Motoman NX100 Function Manual
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Motoman NX100 Function Manual

Pmt function
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Motoman NX100 Controller
PMT
Function Manual
Part Number:
149648-8CD
Revision
1
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200

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  • Page 1 Motoman NX100 Controller Function Manual Part Number: 149648-8CD 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: • Robot Type (EA1400, HP20, etc.) •...
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  • Page 11 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA MANUAL NO. HW0482014...
  • Page 12 MANDATORY • This manual explains the PMT function (Position Modification Function for Tool Deformation) of NX100. 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 HW0482014 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 WARNING avoided, 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 HW0482014 Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on them are Pendant denoted with [ ]. ex. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.
  • Page 17 HW0482014 PMT Function Data Conversion by PMT Function 2.1 Outline ..........2-1 PMT data conversion by instruction .
  • Page 18 HW0482014 1 PMT Function The PMT function corrects the position data when the tool is deformed during operation (PMT: Position Modification for Tool Deformation). When a tool inadvertently collides with peripheral jigs or walls during operation and is deformed, the tool center point will be dislo- cated and the taught position of the job programmned would be shifted;...

  • Page 19: Data Conversion By Pmt Function

    HW0482014 2.1 Outline 2 Data Conversion by PMT Function Outline NOTE When the PMT function is used, the tool dimensions and the job taught position data are rerwritten. In order to secure the data, prepare the backup files beforehand. The data can be converted by the PMT function using instructions or the programming pendant.
  • Page 20 HW0482014 2.1 Outline PMT data conversion by programming pendant The following outline describes how to convert the data by using the programming pendant. Refer to "2.3 PMT Data Conversion by Programming Pendant" for more information. EDIT DISPLAY UTILITY SETUP SPECIAL JOB CONTENT Select {PMT} under {UTILITY} in ...
  • Page 21 HW0482014 2.1 Outline DATA UTILITY EDIT DISPLAY JOB: Convert the data of WORK1 TOOL NO.          using the PMT function. CONVERSION MODE SINGLE JOB NAME WORK1 MRESET EXECUTE CANCEL Main Menu Short Cut...

  • Page 22: Pmt Data Conversion By Instruction

    HW0482014 2.2 PMT Data Conversion by Instruction PMT Data Conversion by Instruction 2.2.1 Registering GETTOOL Instruction Operation Explanation Press [INFORM LIST] Select the instruction group “ARITH” Select “GETTOOL” The instruction appears, with the same additional items that were previously set, in the input buffer line. EDIT DISPLAY UTILITY...

  • Page 23: Registering Settool Instruction

    HW0482014 2.2 PMT Data Conversion by Instruction 2.2.2 Registering SETTOOL Instruction Operation Explanation Press [INFORM LIST] Select the instruction group “ARITH” Select “SETTOOL” The instruction appears, with the same additional items that were previously set, in the input buffer line. EDIT DISPLAY UTILITY...

  • Page 24: Registering Pmt Instruction

    HW0482014 2.2 PMT Data Conversion by Instruction 2.2.3 Registering PMT Instruction NOTE Add PMT instructions for the number of jobs to be converted. Operation Explanation Press [INFORM LIST] Select the instruction group “ARITH” Select “PMT” instruction The instruction appears, with the same additional items that were previously set, in the input buffer line.
  • Page 25 HW0482014 2.2 PMT Data Conversion by Instruction Operation Explanation (Cont’d) Select any additional Move the cursor to the name of the job to save the data, and items press [SELECT]. A list of jobs appears. EDIT DISPLAY UTILITY JOB CONTENT STEP NO :    000 JOB NAME :    ,o,l,s,n TOOL : CONTROL GROUP :  R1...
  • Page 26 HW0482014 2.3 PMT Data Conversion by Programming Pendant PMT Data Conversion by Programming Pendant NOTE When the PMT function is used, the tool dimensions and the job taught position data are rewritten. In order to secure the data, prepare the backup files beforehand. Operation Explanation Select {UTILITY} from the...
  • Page 27 {TOOL CALIBRATION} of {UTILITY}. For details of methods to set tool dimensions, refer to “9.9 Tool Data Setting” of the NX100 Instruction manual. Confirm the tool dimensions before and after the PMT conversion (ORIGINAL TOOL and ORIENTATION TOOL), then select “EXEC”.
  • Page 28 When the jobs related to the specified job are to be converted together, select “RELATED” from “CONVERSION MODE”. • Method 3: ALL When all the jobs registered in NX100 are to be converted, select “ALL” from “CONVERSION MODE”. Select “EXEC” to convert all the jobs.

  • Page 29: Tool Data Backup History

    HW0482014 3 Tool Data Backup History The modification history of the tool constants can be viewed in the TOOL BACKUP window. The history of the tool data backup is updated when a GETTOOL instruction with “PMTDATA” added is carried out. When a GETTOOL instruction is carried out and the data of the original tool and the orienta- tion tool are the same, only the execution date and time in the backup history are updated.

  • Page 30: Instruction List For Pmt Function

    HW0482014 4 Instruction List for PMT Function Function Gets the data from a tool file. Additional Tool data storage directory items P, PMTDATA GETTOOL Tool file 0 to 23 TL# (<Tool file number>) Example GETTOOL PMTDATA TL# (0) GETTOOL P000 TL# (0) Function Rewrites the data in the tool file.
  • Page 31 HW0482014 5 Parameter Parameter No. Meaning Units Initial Value S3C900 The allowable difference (values of X, Y, and 0.001mm 20000 Z) between the present tool constant and the tool data automatic setting in the operation of a SETTOOL instruction.

  • Page 32: Alarm List

    HW0482014 6 Alarm List Alarm Message Meaning Corrective Actions 4605 SETTOOL ERROR An error occurred when execut- • Check if the tag set value is ing a SETTOOL instruction. correct. • The difference between the • Check if the parameter is set current tool constant and a correctly.
  • 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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