Motoman NX100 Function Manual
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Motoman NX100 Function Manual

Analog output function
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Motoman NX100 Controller
Analog Output
Function Manual
Part Number:
149648-3CD
1
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

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Summary of Contents for Motoman NX100

  • Page 1 Motoman NX100 Controller Analog Output Function Manual Part Number: 149648-3CD Revision Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200...
  • Page 2 COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman, Inc.
  • Page 3 • Vendor manuals for system components not manufactured by Motoman %WUVQOGT 5GTXKEG +PHQTOCVKQP If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call: • Product Type (Analog Output) •...
  • Page 4 @‡€i†u€ Gg€‡gx 7tg‚†q„  C€†„p‡i†u€ 0QVGU gsq @u€gx...
  • 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 @‡€i†u€ Gg€‡gx 7tg‚†q„ Sgrq†‘ 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 Safety (Section 2.6) • Operation Safety (Section 2.7) •...
  • Page 7 5€gxs I‡†‚‡† "'$"&! )GPGTCN 5CHGIWCTFKPI 6KRU All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation.
  • Page 8 Programming tips are as follows: Any modifications to PART 1 of the NX100 controller PLC can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! Some operations require standard passwords and some require special passwords.
  • Page 9 5€gxs I‡†‚‡† "'$"&! • Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to operate the system. • Inspect the robot and work envelope to be sure no potentially hazardous conditions exist.
  • Page 10 @‡€i†u€ Gg€‡gx 7tg‚†q„ Sgrq†‘ • All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot. This includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output) modifications.
  • Page 11 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA MANUAL NO. HW0482012...
  • Page 12 • This manual explains the analog output function corresponding to speed of the NX100 system and general operations. Read this manual care- fully and be sure to understand its contents before handling the NX100. • General items related to safety are listed in Section 1: Safety of the NX100 Instructions.
  • Page 13 HW0482012 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel.
  • Page 14 Injury may result if anyone enters the P-point maximum envelope of the manipulator dur- ing operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.
  • Page 15 -Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. • Always return the programming pendant to the hook on the NX100 cabi- net after use. The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures.
  • Page 16 HW0482012 Descriptions of the programming pendant and playback panel 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 HW0482012 Analog Output Function Corresponding to Speed Instructions 2.1 Instructions for Analog Output Function Corresponding to Speed ......2-1 2.1.1 ARATION.
  • Page 18 HW0482012 1 Analog Output Function Corresponding to Speed The analog output function corresponding to speed changes the analog output value automat- ically, according to the manipulator operating speed. This function does not need resetting of the analog output value according to the operating speed, so that the time required for job teaching can be reduced.
  • Page 19 HW0482012 2.1 Instructions for Analog Output Function Corresponding to Speed 2 Instructions Instructions for Analog Output Function Corresponding to Speed The instructions, ARATION and ARATIOF, are used for the analog output function corre- sponding to speed. 2.1.1 ARATION The analog output function corresponding to speed is performed after executing ARATION instruction.
  • Page 20 HW0482012 2.1 Instructions for Analog Output Function Corresponding to Speed According to the set value of the ARATION instruction, the output characteristics for the rela- tion between the operating speed and the analog voltage are calculated. The analog output function corresponding to speed is executed depending on these output characteristics. The following graph shows the output characteristics.
  • Page 21 HW0482012 2.2 Registration of Instructions Registration of Instructions The instructions can be registered when the cursor is in the address area on the job content display in teach mode. Perform the following operations before registering an instruction. Operation Explanation Select {JOB} under the main menu Select {JOB CONTENT} Move the cursor to the...
  • Page 22 HW0482012 2.2 Registration of Instructions Operation Explanation Select “ARATION” The ARATION instruction is indicated in the input buffer line. =>   ARATION  AO#(1)  Change any additional <Register without changes> To register without changes, perform operation of step 5. items and numerical values <Register with addition or change of the additional items> •...
  • Page 23 HW0482012 2.2 Registration of Instructions Operation Explanation (Cont’d) Change any addi- Move the cursor to “UNUSED” of the additional item to be changed, and then press [SELECT]. The selection dialog is tional items and numerical displayed. values Move the cursor to the additional item to be changed, and press [SELECT].
  • Page 24 HW0482012 2.2 Registration of Instructions 2.2.2 ARATIOF Operation Explanation Move the cursor to one line The line above the above the place to register 0030      MOVL V=138 place to register 0031      MOVL V=138 ARATIOF instruction ARATIOF instruction. Press [INFORM LIST] Select [IN/OUT] The instruction list dialog appears. DOUT IN/OUT CONTROL DEVICE WAIT MOTION...
  • Page 25 HW0482012 2.3 Analog Output Display Analog Output Display The current settings can be confirmed on the analog output window. DATA UTILITY EDIT DISPLAY ANALOG OUTPUT TERMINAL AOUT1 AOUT2 AOUT3 AOUT4 OUTPUT (V) -14.00 -14.00 -10.00 -14.00 BASIC (V) 0.00 0.00 0.00 0.00 TRAIT SP RAT SP RAT STATIC...
  • Page 26 HW0482012 3.1 Examples of Output Characteristics 3 Examples Examples of Output Characteristics The graph below shows the change in the output characteristics when the following job is done. Output Voltage MOVJ VJ=50.00 ARATION AO#(1) BV=7.00 V=150.0 OFV=- 7.00 10.00 MOVL V=50.0 -4.33 MOVC V=100.0 1.33...
  • Page 27 HW0482012 3.2 Example of Variation of Operating Speed and Analog Output Value Example of Variation of Operating Speed and Analog Output Value The following graph shows the change of the analog output according to the speed variation. MOVL V=200.0 ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00 MOVC V=150.0 MOVC VR=20.0 (When the tool center point speed is 100 mm/s)
  • Page 28 HW0482012 4.1 When Parameter is Set to “0” 4 Filter Process In the analog output function corresponding to speed, the output analog signal can be filtered by setting a filter constant at the parameters. When Parameter is Set to “0” The analog signal according to the speed reference (the speed determined by a path opera- tion) is output.
  • Page 29 HW0482012 4.3 Parameter Setting Parameter Setting Adjust the settings of parameters during actual operations. Parameter Number Analog Output Content Unit S3C819 Analog output No.1 Primary filter constant [msec] S3C820 Analog output No.1 Secondary filter constant [msec] S3C821 Analog output No.2 Primary filter constant [msec] S3C822...
  • Page 30 HW0482012 4.3 Parameter Setting Parameter Number Analog Output Content Unit S3C853 Analog output No.18 Primary filter constant [msec] S3C854 Analog output No.18 Secondary filter constant [msec] S3C855 Analog output No.19 Primary filter constant [msec] S3C856 Analog output No.19 Secondary filter constant [msec] S3C857 Analog output No.20...
  • Page 31 HW0482012 4.3 Parameter Setting Parameter Number Analog Output Content Unit S3C891 Analog output No.37 Primary filter constant [msec] S3C892 Analog output No.37 Secondary filter constant [msec] S3C893 Analog output No.38 Primary filter constant [msec] S3C894 Analog output No.38 Secondary filter constant [msec] S3C895 Analog output No.39...
  • Page 32 HW0482012 5.1 When Analog Output Corresponding to Speed is Interrupted 5 Precautions When Analog Output Corresponding to Speed is Interrupted If the manipulator is stopped for some reason and the editing operation is performed, the ana- log output corresponding to speed is interrupted. This interruption is performed in all output terminals, and the analog voltage fixed immediately before the interruption is output to each output terminal.
  • Page 33 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD. 30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083, China Phone 86-10-6234-5003 86-10-6234-5002 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...

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