • Page 18 2.2 Function Keys Registers a welding start instruction “ARCON.” ARCON Registers a welding end instruction “ARCOF.” ARCOFF (These keys are for future use and disabled in the current version.) Used for the gas flow control. Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20 INTER seconds, and then the valve automatically closes.

  • Page 19: General Application

    2.2 Function Keys 2.2.2 General Application REMOTE TEACH START HOLD PLAY SYNCRO SINGLE SMOV TOOLON TOOLON TOOLOF TOOLOF Registers the TOOLON instruction. If [INTERLOCK] is pressed simultaneously, the TOOLON operation is exe- cuted. TOOLON Registers the TOOLOF instruction. If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is exe- cuted.
  • Page 20 2.2 Function Keys Changes the type of movement for the manipulator when teaching a coordi- nated job. Each time this key is pressed, the movement type changes. SYNCRO: The mark for “synchronized” appears in the status display area. When the master side is moved, the slave side will follow the SYNCRO SINGLE movement of the master.

  • Page 21: Example Of Job Teaching

    2.3 Example of Job Teaching Example of Job Teaching Stand-by Step Instruction MOVJ VJ=50.00 +MOVJ Starting SMOVL V=200 +MOVJ SWVON WEV#(1) ARCON ASF#(1) SMOVL V=200 +MOVJ Ending SMOVL V=200 +MOVJ SMOVL V=200 +MOVJ ARCOF AEF#(1) SWVOF Separate from the workpiece MOVJ VJ=50.00 +MOVJ MOVJ VJ=50.00...

  • Page 22: System Setup

    2.4 System Setup System Setup 2.4.1 Registering Group Combination Register a combination of a station and a manipulator. Operation Explanation Select {SETUP} under the main menu. Select {GRP COMBINATION}. The GROUP COMBINATION window appears. DATA EDIT DISPLAY UTILITY GROUP COMBINATION GROUP AXIS MASTER Main Menu...
  • Page 23 2.4 System Setup Operation Explanation Select “ADD GROUP.” The GROUP COMBI SET window appears. DATA EDIT DISPLAY UTILITY GROUP COMBI SET NO.1 CONTROL GROUP NO.2 CONTROL GROUP MASTER EXECUTE CANCEL Main Menu Short Cut Press [SELECT]. The selection dialog box appears. DATA EDIT DISPLAY...
  • Page 24 2.4 System Setup Operation Explanation Select “EXECUTE.” The GROUP COMBINATION window reappears. EDIT UTILITY DATA DISPLAY GROUP COMBINATION GROUP AXIS MASTER R1+R2 Short Cut Main Menu 24/210...

  • Page 25: Calibration Between Manipulator And Station

    2.4 System Setup 2.4.2 Calibration between Manipulator and Station For a coordinated motion between a manipulator and a station, prior registration of the set- tings for mutual positioning is required. This relationship is set by calibration between the manipulator and the station. Calibration Tool Setting ...

  • Page 26: Teaching Positions For Calibration

    2.4 System Setup Teaching Positions for Calibration  For a station with one rotating axis 1. Determine an arbitrary point (point P) on the turntable of the station axis. Point P should be as far as possible from the turntable rotation center. Align the TCP of the manipulator with point P, and register it as C1.
  • Page 27 2.4 System Setup For a station with two rotating axes 1. Determine an arbitrary point (point P) on the turntable. Point P should be as far as possible from the rotation center of the turntable. With the 1st station axis parallel to the ground, align the TCP of the manipulator to point P, and register it as C1.
  • Page 28 2.4 System Setup 5. Turn the 1st station axis again for about 30. Align the TCP of the manipulator to point P, and register it as C5. Turn • To minimize teaching error, attach a tool with a pointed end tool on the station axis as NOTE shown in the figure above, and use this pointed end as an arbitrary point (point P) when teaching.

  • Page 29: Calibration

    2.4 System Setup Calibration  Operation Explanation Select {ROBOT} under the main menu. Select {ROBOT CALIB}. The ROBOT CALIBRATION list window appears. DATA EDIT DISPLAY UTILITY ROBOT CALIBRATION ROBOT Main Menu Short Cut Select a robot calibration No. The ROBOT CALIBRATION window for teaching appears. EDIT UTILITY DATA...
  • Page 30 2.4 System Setup Operation Explanation Select a group axis combina- The teaching positions are displayed. tion for calibration. EDIT UTILITY DATA DISPLAY ROBOT CALIBRATION NO. :01 ROBOT R1+S1 POSITION R1:S TOOL:00 <STATUS> COMPLETE CANCEL PAGE Short Cut Main Menu Select “POSITION.” The selection dialog box appears.
  • Page 31 2.4 System Setup Operation Explanation Select “COMPLETE.” The robots are calibrated. When the calibration is completed, the ROBOT CALIBRATION list window reappears. UTILITY DATA EDIT DISPLAY ROBOT CALIBRATION ROBOT Main Menu Short Cut 2-16 31/210...

  • Page 32: Job Content Window

    2.5 JOB CONTENT Window JOB CONTENT Window An example of the contents of a coordinated job is shown below.  Synchronized/Single  Group axis being handled EDIT DISPLAY UTILITY JOB CONTENT JOB NAME: TEST STEP NO.: 002 CONTROL GROUP: R1+S1:S1 TOOL: 00 0001 SMOVL V=138...

  • Page 33: Synchronized/Single

    2.6 Synchronized/Single Synchronized/Single There are two ways to handle axes when teaching: “Synchronized” and “Single.” Switch between movements by pressing [SYNCRO/SINGLE]. UTILITY UTILITY When "Single" is selected, nothing appears here. 2.6.1 Synchronized If the axes are handled in the “Synchronized” mode, the slave (manipulator) follows the mas- ter (station) when the master moves.

  • Page 34: Single

    2.6 Synchronized/Single 2.6.2 Single If an axis is handled in “Single” mode, the manipulator or the station whose axis has been handled, moves. This feature is used where a manipulator and a station each execute an individual job. • A slave axis is moved: •...

  • Page 35: Selecting Axis To Be Handled

    2.7 Selecting Axis to be Handled Selecting Axis to be Handled In a coordinated system with multiple numbers of group axes, select a group axis to be han- dled in the following manner. 2.7.1 When There is an Edit Job When the edit job is displayed, the group axes registered in the displayed job is the one to be handled.

  • Page 36: Registering Job

    Select “JOB NAME,” and then enter a job name by entering the characters. Refer to “1.2.7 Character Input” of the Operator’s Manual. Press [ENTER]. Select “GROUP SET.” Select a group combination. Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB CONTENT window appears. 2-21 36/210...

  • Page 37: Registering Move Instruction (S)Mov+Movj

    2.9 Registering Move Instruction (S)MOV+MOVJ Registering Move Instruction (S)MOV+MOVJ Register a move instruction in the following manner. 2.9.1 Operating Master Side (Station) Operation Explanation Call the JOB CONTENT win- dow in teach mode. Press [EX. AXIS]. The master side (station) is selected for axis handling. UTILITY Select either “synchronized”...

  • Page 38: Operating Slave Side (Manipulator)

    2.9 Registering Move Instruction (S)MOV+MOVJ 2.9.2 Operating Slave Side (Manipulator) Operation Explanation Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling. TILITY Press the axis key to move to the desired position. Select either a coordinated Press [SMOV] to select either interpolation. interpolation or an indepen- dent interpolation.
  • Page 39 2.10 Registering Reference Point Instruction (SREFP) 2.10 Registering Reference Point Instruction (SREFP) Register a reference point instruction (SPEFP) for a coordinated interpolation in the following manner. Operation Explanation Select {JOB} under the main menu. Select {JOB}. Move the cursor. Move the cursor to the line immediately before the line where the reference point instruction is to be registered.

  • Page 40: Outline

    Coordinated operation To NX100 Individual operation A move instruction in coordinated jobs displays two lines. The first line is for the slave side (torch);...

  • Page 41: Specific Keys

    3.2 Specific Keys Specific Keys The specific keys for the jigless system are allocated to the number keys as shown in the fig- ure below. Registers a timer instruction “TIMER” in a job. TIMER Registers a reference point “REFP” in a job, or modifies the registered ref- erence point.
  • Page 42 3.2 Specific Keys Registers a welding end instruction “ARCOF” in a job. ARCOFF (These keys are for future use and disabled in the current version.) Used for the gas flow control. Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20 INTER seconds, and then the valve automatically closes.

  • Page 43: Opening And Closing Handling Tool

    3.3 Opening and Closing Handling Tool Opening and Closing Handling Tool This section explains how to open and close a handling tool by teaching. It is unrelated to the content of the job being taught. To close and open a handling tool by pressing the specific keys, the general output signals #17 to 20 are used.

  • Page 44: Example Of Teaching Job

    3.4 Example of Teaching Job Example of Teaching Job Stand-by Step Instruction MOVJ VJ=50.00 +MOVJ Starting SMOVL V=200 +MOVL SWVON WEV#(1) ARCON ASF#(1) SMOVL V=200 During an operation +MOVL SMOVL V=200 +MOVL ARCOF AEF#(1) SWVOF Ending MOVJ VJ=50.00 +MOVJ MOVJ VJ=50.00 +MOVJ Separate from the workpiece The torch moves to the cleaner.

  • Page 45: System Setup

    3.5 System Setup System Setup 3.5.1 Registering Group Combination Register a combination of two manipulators. Operation Explanation Select {SETUP} under the main menu. Select {GRP COMBINATION}. The GROUP COMBINATION window appears. DATA EDIT DISPLAY UTILITY GROUP COMBINATION GROUP AXIS MASTER Main Menu Short Cut Press [SELECT].
  • Page 46 3.5 System Setup Operation Explanation Press [SELECT]. The selection dialog box appears. DATA EDIT DISPLAY UTILITY GROUP COMBI SET NO.1 CONTROL GROUP R1: ROBOT1 NO.2 CONTROL GROUP R2: ROBOT2 MASTER EXECUTE CANCEL Main Menu Short Cut Select a group axis to be set. Set R2: ROBOT2 as “MASTER.”...

  • Page 47: Calibration Between Manipulators

    3.5 System Setup 3.5.2 Calibration between Manipulators For a coordinated operation between manipulators, prior registration of the settings for mutual positioning is required. This relationship is set by calibration between manipulators. Calibration Tool Setting  Operation Explanation Mount a tool for calibration on Use a tool whose exact dimensions are known.

  • Page 48: Teaching Position For Calibration

    3.5 System Setup Teaching Position for Calibration  Calibrate the control point for two manipulators at three arbitrary points (C1 to C3) in the space between the manipulators. 1. Move a manipulator to an arbitrary position. Align the tool center point of the other manipulator or to the tool center point of the first manipulator by handling the axis.

  • Page 49: Calibration

    3.5 System Setup Calibration  Operation Explanation Select {ROBOT} under the main menu. Select {ROBOT CALIB}. The ROBOT CALIBRATION list window appears. DATA EDIT DISPLAY UTILITY ROBOT CALIBRATION ROBOT Main Menu Short Cut Select a robot calibration No. The ROBOT CALIBRATION window for teaching appears. DATA EDIT DISPLAY...
  • Page 50 3.5 System Setup Operation Explanation Select a group axis combina- The teaching positions are displayed. tion for calibration. EDIT UTILITY DATA DISPLAY ROBOT CALIBRATION NO. :01 ROBOT R1+R2 POSITION R1:S TOOL:00 <STATUS> COMPLETE CANCEL PAGE Short Cut Main Menu Select “POSITION.” The selection dialog box appears.
  • Page 51 3.5 System Setup Operation Explanation Select “COMPLETE.” The robots are calibrated. When the calibration is completed, the ROBOT CALIBRATION list window reappears. UTILITY DATA EDIT DISPLAY ROBOT CALIBRATION ROBOT R1+R2 Main Menu Short Cut 3-12 51/210...

  • Page 52: Job Content Display

    3.6 Job Content Display Job Content Display The contents of a coordinated job are displayed as shown below.  Synchronized/Single  Group axis being handled EDIT DISPLAY UTILITY JOB CONTENT JOB NAME: TEST STEP NO.: 001 CONTROL GROUP: R1+R2:R1 TOOL: 00+01 0000 ...

  • Page 53: Synchronized/Single

    3.7 Synchronized/Single Synchronized/Single There are two ways to handle axes when teaching: “Synchronized” and “Single”. Switch between movements by pressing [SYNCRO/SINGLE]. UTILITY UTILITY When "Single" is selected, nothing appears here. 3.7.1 Synchronized If the axes are handled in the “Synchronized” mode, the slave (torch) follows the master (workpiece) when the master moves.

  • Page 54: Single

    3.7 Synchronized/Single 3.7.2 Single If an axis is handled in “Single” mode, only the manipulator whose axis is being handled moves. This feature is used where each of the two manipulators executes an individual job. Only the manipulator whose axis is handled moves. •...

  • Page 55: Selecting Axis To Be Handled

    3.8 Selecting Axis to be Handled Selecting Axis to be Handled This section explains the methods to select a manipulator to be handled in teach mode. 3.8.1 When There is an Edit Job Each time [ROBOT] is pressed, a manipulator to be handled changes. UTILITY UTILITY 3.8.2...

  • Page 56: Registering Job

    Select “JOB NAME,” and then enter a job name by entering the characters. Refer to “1.2.7 Character Input” of the Operator’s Manual. Press [ENTER]. Select “GROUP SET.” Select a group combination. Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB CONTENT window appears. 3-17 56/210...

  • Page 57: Registering Move Instruction (S)Mov+Mov

    3.10 Registering Move Instruction (S)MOV+MOV 3.10 Registering Move Instruction (S)MOV+MOV Register a move instruction in the following manner. 3.10.1 Operating Master Side (Workpiece) Operation Explanation Call the JOB CONTENT win- dow in teach mode. Press [EX. AXIS]. The master side (station) is selected for axis handling. UTILITY Select either “synchronized”...

  • Page 58: Operating Slave Side (Torch)

    3.10 Registering Move Instruction (S)MOV+MOV 3.10.2 Operating Slave Side (Torch) Operation Explanation Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling. UTILITY Press the axis key to move to the desired position. Select either a coordinated Press [SMOV] to select either interpolation. interpolation or an indepen- dent interpolation.
  • Page 59 3.11 Registering Reference Point Instruction (SREFP) 3.11 Registering Reference Point Instruction (SREFP) Register a reference point instruction (SPEFP) for a coordinated operation in the following manner. Operation Explanation Select {JOB} under the main menu. Select {JOB}. Move the cursor. Move the cursor to the line immediately before the line where the reference point instruction is to be registered.

  • Page 60: Registering Handling Instructions

    3.12 Registering Handling Instructions 3.12 Registering Handling Instructions To register handling instructions, the specific keys [TOOL1 ON], [TOOL1 OFF], [TOOL2 ON], and [TOOL2 OFF] are used. When these keys are pressed, the instructions shown in the fol- lowing table are registered. The general output signals #17 to 20 and the general input sig- nals #17 to 20 are used for handling.

  • Page 61: Other Convenient Features

    3.13 Other Convenient Features 3.13 Other Convenient Features In a jigless system, the control point of slave side manipulator can be set as a reference point so that the master side manipulator can be moved. Manipulator R2 Manipulator R1 (Slave side) (Master side) X-axis Tool center...

  • Page 62: Operation Method

    3.13 Other Convenient Features 3.13.2 Operation Method Operation Explanation Select the tool coordinate sys- Press [COORD] and select a tool coordinate system. tem. Press [SHIFT] + [COORD]. The switch to tool coordination display is shown. DATA EDIT DISPLAY UTILITY SWITCH TO TOOL COORD ROBOT: R1 CONTROL POINT: R1 TOOL 00...

  • Page 63: Manipulator Movement

    3.13 Other Convenient Features 3.13.3 Manipulator Movement The operation by the axis keys is the same as that on normal tool coordinate system. Axis Axis Key Movement Name Basic Moves in parallel to X, Y, and Z-axis of tool coordinates axes of the selected manipulator.

  • Page 64: Wrist Axes

    3.13 Other Convenient Features Wrist axes  Executing a TCP fixed operation by wrist axes, can change only the wrist orientation without changing its position, with the tool center point of the slave side manipulator as a reference point. Slave side tool center point TCP fixed operation Synchronized/Single ...

  • Page 65: Outline

    4.1 Outline 4 Twin Synchronous System Outline The twin synchronous system is a system where two manipulators operate in coordination for one station. Master task such as calculation, I/O control Start Start Subtask 1 Subtask 2 R1+S1 R2+S1 Station In this system, two coordinated jobs are done at the same time. •...
  • Page 66 4.1 Outline Method 1: Copy one subtask job to create another subtask job.   Teaching Mirror shift This method is useful when two movement paths are symmetrical. Use the mirror shift func- tion to convert a job path and copy it. The same teaching operation does not have to be repeated.

  • Page 67: Function Keys

    4.2 Function Keys Function Keys The function keys for the twin synchronous system are assigned to the Numeric keys as shown in the figures below. 4.2.1 Arc Welding Application SYNCRO ARCON FEED SINGLE SMOV RETRACT ARCOFF TIMER CUR/VOL REFP CUR/VOL Registers a timer instruction “TIMER”...
  • Page 68 4.2 Function Keys Registers a welding start instruction “ARCON.” ARCON Registers a welding end instruction “ARCOF.” ARCOFF (These keys are for future use and disabled in the current version.) Used for the gas flow control. Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20 INTER seconds, and then the valve automatically closes.

  • Page 69: General Application

    4.2 Function Keys 4.2.2 General Application SYNCRO SINGLE SMOV TOOLON TOOLON TOOLOF TOOLOF Registers the TOOLON instruction. If [INTERLOCK] is pressed simultaneously, the TOOLON operation is exe- cuted. TOOLON Registers the TOOLOF instruction. If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is exe- cuted.

  • Page 70: Job Configuration

    4.3 Job Configuration Changes the type of movement for the manipulator when teaching a coordi- nated job. Each time this key is pressed, the movement type changes. SYNCRO: The mark for “synchronized” appears in the status display area. When the master side is moved, the slave side will follow the SYNCRO SINGLE movement of the master.

  • Page 71: Leader And Follower

    4.4 Leader and Follower Subtasks 1 and 2 are determined as leader or follower with a tag SYNC in PSTART instruc- tion. Jobs Master task Shows the connection among relative jobs. Starts Starts Subtask 1 Subtask 2 Leader and Follower Set either the subtask 1 or the subtask 2 as the follower.

  • Page 72: Synchronizing With Tsync

    4.5 Synchronizing with TSYNC Synchronizing with TSYNC During the execution of the jobs, a deviation between the movements of the two manipulators may occur. In the steps where the movements of the two manipulators should be exactly the same, execute a TSYNC instruction immediately before these steps. When a TSYNC instruction is executed in one of the robot jobs, the manipulator waits until the same synchronized signal, TSYNC, is executed in the other robot job.
  • Page 73 4.5 Synchronizing with TSYNC Operation Explanation (cont’d) <To change the numerical data> Move the cursor to the numerical data. Press [SHIFT] and the cursor key simultaneously to increment or decrement the number. TSYNC To enter a number by pressing the Numeric keys, press [SELECT] to display the input line.
  • Page 74 4.5 Synchronizing with TSYNC Operation Explanation (cont’d) To add the number of synchronized tasks, select “UNUSED” of “SYNCHRO NUM.” The selection dialog box appears. Select “SNUM=.” EDIT DISPLAY UTILITY DETAIL EDIT TSYNC SYNCHRO NO. SYNCHRO NUM SNUM= TSYNC 2 SNUM=2 Main Menu Short Cut After changed or added the additional items, press [ENTER].

  • Page 75: Job Example

    4.6 Job Example Job Example Master task (Concurrent job or robot job witout control groups) Jobs in subtasks 1 and 2 'RESET DOUT OG#(1) 0 DOUT OG#(2) 0 DOUT OG#(4) 0 DOUT OG#(8) 0 Home position return 'RETURN TO HOME 1 R1 HOME1 (R1+S1) PSTART JOB:R1 HOME 1 SUB1 (R1+S1)

  • Page 76: Job Content Window

    4.7 JOB CONTENT Window JOB CONTENT Window The contents of coordinated job are displayed as shown below.  Synchronized/Single  Group axis being handled EDIT DISPLAY UTILITY JOB CONTENT: MASTER JOB NAME: TEST STEP NO: 005 CONTROL GROUP: R1+S1:S1 TOOL: 00+ 0005 SMOVL V=138 ...

  • Page 77: Synchronized/Single

    4.8 Synchronized/Single Synchronized/Single 4.8.1 Synchronized/Single Movement Between Station and Manipulator There are two ways to handle axes when teaching: “Synchronized” and “Single.” Switch between movements by pressing [SYNCRO/SINGLE]. UTILITY UTILITY When "Single" is selected, nothing appears here. Synchronized  If the axes are handled in the “Synchronized” mode, the slave (manipulator) follows the mas- ter (station) when the master moves.

  • Page 78: Single

    4.8 Synchronized/Single Single  If an axis is handled in “Single” mode, the manipulator or the station whose axis has been handled, moves. This feature is used where a manipulator and a station each executes an individual job. • A slave axis is moved: Does not move Moves •...

  • Page 79: Job Synchronized Mode For Subtask 1 And 2

    4.8 Synchronized/Single 4.8.2 Job Synchronized Mode for Subtask 1 and 2 When moving only the leader manipulator in FWD/BWD operation, the follower manipulator in stop status may interfere with a workpiece. To prevent this, using “job synchronized mode” can move the follower synchronizing the motion of the leader. The follower manipulator moves, keeping the relative position to the station.
  • Page 80 4.8 Synchronized/Single Also in the TEACHING CONDITION window, the job synchronized mode can be set and con- firmed. Operation Explanation Select {SETUP} under the main menu. Select {TEACHING COND}. The TEACHING CONDITION window appears. DATA EDIT DISPLAY UTILITY TEACHING CONDITION RECT/CYLINDRICAL RECT LANGUAGE LEVEL...

  • Page 81: Selecting Axis To Be Handled

    4.9 Selecting Axis to be Handled Selecting Axis to be Handled In a coordinated system with multiple numbers of group axes, select a group axis to be han- dled in the following manner. 4.9.1 When There is an Edit Job When the edit job is displayed, the group axes registered in the displayed job is the one to be handled.

  • Page 82: Registering Job

    Select “JOB NAME,” and then enter a job name by entering the characters. Refer to “1.2.7 Character Input” of the Operator’s Manual. Press [ENTER]. Select “GROUP SET.” Select a group combination. Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB CONTENT window appears. 4-18 82/210...

  • Page 83: Registering Move Instruction (S)Mov+Movj

    4.11 Registering Move Instruction (S)MOV+MOVJ 4.11 Registering Move Instruction (S)MOV+MOVJ Register a move instruction in the following manner. 4.11.1 Operating Master Side (Station) Operation Explanation Call the JOB CONTENT window in teach mode. Press [EX. AXIS]. The master side (station) is selected for axis handling. TILITY Select either “synchronized”...

  • Page 84: Operating Slave Side (Manipulator)

    4.11 Registering Move Instruction (S)MOV+MOVJ 4.11.2 Operating Slave Side (Manipulator) Operation Explanation Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling. TILITY Press the axis key to move to the desired position. Select either a coordinated Press [SMOV] to select either interpolation. interpolation or an indepen- dent interpolation.
  • Page 85 4.12 Registering Reference Point Instruction (SREFP) 4.12 Registering Reference Point Instruction (SREFP) Register a reference point instruction (SPEFP) for a coordinated interpolation in the following manner. Operation Explanation Select {JOB} under the main menu. Select {JOB}. Move the cursor. Move the cursor to the line immediately before the line where the reference point instruction is to be registered.

  • Page 86: Switching Tasks

    4.13 Switching Tasks 4.13 Switching Tasks To call the JOB CONTENT window for master task, subtask 1 or subtask 2, proceed the fol- lowing operation. Operation Explanation Select {JOB} under the main menu. Select JOB}. Press the page key Each time the page key is pressed, the contents of the JOB GO BACK GO BACK...

  • Page 87: Creating A Job In A Subtask - Method 1 And 2

    4.14 Creating a Job in a Subtask - Method 1 and 2 4.14 Creating a Job in a Subtask - Method 1 and 2 Subtasks 1 and 2 are robot jobs. Subtask 1: Job of one manipulator + the station Subtask 2: Job of the other manipulator + the station There are two methods to create a robot job for a subtask.

  • Page 88: Method 1: Copy One Subtask Job And Create Another Job

    4.15 Method 1: Copy One Subtask Job and Create Another Job 4.15 Method 1: Copy One Subtask Job and Create Another Job 4.15.1 Procedure When two movement paths are symmetrical, one subtask job can be created by using the job taught by the other manipulator.

  • Page 89: Teaching And Mirror Shift

    4.15 Method 1: Copy One Subtask Job and Create Another Job 4.15.2 Teaching and Mirror Shift Teach the job for one manipulator + the station, and confirm the movement. After having completed the teaching, perform mirror shift the job. Teaching and confirming movements.
  • Page 90 4.15 Method 1: Copy One Subtask Job and Create Another Job Operation Explanation Set items as required. SOURCE JOB  Selects the conversion source job. To select another job to be converted, move the cursor to the name and press [SELECT] to call up the list of jobs.

  • Page 91: Jobs Not To Be Converted

    4.15 Method 1: Copy One Subtask Job and Create Another Job Operation Explanation (cont’d) USER COORD NO.  Specifies the user coordinates number when "USER" is selected in  . "01" is automatically set as initial value when the "USER" is selected in ...

  • Page 92: Correcting Positional Dislocation

    4.15 Method 1: Copy One Subtask Job and Create Another Job 4.15.3 Correcting Positional Dislocation In the job after mirror shift, a position may be dislocated due to the installation error. In this case, all steps should be corrected by the same shift amount. For this operation, the parallel shift job conversion function is used.

  • Page 93: Setting The Shift Value

    4.15 Method 1: Copy One Subtask Job and Create Another Job Operation Explanation (cont’d) DESTINATION JOB  Specifies the converted job. If this is not specified( “********” is displayed), the source job is specified. To change the job, per- form the following procedure. Move the cursor to the converted job name indication and press [SELECT].
  • Page 94 4.15 Method 1: Copy One Subtask Job and Create Another Job Operation Explanation Press [ENTER]. The shift value is set. DATA EDIT DISPLAY UTILITY PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB COORDINATES BASE POINT <SHIFT VALUE> R1:X 200.000 0.000 0.000 EXECUTE...
  • Page 95 4.15 Method 1: Copy One Subtask Job and Create Another Job Operation Explanation Press [MODIFY] and The original base point is set. [ENTER]. DATA EDIT DISPLAY UTILITY PARALLEL SHIFT JOB R1:X 230.000 R1:X 0.000 40.000 0.000 40.000 0.000 EXECUTE CANCEL Main Menu Short Cut Select “BASE POINT(DEST).”...

  • Page 96: Executing Conversion

    4.15 Method 1: Copy One Subtask Job and Create Another Job Executing Conversion  Operation Explanation Display the PARALLEL SHIFT JOB window. Select “EXECUTE.” The confirmation dialog box appears when the converted job is not specified. Select “YES” then the conversion is executed. The JOB CONTENT window appears when the conversion is com- pleted.

  • Page 97: Method 2: Perform Teaching For Each Manipulator

    4.16 Method 2: Perform Teaching for Each Manipulator 4.16 Method 2: Perform Teaching for Each Manipulator 4.16.1 Procedure First, perform teaching a job for the combination of leader manipulator and station. Next, perform teaching a job for the combination of follower manipulator and station. For this operation, perform teaching so that the follower manipulator follows the motion of station by FWD operation of the leader job.

  • Page 98: Teaching Using Master Task

    4.16 Method 2: Perform Teaching for Each Manipulator 4.16.2 Teaching using Master Task Using the master task can omit the operation to register a job name in the SUPERVISORY window. Leader Follower Call master task New job Follower Teaching and FWD registration teaching completed...

  • Page 99: Tool: 00+01

    4.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation Register PSTART instruction. Register a PSTART instruction to start the job newly registered at Operation 2. To specify this subtask as the follower, add a tag SYNC and the leader subtask. Then, register a PSTART instcution to start the job taught at Operation 1.

  • Page 100: Teaching Using Supervisory Window

    4.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation 15 Register the step 2 and  Change to the leader’s JOB CONTENT window, and perform a onward of the follower sub- FWD operation to the next step. task. To maintain the follower manipulator position relative to the sta- tion, press [SHIFT] + [SYNCRO/SINGLE] to set the job syn- chronized mode.
  • Page 101 4.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation New job registration of a coor- Register as a new job the coordinated job of the other manipula- dinated job of follower sub- tor + the station. task. For new job registration, refer to " 4.10 Registering Job. " New job registration Select {JOB} under the main menu.
  • Page 102 4.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation 12 Select a job to be registered The root jobs for subtask 1 and subtask 2 are registered. as root job. MASTER SUB1 SUB2 SUB3 ROOT JOB JOB-R1 JOB-R2 Select the synchronous task of subtask 1.

  • Page 103: Job In Master Task

    Each time [SELECT] is pressed, “ROBOT JOB” or “CONCUR- RENT JOB” is selected alternately. Press [ENTER]. Select “EXECUTE.” The job is registered in the memory of NX100, and the JOB CON- TENT window appears. NOP and END instructions are regis- tered automatically. EDIT...
  • Page 104 4.17 Job in Master Task Operation Explanation Register a PSTART instruc- Register PSTART instructions to start the subtask 1 and 2. tion. Since the first PSTART instruction is for starting the follower sub- task, add a tag SYNC and the leader subtask. Then, register a PSTART instruction to start the leader subtask.

  • Page 105: Confirming Operation

    4.18 Confirming Operation 4.18 Confirming Operation 4.18.1 Procedure • For confirming operation, set to “Multi-job operation mode.” NOTE In the multi-job operation mode, the jobs in all the tasks operate. (The operation proce- dures are explained below.) If the follower subtask is operated individually, only the follower manipulator moves but not the station.

  • Page 106: Precautions For Confirming Operation

    4.18 Confirming Operation Operation Explanation Press [SHIFT] + [SYNCRO/ Set to “Multi-job operation mode.” SINGLE]. Each time [SHIFT] + [SYNCRO/SINGLE] are pressed, the opera- tion mode changes between “Multi-job operation mode” and “Sin- gle job operation mode.” Multi-job operation mode available Main Menu Short Cut Press [TEST START] or...

  • Page 107: In The Teaching Condition Window

    4.18 Confirming Operation When “Multi-job operation mode” is Set in the TEACHING CONDI-  TION Window <Example> If the manipulator stops after operating to a certain step, and the step position of the follower R1 is changed and performs FWD operation again, the leader R2 proceeds to the next step but the R1 does not move.

  • Page 108: Playback

    4.19 Playback 4.19 Playback 4.19.1 Start Call the master job in the following operation and perform a playback. A job in the subtask is started by a PSTART instruction. Operation Explanation Select {JOB} under the main menu. Select {CTRL MASTER}. The SUPERVISORY window appears.

  • Page 109: Automatic Correction Of Shift Value

    4.19 Playback 4.19.2 Automatic Correction of Shift Value During playback operation, as the station is controlled by the leader job, the follower job con- trols only the follower manipulator. If there is a shift between the teaching position of the leader job station and the station current position (controlled by the leader job), the follower manipulator moves correcting automatically the shift value in order to keep the position on the station at teaching.

  • Page 110: Outline

    5.1 Outline 5 Triple Synchronous System Outline The triple synchronous system is a system where three manipulators operate in coordination for one station. Master task such as calculation, I/O control Start Start Start Subtask 1 Subtask 2 Subtask 3 R1+S1 R2+S1 R3+S1 Station...
  • Page 111 5.1 Outline Method 1: Copy one subtask job to create two other subtask jobs.   Teaching Mirror shift This method is useful when two movement paths are symmetrical. Use the mirror shift func- tion to convert a job path and copy it. The same teaching operation does not have to be repeated.

  • Page 112: Function Keys

    5.2 Function Keys Function Keys The function keys for the triple synchronous system are assigned to the Numeric keys as shown in the figures below. 5.2.1 Arc Welding Application SYNCRO ARCON FEED SINGLE SMOV RETRACT ARCOFF TIMER CUR/VOL REFP CUR/VOL Registers a timer instruction “TIMER”...
  • Page 113 5.2 Function Keys Registers a welding start instruction “ARCON.” ARCON Registers a welding end instruction “ARCOF.” ARCOFF (These keys are for future use and disabled in the current version.) Used for the gas flow control. Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20 INTER seconds, and then the valve automatically closes.

  • Page 114: General Application

    5.2 Function Keys 5.2.2 General Application This application is to be added in the future. SYNCRO SINGLE SMOV TOOLON TOOLON TOOLOF TOOLOF Registers the TOOLON instruction. If [INTERLOCK] is pressed simultaneously, the TOOLON operation is exe- cuted. TOOLON Registers the TOOLOF instruction. If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is exe- cuted.
  • Page 115 5.2 Function Keys Registers the CALL instruction for the reserved job TOOLOFxx. TOOLOF Changes the type of movement for the manipulator when teaching a coordi- nated job. Each time this key is pressed, the movement type changes. SYNCRO: The mark for “synchronized” appears in the status display area. When the master side is moved, the slave side will follow the SYNCRO SINGLE...

  • Page 116: Job Configuration

    5.3 Job Configuration Job Configuration Using the independent control function, configure jobs so that the concurrent job or robot job without control groups of master task operates the robot jobs in subtask 1, 2, and 3. Master task: Concurrent job (or robot job without control groups) Starts subtasks 1, 2, and 3, and controls I/Os.

  • Page 117: Leader And Follower

    5.4 Leader and Follower Leader and Follower Set the two out of the subtask 1, the subtask 2, and the subtask 3 as the followers. To set a follower, add a tag SYNC and the leader subtask to the PSTART instruction of the master task.
  • Page 118 5.5 Synchronizing with TSYNC Operation Explanation Move the cursor to the line just above the line where TSYNC instruction is to be registered. Press [INFORM LIST]. The instruction list appears. IN/OUT JUMP TSYNC CONTROL CALL DEVICE TIMER MOTION LABEL ARITH COMMENT SHIFT OTHER...
  • Page 119 5.5 Synchronizing with TSYNC Operation Explanation (cont’d) <To edit additional items> • To edit additional items, move the cursor to the instruction in the input buffer line, then press [SELECT]. The DETAIL EDIT win- dow appears. EDIT DISPLAY UTILITY DETAIL EDIT TSYNC SYNCHRO NO.
  • Page 120 5.5 Synchronizing with TSYNC Operation Explanation (cont’d) To add the number of synchronized tasks, select “UNUSED” of “SYNCHRO NUM.” The selection dialog box appears. Select “SNUM=.” EDIT DISPLAY UTILITY DETAIL EDIT TSYNC SYNCHRO NO. SYNCHRO NUM SNUM= TSYNC 2 SNUM=3 Main Menu Short Cut After changed or added the additional items, press [ENTER].

  • Page 121: Job Example

    5.6 Job Example Job Example Master task Jobs in subtasks 1, 2 and 3 (Concurrent job or robot job without control groups) ' RESET DOUT OG#(1) 0 DOUT OG#(2) 0 DOUT OG#(4) 0 DOUT OG#(8) 0 Home position return job ' RETURN TO HOME 1 R1 HOME 1 (R1+S1) PSTART JOB:R1 HOME 1 SUB1...

  • Page 122: Job Content Window

    5.7 JOB CONTENT Window JOB CONTENT Window The contents of coordinated job are displayed as shown below.  Synchronized/Single  Group axis being handled EDIT DISPLAY UTILITY JOB CONTENT: MASTER JOB NAME: TEST STEP NO: 005 CONTROL GROUP: R1+S1:S1 TOOL: 00+ 0005 SMOVL V=138 ...

  • Page 123: Synchronized/Single

    5.8 Synchronized/Single Synchronized/Single 5.8.1 Synchronized/Single Movement Between Station and Manipulator There are two ways to handle axes when teaching: “Synchronized” and “Single.” Change between movements by pressing [SYNCRO/SINGLE]. UTILITY UTILITY When "Single" is selected, nothing appears here. Synchronized  If the axes are handled in the “Synchronized” mode, the slave (manipulator) follows the mas- ter (station) when the master moves.

  • Page 124: Single

    5.8 Synchronized/Single Single  If an axis is handled in “Single” mode, the manipulator or the station whose axis has been handled, moves. This feature is used where a manipulator and a station each executes an individual job. • A slave side axis is moved: Does not move Moves •...

  • Page 125: Job Synchronized Mode For Subtask 1, 2, And 3

    5.8 Synchronized/Single 5.8.2 Job Synchronized Mode for Subtask 1, 2, and 3 When moving only the leader manipulator in FWD/BWD operation, the follower manipulator in stop status may interfere with a workpiece. To prevent this, using “job synchronized mode” can move the follower synchronizing the motion of the leader. The follower manipulator moves, keeping the relative position to the station.
  • Page 126 5.8 Synchronized/Single Also in the TEACHING CONDITION window, the job synchronized mode can be set and con- firmed. Operation Explanation Select {SETUP} under the main menu. Select {TEACHING COND}. The TEACHING CONDITION window appears. DATA EDIT DISPLAY UTILITY TEACHING CONDITION RECT/CYLINDRICAL RECT LANGUAGE LEVEL...

  • Page 127: Selecting Axis To Be Handled

    5.9 Selecting Axis to be Handled Selecting Axis to be Handled In a coordinated system with multiple numbers of group axes, select a group axis to be han- dled in the following manner. 5.9.1 When There is an Edit Job When the edit job is displayed, the group axes registered in the displayed job is the one to be handled.

  • Page 128: Registering Job

    Select “JOB NAME,” and then enter a job name by entering the characters. Refer to “1.2.7 Character Input” of the Operator’s Manual. Press [ENTER]. Select “GROUP SET.” Select a group combination. Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB CONTENT window appears. 5-19 128/210...

  • Page 129: Registering Move Instruction (S)Mov+Movj

    5.11 Registering Move Instruction (S)MOV  +MOVJ 5.11 Registering Move Instruction (S)MOV+MOVJ Register a move instruction in the following manner. 5.11.1 Operating Master Side (Station) Operation Explanation Call the JOB CONTENT win- dow in teach mode. Press [EX. AXIS]. The master side (station) is selected for axis handling. TILITY Select either “synchronized”...

  • Page 130: Operating Slave Side (Manipulator)

    5.11 Registering Move Instruction (S)MOV  +MOVJ 5.11.2 Operating Slave Side (Manipulator) Operation Explanation Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling. UTILITY Press the axis key to move to the desired position. Select either a coordinated Press [SMOV] to select either interpolation.
  • Page 131 5.12 Registering Reference Point Instruction (SREFP) 5.12 Registering Reference Point Instruction (SREFP) Register a reference point instruction (SPEFP) for a coordinated interpolation in the following manner. Operation Explanation Select {JOB} under the main menu. Select JOB}. Move the cursor. Move the cursor to the line immediately before the position where the reference point is to be registered.

  • Page 132: Changing Tasks

    5.13 Changing Tasks 5.13 Changing Tasks To call the JOB CONTENT window for master task, subtask 1 or subtask 2, proceed the fol- lowing operation. Operation Explanation Select {JOB} under the main menu. Select {JOB}. GO BACK GO BACK Press the page key Each time the page key is pressed, the contents of the JOB PAGE...
  • Page 133 5.14 Creating a Job in a Subtask - Method 1 and 2 Method 1: Copy one subtask job to create two other subtasks.   Teaching Mirror shift This method is useful when movement paths are symmetrical. Use the mirror shift function to convert a job path and copy it.

  • Page 134: Method 1: Copy One Subtask Job And Create Other Two Jobs

    5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs 5.15.1 Procedure When movement paths are symmetrical, two subtask jobs can be created by using the job taught by another manipulator.

  • Page 135: Teaching And Mirror Shift

    5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs 5.15.2 Teaching and Mirror Shift Teach the job for one manipulator + the station, and confirm the movement. After having completed the teaching, perform mirror shift the job. Teaching and confirming movements.
  • Page 136 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs Operation Explanation Set items as required. DATA EDIT DISPLAY UTILITY  MIRROR SHIFT  SOURCE JOB  SOURCE CTRL GROUP  STEP SECTION DESTINATION JOB  DEST CTRL GROUP ...

  • Page 137: Jobs Not To Be Converted

    5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs Operation Explanation (cont’d) USER COORD NO.  Specifies the user coordinates number when "USER" is selected in  . "01" is automatically set as initial value when the "USER" is selected in ...

  • Page 138: Correcting Positional Dislocation

    5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs 5.15.3 Correcting Positional Dislocation In the job after mirror shift, a position may be dislocated due to the installation error. In this case, all steps should be corrected by the same shift amount. For this operation, the parallel shift job conversion function is used.

  • Page 139: Setting The Shift Value

    5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs Operation Explanation (cont’d) DESTINATION JOB  Specifies the converted job. If this is not specified( “********” is displayed), the source job is specified. To change the job, per- form the following procedure.
  • Page 140 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs Operation Explanation Press [ENTER]. The shift value is set. DATA EDIT DISPLAY UTILITY PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB COORDINATES BASE POINT <SHIFT VALUE> R1:X 200.000 0.000 0.000...
  • Page 141 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs Operation Explanation Press [MODIFY] and The original base point is set. [ENTER]. DATA EDIT DISPLAY UTILITY PARALLEL SHIFT JOB R1:X 230.000 R1:X 0.000 40.000 0.000 40.000 0.000 EXECUTE CANCEL Main Menu Short Cut...

  • Page 142: Executing Conversion

    5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs Executing Conversion  Operation Explanation Display the PARALLEL SHIFT JOB window. Select “EXECUTE.” The confirmation dialog box appears when the converted job is not specified. Select “YES” then the conversion is executed. The JOB CONTENT window appears when the conversion is com- pleted.

  • Page 143: Method 2: Perform Teaching For Each Manipulator

    5.16 Method 2: Perform Teaching for Each Manipulator 5.16 Method 2: Perform Teaching for Each Manipulator 5.16.1 Procedure First, perform teaching a job for the combination of leader manipulator and station. Next, perform teaching a job for the combination of follower manipulator and station. For this operation, perform teaching so that the follower manipulator follows the motion of station by FWD operation of the leader job.
  • Page 144 5.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation Teach the coordinated job of Teach all the steps of coordinated job for one manipulator + the leader subtask. station. Teaching and confirming movements. New job registration for the Register as a new job the coordinated job for other respective coordinated job of follower manipulators + the station.
  • Page 145 5.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation Move the cursor to the first PSTART instruction. Press [INTERLOCK] + [FWD]. Starts the follower subtask. Move the cursor to the second PSTART instruction. Press [INTERLOCK] + [FWD]. Starts the leader subtask. GO BACK GO BACK Press the page key...

  • Page 146: Teaching Using Supervisory Window

    5.16 Method 2: Perform Teaching for Each Manipulator 5.16.3 Teaching using SUPERVISORY Window When teaching without master task, it is necessary to register the startup job (ROOT JOB) in the SUPERVISORY window. Leader Follower Register a startup New job (root) job in the Follower Teaching registration...
  • Page 147 5.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation Select {CTRL MASTER}. The SUPERVISORY window appears. EDIT DISPLAY UTILITY SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB M-TASK ROOT JOB M-TASK EDIT JOB M-TASK LINE NO. 0000 0000 0000 0000 STEP NO.
  • Page 148 5.16 Method 2: Perform Teaching for Each Manipulator Operation Explanation 17 Select “SUB3.” Specify SUB3 of leader task to synchronize the synchronous task of subtask 1 (2). MASTER SUB1 SUB2 SUB3 SYNC TASK SUB3 SUB3 18 Select “Single job operation Set “Single job operation mode”...

  • Page 149: Job In Master Task

    Each time [SELECT] is pressed, “ROBOT JOB” or “CONCUR- RENT JOB” is selected alternately. Press [ENTER]. Select “EXECUTE.” The job is registered in the memory of NX100, and the JOB CON- TENT window appears. NOP and END instructions are regis- tered automatically. EDIT...
  • Page 150 5.17 Job in Master Task Operation Explanation Register a PSTART instruc- Register PSTART instructions to start the subtask 1, 2, and 3. tion. Since the first PSTART instruction is for starting the follower sub- task, add a tag SYNC and the leader subtask. Then, register a PSTART instruction to start the leader subtask.

  • Page 151: Confirming Operation

    5.18 Confirming Operation 5.18 Confirming Operation 5.18.1 Procedure • For confirming operation, set to “Multi-job operation mode.” NOTE In the multi-job operation mode, the jobs in all the tasks operate. (The operation proce- dures are explained below.) If the follower subtask is operated individually, only the follower manipulator moves but not the station.

  • Page 152: Precautions For Confirming Operation

    5.18 Confirming Operation Operation Explanation Select a job to be the master job. Press [SHIFT] + [SYNCRO/ Set to “Multi-job operation mode.” SINGLE]. Each time [SHIFT] + [SYNCRO/SINGLE] are pressed, the opera- tion mode changes between “Multi-job operation mode” and “Sin- gle job operation mode.”...

  • Page 153: Teaching Condition Window

    5.18 Confirming Operation When “Multi-job operation mode” is Set in the TEACHING CONDI-  TION Window <Example> If the manipulator stops after operating to a certain step, and the step position of the follower R1 is changed and performs FWD operation again, the leader R3 and the follower R2 proceed to the next step but the R1 does not move.

  • Page 154: Playback

    5.19 Playback 5.19 Playback 5.19.1 Start Call the master job in the following operation and perform a playback. A job in the subtask is started by a PSTART instruction. Operation Explanation Select {JOB} under the main menu. Select {CTRL MASTER}. The SUPERVISORY window appears.

  • Page 155: Automatic Correction Of Shift Value

    5.19 Playback 5.19.2 Automatic Correction of Shift Value During playback operation, as the station is controlled by the leader job, the follower job con- trols only the follower manipulator. If there is a shift between the teaching position of the leader job station and the station current position (controlled by the leader job), the follower manipulator moves correcting automatically the shift value in order to keep the position on the station at teaching.

  • Page 156: Outline

    6.1 Outline 6 Coordinated Control Outline The coordinated control is the function of controlling multiple manipulators and stations at the same time. Jigless system Coordinated positioner system Twin synchronous system A job to implement the coordinated control is a coordinated job. A coordinated job controls two group axes at the same time.

  • Page 157: Movl Movl

    6.2 Group Combination Group Combination The group combination in a coordinated job is to specify two group axes to be coordinated. The master-slave relationship must be assigned between two group axes. When executing a coordinated instruction, the slave side executes relative interpolation on the tool coordinate system of the master side.

  • Page 158: Individual Interpolation

    6.4 Restriction 6.3.2 Individual Interpolation The individual interpolation is performed with the master-slave relationship cancelled. The master side and the slave side both perform their own individual movements, but the starts and the ends of the movements taught to each are the same. This operation is used when, after the master side and the slave side completed a job of the coordinated operation, each side is to perform its own job.
  • Page 159 7.1 Independent Control 7 Independent Control Independent Control The NX100 is configured to be able to decode and execute four jobs (with option, maximum eight jobs) each independently. A multitask control performed by this mechanism is called “independent control.” Four mechanisms which execute jobs are called as follows: •...

  • Page 160: Independent Control

    7.1 Independent Control Master task Active job Indicates links with related jobs. Start Start Start Subtask 1 Subtask 2 Subtask 3 Active job Active job Active job <Example> When executing two robot jobs, make the master task a concurrent job. Master task Concurrent job Start...
  • Page 161 7.2 Startup Method <Example> When implementing control of calculations or I/O, make the subtask 1 a concurrent job. Master task Robot job Start Subtask 1 Concurrent job Startup Method 7.2.1 Starting a Job always Fixed (Master Job) To execute a job always fixed in each task, it is convenient to use a master job. One master job (a series of jobs including related jobs) can be registered for each task.

  • Page 162: Startup Method

    7.2 Startup Method Master task Active job PSTART SUB1 PSTART SUB2 Start Start Subtask 1 Subtask 2 Active job Active job EDIT DISPLAY UTILITY JOB CONTENT: MASTER JOB NAME: M-TASK STEP NO: 000 CONTROL GROUP: NON GROUP TOOL: 00 0000 0001 ’JOB FOR MASTER TASK Starts the master job of subtask 1.

  • Page 163: Starting Various Jobs

    7.2 Startup Method 7.2.2 Starting Various Jobs When a job executed in each task is not fixed, set each job name to be started with a PSTART instruction. PSTART JOB: job name SUB  A specified job is started in a specified task. ...

  • Page 164: Switching Task Window

    7.3 Switching Task Window Switching Task Window To call the JOB CONTENT window of the master task and subtask 1/2/3, take the following procedure. Operation Explanation Select {JOB} under the main menu. Select {JOB}. Each time the page key is pressed, the contents of the JOB CON- Press the page key GO BACK TENT window change in order of Master task, Subtask 1, Subtask...

  • Page 165: Registering Instructions

    7.4 Registering Instructions 7.4.1 PSTART Instruction Operation Explanation Move the cursor to the line just above the place where PSTART instruction is to be registered. Press [INFORM LIST]. The instruction list appears. IN/OUT JUMP TSYNC CONTROL CALL DEVICE TIMER MOTION LABEL ARITH COMMENT...
  • Page 166 7.4 Registering Instructions Operation Explanation (cont’d) To change the target task, move the cursor to “JOB:,” then press [SELECT]. The selection dialog box appears. Select a target job to be changed with. EDIT DISPLAY UTILITY DETAIL EDIT PSTART IG#( ) TARGET JOB STARTUP TASK SUB1...
  • Page 167 7.4 Registering Instructions Operation Explanation (cont’d) To change the master side task to synchronize, select “UNUSED” of “SYNC TASK.” The selection dialog box appears. Select a synchronous task to be changed. If the synchronous task is set to “UNUSED,” SUB1 NOTE performs the same motion as the synchronous task SUB2 where SUB1 is a startup task, SUB2 per-...
  • Page 168 7.4 Registering Instructions 7.4.2 PWAIT Instruction Operation Explanation Move the cursor to the line just above the place where PWAIT instruction is to be registered. Press [INFORM LIST]. The instruction list appears. IN/OUT JUMP TSYNC CONTROL CALL DEVICE TIMER MOTION LABEL ARITH COMMENT...
  • Page 169 7.4 Registering Instructions Operation Explanation (cont’d) To change the target task, select “SUB1” of “TARGET TASK.” The selection dialog box appears. Select a target task to be changed with. EDIT DISPLAY UTILITY DETAIL EDIT PWAIT STARTUP TASK SUB2 CONDITION UNUSED PWAIT SUB2 Main Menu Short Cut...

  • Page 170: Tsync Instruction

    7.4 Registering Instructions 7.4.3 TSYNC Instruction Operation Explanation Move the cursor to the line just above the place where TSYNC instruction is to be registered. Press [INFORM LIST]. The instruction list appears. IN/OUT JUMP TSYNC CONTROL CALL DEVICE TIMER MOTION LABEL ARITH COMMENT...
  • Page 171 7.4 Registering Instructions Operation Explanation Change the numerical data. <To register items as displayed in the input buffer line> Proceed to Operation 5. <To change the numerical data> Move the cursor to the numerical data. Press [SHIFT] and the cursor key simultaneously to increment or decrement the number. TSYNC To enter a number by pressing the Numeric keys, press [SELECT] to display the input buffer line.
  • Page 172 7.4 Registering Instructions Operation Explanation (cont’d) To change the synchronization number, select “1” of “SYNCHRO NO.” When the number input status enters, enter the synchroni- zation number, “SYNCHRO NO.” by pressing the Numeric keys, and press [ENTER]. EDIT DISPLAY UTILITY DETAIL EDIT TSYNC SYNCHRO NO.

  • Page 173: Registering Job

    Select a group combination or “NON GROUP.” Set “ROBOT JOB.” Set “ROBOT JOB” for “JOB TYPE.” Press [ENTER]. Select “EXECUTE.” The job name is registered in the memory of NX100, then the JOB CONTENT window appears. NOP and END instructions are automatically registered. EDIT DISPLAY...

  • Page 174: Concurrent Job

    [SELECT]. Each time [SELECT] is pressed, “ROBOT JOB” and “CONCURRENT JOB” is shown alternately. Press [ENTER]. Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB CONTENT window appears. NOP and END instructions are automatically registered. DISPLAY...

  • Page 175: End

    7.6 Job Examples Job Examples 7.6.1 Non-Synchronous Operation The example below is a job configuration for the manipulators 1 and 2 to perform entirely sep- arate operations in non-synchronous mode. Set a concurrent job as the master task, and start the R1 job in subtask 1, and the R2 job in subtask 2 from the master task.

  • Page 176: Synchronous Operation

    7.6 Job Examples 7.6.2 Synchronous Operation The example below is a job configuration for the manipulators 1 and 2 to achieve detailed syn- chronization mode. This is used when an interference area exists between manipulators. Set a concurrent job as the master task, and start the R1 job in subtask 1, and the R2 job in subtask 2.

  • Page 177: Pstart Instruction

    7.7 Confirming Operation Confirming Operation 7.7.1 FWD/BWD Operation and Test Run Confirming the Operation of the Task being Displayed  When confirming operation in FWD/BWD operation or a test run, usually only the job of the task currently being displayed is targeted. Operation can be confirmed with [FWD], [BWD], and [TEST START].

  • Page 178: Switching On Teaching Condition Window

    7.7 Confirming Operation Switching on TEACHING CONDITION Window  Operation Explanation Select {SETUP} under the main menu. Select {TEACHING COND}. The TEACHING CONDITION window appears. DATA EDIT DISPLAY UTILITY TEACHING CONDITION RECT/CYLINDRICAL RECT LANGUAGE LEVEL SUBSET INSTRUCTION INPUT LEARNING VALID MOVE INSTRUCTION SET STEP PROHIBIT...

  • Page 179: Playback

    Master job registration for master task Calling the master job of the master task Start Subtask started with PSTART For information about playback, refer to the NX100 Operator’s Manual. SUPPLE- This manual explains the independent control characteristic operations. MENT 7-21...

  • Page 180: Registering Master Job

    7.8 Playback 7.8.2 Registering Master Job Registering  Register a master job in teach mode. Operation Explanation Select {JOB} under the main menu. Select {CTRL MASTER}. The SUPERVISORY window appears. EDIT DISPLAY UTILITY SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB EDIT JOB LINE NO.
  • Page 181 7.8 Playback Operation Explanation Select “SETTING MASTER The JOB NAME window appears. JOB.” DATA EDIT DISPLAY UTILITY JOB NAME TEST-1 TEST JOB WELDJOB MJOB JOB-1 JOB2 JOB3 JOB4 1234 Main Menu Short Cut Select a job to be registered The selected job is registered as a master job. as a master job.

  • Page 182: Cancelling Registration

    7.8 Playback Cancelling Registration  Operation Explanation Move the cursor to the task whose registration is to be cancelled. Press [SELECT]. The selection dialog box appears. EDIT DISPLAY UTILITY SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB MASTER-1 CALL MASTER JOB EDIT JOB 0000 SETTING MASTER JOB...

  • Page 183: Calling Master Job

    7.8 Playback 7.8.3 Calling Master Job Operation Explanation Move the cursor to the master job whose task is to be called. Press [SELECT]. The selection dialog box appears. EDIT DISPLAY UTILITY SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER-1 MASTER JOB CALL MASTER JOB MASTER TASK EDIT JOB SETTING MASTER JOB...

  • Page 184: When The Master Job In A Subtask 1/2/3 Is Called

    7.8 Playback When the Master Job in a Subtask 1/2/3 is Called  Only the master job in a specified subtask is called. The jobs in other tasks are as they were before calling. Master task PWAIT SUB1 PWAIT SUB2 PWAIT SUB3 Subtask 1 Subtask 2...

  • Page 185: Registration Of Root (Startup) Job

    7.8 Playback 7.8.4 Registration of Root (startup) Job The root job is a job executed at starting up each task. As the root job is determined automat- ically according to the job configuration, normally it is not necessary to be registered. However, when the currently active job is to be changed forcibly, register a desired root job to start the task.

  • Page 186: Registrering

    7.8 Playback Registrering  Register a root job in teach mode. Operation Explanation Select {JOB} under the main menu. Select {CTRL MASTER}. The SUPERVISORY window appears. EDIT DISPLAY UTILITY SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB ROOT JOB EDIT JOB LINE NO.
  • Page 187 7.8 Playback Operation Explanation Select “REGISTER ROOT The JOB NAME window appears. JOB.” DATA EDIT DISPLAY UTILITY JOB NAME MASTER-1 TEST JOB WELDJOB MJOB JOB-1 JOB2 JOB3 JOB4 1234 Main Menu Short Cut Select a job to be registered The selected job is registered as a root job. as a root job.

  • Page 188: Cancelling Registration

    7.8 Playback Cancelling Registration  Operation Explanation Move the cursor to the task whose registration is to be cancelled. Press [SELECT]. The selection dialog box appears. EDIT DISPLAY UTILITY SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB ROOT JOB CALL ROOT JOB EDIT JOB SETTING ROOT JOB LINE NO.
  • Page 189 7.8 Playback 7.8.5 Confirming Operating Status (SUPERVISORY Window) The operating status of each task can be confirmed on the SUPERVISORY window. Operation Explanation Select {JOB} under the main menu. Select {CTRL MASTER}. The SUPERVISORY window appears. EDIT DISPLAY UTILITY SUPERVISORY MASTER SUB1 SUB2...

  • Page 190: Precautions

    7.8 Playback 7.8.6 Precautions Stopping  If a hold or an emergency stop procedure is performed, all currently executing jobs are stopped. Restarting  The following methods are available for restarting after a hold or an emergency stop. To continue operation If operation is restarted from the stopped position, the master task and subtasks1/2/3/4/5/6/7 all continue their execution from the line (step) number at the time of the stop.

  • Page 191: Outline

    • The servo power supply individual control function is available with the NX100 only. NOTE • The servo power supply individual control function is to control the servo power supply in units of contactor unit.

  • Page 192: Connection Of Signals For Servo Power Supply Individual Control

    ONEN2 024V For the wiring termination and connecting method, refer to “WAGO Connector” in “12.3.2 SUPPLE- Units and Circuit Boards in the CPU Unit” of NX100 Instructions. MENT Short-circuited between the above terminals as a standard. 192/210...

  • Page 193: Confirming Connection

    8.3 Confirming Connection Confirming Connection The status of “ON_EN” signals connected to each contactor unit and the servo power supply status can be confirmed on the SERVO POWER STATUS window. Operation Explanation Select {IN/OUT} under the main menu. Select {SV POWER STATUS}. The SERVO POWER STATUS window appears. DATA EDIT DISPLAY...

  • Page 194: Application Examples

    When an operator touches the positioner in such a case as replacement of workpiece, only the servo power supply for the positioner to be touched can be turned OFF for security. During operation (Servo power ON) Workpiece replacing work (Servo power OFF) Contactor Contactor Contactor unit #1 unit #3 unit #2 NX100 194/210...
  • Page 195 8.4 Application Examples As shown below, with the “ON_EN” signal of contactor unit connected to S1 set to “OFF,” only the servo power supply to S1 can be turned OFF even during playback operation. DATA EDIT DISPLAY UTILITY SERVO POWER STATUS ON-EN SIGNAL SERVO ON Main Menu Short Cut...

  • Page 196: System Output Signals

    8.5 System Output Signals System Output Signals 8.5.1 Servo Power ON Status Signal for Each Control Group The servo power ON status of each control group is output to the following system output sig- nal. In the standard concurrent I/O ladder, these system output signals are not output externally. When installing an interlock operated by PLC, etc., modify the concurrent I/O ladder so that the system output signals are output externally.

  • Page 197: Specification

    8.6 Operation of Job Without Control Group Specification Operation of Job Without Control Group Specification When the servo power supply is individually turned OFF where jobs in multiple number of tasks are operated using the independent control function, the job execution of the control group whose servo power supply is turned OFF is interrupted.

  • Page 198: Movl

    9.1 Coordinated Motion Instructions 9 Robot Language (INFORM II) Instruc- tions Coordinated Motion Instructions • < > indicates numerical or alphabetical data. • If multiple items are shown in one section, select one of the items. Function While coordinating the slave side with the master side, moves to teaching position with linear interpolation.
  • Page 199 9.1 Coordinated Motion Instructions Function While coordinating the slave side with the master side, moves by only the specified increments with linear interpolation. Addi- P <variable No.>, tional BP <variable No.> Item V=<play speed>, V: 0.1 to 1500.0 mm/s VR=<play speed for posture>, 0.6 to 9000.0 cm/min VS=<speed at reach point>...
  • Page 200 9.1 Coordinated Motion Instructions Function The master side moves to the teach position with linear inter- polation. This instruction should always be placed after a coor- dinated move instruction (coordinated interpolation, individual interpolation). (Coordinated move instruction to the master side manipulator) Addi- Position data, base axis position data, station axis position data...
  • Page 201 9.1 Coordinated Motion Instructions Function Starts coordinated weaving. Addi- WEV# 1 to 16 SWVON tional (<weaving condition file No.>) Item Example SWVON WEV#(3) Function Stops coordinated weaving. Addi- None SWVOF tional Item Example SWVOF 201/210...

  • Page 202: Independent Control Instructions

    9.2 Independent Control Instructions Independent Control Instructions • < > indicates numerical or alphabetical data. • If multiple items are shown in one section, select one of the items. Function Starts a job. Addi- JOB: <Job name> tional SUB1, SUB2, SUB3 Subtask that is started Item (SUB4, SUB5, SUB6, SUB7)

  • Page 203: Outline

    10.1 Outline 10 CONVSFT Instruction ( Coordinate System Conversion Instruction of the Shift Value) 10.1 Outline When making a parallel shift during the coordinated motion, the robot should shift by the shift value of master tool coordinate system (the master robot or the station tool coordinate sys- tems).

  • Page 204: Convsft Instruction

    10.2 CONVSFT Instruction 10.2 CONVSFT Instruction CONVSFT P Variable P Variable PX Variable D. Coordinate System to be Converted C. Master Robot (Station) Position B. Base Point Shift Value A.Converted Shift Value 10.2.1 Explanation of CONVSFT Meaning: Coordinate system conversion instruction of the shift value Instructed Operation ...

  • Page 205: Master Robot (Station) Position

    10.2 CONVSFT Instruction Master Robot (Station) Position  When a shift value is converted to the master tool coordinate system shift value, it is specified with a PX variable shown below. PX Variable The PX variable varies with the job control group that executes CONVSFT instruction. Please refer to the following table (when setting PX000 to PX variable).

  • Page 206: Example Of Conversion

    10.3 Example of Conversion 10.3 Example of Conversion Example 1: Convert the shift value in the operation job • When the shift value is given by the robot coordinate system and the shift is made during the coordinated operation. • The job control group is R1 + S1 •...
  • Page 207 10.3 Example of Conversion Example 2: Convert the master tool coordinate system in the job other than the operating job Register the position of master robot (station) that has specified the robot coordinate system shift value to SREFP1, then convert the shift value using the position data in SREFP1. JOB: CONVSFT Line Step...

  • Page 208: Alarm

    10.4 Alarm 10.4 Alarm 4499 UNDEFINED POSITION VARIABLE  Cause: The data is not set to the position variable. Measure: Set the data to the position variable. 4495 UNDEFINED ROBOT CARIBRATION  Cause: Between robots or robot and station is not calibrated yet. Measure: Calibrate between robots or robot and station.

  • Page 209: Supplementary Note

    10.5 Supplementary Note 10.5 Supplementary Note About the need to make parallel shift on the master tool coordinate  system. Assume that a work moves10 mm in Z-axis direction on the base coordinate system when it is at the station position shown in the following Figure A. 10mm Master tool coordinate system...
  • Page 210 NX100 OPTIONS INSTRUCTIONS FOR INDEPENDENT/COORDINATED CONTROL FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. RE-CKI-A443 210/210...

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