Motoman NX100 Function Manual
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Motoman NX100 Function Manual

Relative job function
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Motoman NX100 Controller
Relative Job
Function Manual
Part Number:
149648-9CD
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 Relative Job Function Manual Part Number: 149648-9CD 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. HW0481924...
  • Page 12 HW0481924 MANDATORY • This manual explains the relative job function of the NX100. Read this manual carefully and be sure to understand its contents before handling the NX100. • General items related to safety are listed in Section 1: Safety of the NX100 Instructions.
  • Page 13 HW0481924 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 HW0481924 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: Table Of Contents

    HW0481924 Relative Job 1.1 Coordinate Systems ....... 1 1.2 Relative Job Shift Functions .
  • Page 18 HW0481924 4.2 Relative Job Data Examples ..... . . 4 4.2.1 Job for User Coordinate System No. 3, Only for Robot Axis . . 4-9 4.2.2 Job for Robot Axis + Base axis (Base Coordinate System) .

  • Page 19: Relative Job

    HW0481924 1.1 Coordinate Systems 1 Relative Job In a standard job, each position is defined by a set of pulse numbers, which represent the amount of revolutions of the S, L, U, R, B, and T axes. In a relative job, however, each position is represented with a set of three values (X, Y, Z) in a specified coordinate system.
  • Page 20 HW0481924 1.2 Relative Job Shift Functions Z-coordinate Z-coordinate Y-coordinate Y-coordinate X-coordinate X-coordinate Movement in User Coordinate System No. 1 Relative Job Shifting Operation when Definition Point is Changed • Changing definition points of the user coordinate system or varying the coordinate sys- NOTE tem number without due consideration may cause the manipulator to move in an unex- pected direction when the job is executed.

  • Page 21: Examples Of Use Of Relative Jobs

    HW0481924 2.1 Shift Function to Offset Workpiece Position Error 2 Examples of Use of Relative Jobs Shift Function to Offset Workpiece Position Error After teaching a standard job for a workpiece placed at a reference point, the job is converted into a relative job in a user coordinate system.
  • Page 22 HW0481924 2.1 Shift Function to Offset Workpiece Position Error 2. Create a user coordinate system for the workpiece. Execute a job that creates a user coordinate system based on the position data of three definition points detected on the workpiece by sensors. REMOTE PLAY TEACH...
  • Page 23 HW0481924 2.1 Shift Function to Offset Workpiece Position Error 4. Play back the job. Use the following job to perform the relative job. LOADV P000 Position data of points detected by external sensors is received LOADV P001 and stored as position variables. LOADV P002 User coordinate system created MFRAME UF#(1) P000 P001 P002...

  • Page 24: A Single Manipulator To Work On The Same Type Of Workpiece In Different Locations

    HW0481924 2.2 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations A Single Manipulator to Work on the Same Type of Workpiece in Different Locations Workpiece Manipulator Job taught at location      is shifted  to locations     and     . A Single Manipulator to Work on the Same Workpiece in Different Locations With the relative job function, a single manipulator can easily work on the same type of work- piece in different locations in the following two ways.

  • Page 25: By Converting The User Coordinate When Operating

    HW0481924 2.2 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations 2.2.2 By Converting the User Coordinate when Operating A single relative job can be executed at more than one position. In this way, the memory can be used effectively.

  • Page 26: Using One Job On Multiple Manipulators

    HW0481924 2.3 Using One Job on Multiple Manipulators Using One Job on Multiple Manipulators Workpiece Manipulator No.1 No.2 No.3 Using One Job on Multiple Manipulators A job taught to one manipulator can be used for other manipulators on the line. 1.

  • Page 27: Operations Related To Relative Jobs

    HW0481924 3.1 Converting into a Related Job 3 Operations Related to Relative Jobs Converting into a Related Job To create a relative job, convert a standard job into a relative job. The conversion of a relative job into a standard job is also possible. C o n v e r s i o n Standard Job Relative Job...
  • Page 28 HW0481924 3.1 Converting into a Related Job Operation Explanation COORDINATE (Cont’d) Select {RELATIVE JOB}. Selects a coordinate system where a standard job is con- verted into a relative job. Select {COORDINATE}, and the selection dialog is dis- Sets a job name for the conversion destination. Select {DESTINATION}.

  • Page 29: Verification Of Information Related To Relative Job

    HW0481924 3.2 Verification of Information Related to Relative Job Verification of Information Related to Relative Job 3.2.1 Verifying Coordinate System The coordinate system used for teaching can be verified in the job header window. Operation Explanation Select {JOB} under the main menu.

  • Page 30: Verifying Command Positions

    HW0481924 3.3 Instructions Related to Relative Job 3.2.2 Verifying Command Positions The command position of XYZ-type can be verified by calling up the command position win- dow for the relative job. Operation Explanation Select {ROBOT} under the main menu. Select The command position window appears.

  • Page 31: Mframe

    HW0481924 3.3 Instructions Related to Relative Job <Example> A relative job “JOB-1”, which was taught using the user coordinate system No. 1, is changed to the coordinate system to No. 2 when it is executed. The coordinates of the steps in JOB-1 are converted into the coordinates of coordinate system No.

  • Page 32: Registering An Instruction

    HW0481924 3.3 Instructions Related to Relative Job 3.3.3 Registering an Instruction Operation Explanation Move the cursor to the address area. In the job content window, In the job content window in the teach mode, move the cursor to the line immediately above the place where an instruction is to be move the cursor to the line registered.
  • Page 33 HW0481924 3.3 Instructions Related to Relative Job Operation Explanation Change the additional items <To register items as they appear in the input buffer> and variable data. Perform operation 6. <To edit any additional items> Move the cursor to the additional item to be changed, and then press [SELECT] to display an input line.

  • Page 34: Editing Relative Jobs

    HW0481924 3.4 Editing Relative Jobs Editing Relative Jobs Relative jobs, like standard jobs, can be edited with the programming pendant to add, modify, and delete positions. The differences in editing relative jobs and editing standard jobs are explained in this section. 3.4.1 Blink Indication of Move Instruction on Job Content Window...

  • Page 35: Relative Job Operation Method

    HW0481924 3.5 Relative Job Operation Method Relative Job Operation Method When a relative job is performed, there are several ways to move to the step position. The fol- lowing three methods can be used to designate the motion. Effective for a job of which the B-axis does not pass the •...
  • Page 36 HW0481924 3.5 Relative Job Operation Method If a job of which the B-axis passes the point 0° is executed, the angle of the B-axis stays unchanged even when it should be changed, resulting in the R-axis turning to the position opposite by 180 °...

  • Page 37: Previous Step Regarded (Minimum R-Axis Movement)

    HW0481924 3.5 Relative Job Operation Method 3.5.2 Previous Step Regarded (Minimum R-axis Movement) This method keeps the R-axis movement to a minimum when the manipulator moves from the previous step to the next step. Therefore, it can be used for jobs of which the B-axis passes the point 0 °...

  • Page 38: Type Regarded

    HW0481924 3.5 Relative Job Operation Method 3.5.3 Type Regarded When a relative job is converted from a standard job, position data of each step is classified into XYZ type position data and type data. In the type operation method, a movement is oper- ated so that the type is added to the position data.

  • Page 39: Interface With An Easy Offline Teaching System

    HW0481924 4.1 Job Data Format 4 Interface with an Easy Offline Teaching System A relative job can be used as an interface with an easy offline teaching system. This chapter describes the necessary information to create a relative job on the easy offline teaching sys- tem.
  • Page 40 HW0481924 4.1 Job Data Format A pseudo instruction is distinguished by a single slash (/) at its beginning. Each level of individual instructions are marked with a double slash (//), a triple slash (///), and a fourfold slash (////). A pseudo instruction related to the job is made as follows. NAME NPOS USER...

  • Page 41: Job

    HW0481924 4.1 Job Data Format 4.1.1 Function : Shows that it is a job. Format : /JOB 4.1.2 NAME Function : Represents the job name. Format : //NAME <Name> <Name> : up to 8 characters 4.1.3 Function : Represents the position data. Format : //POS NPOS Function : Represents the number of position data items.
  • Page 42 HW0481924 4.1 Job Data Format <TOOL> : Cartesian data, tool coordinate system <USER> : Cartesian data, user coordinate system <MTOOL>: Cartesian data, master tool coordinate system PULSE Function : Represents that pulse data is defined during and after this pseudo instruction. Format : ///PULSE <Pulse data>:<C>|<BC>|<EC>|<P>|<BP>|<EX>...

  • Page 43: Inst

    HW0481924 4.1 Job Data Format <Z> : Z-axis Cartesian data <Rx> : Rx-axis Cartesian data <Ry> : Ry-axis Cartesian data <Rz> : Rz-axis Cartesian data RCONF Function : Represents the manipulator type of the Cartesian data defined during and after this pseudo instruction.
  • Page 44 HW0481924 4.1 Job Data Format {RO|WO|RW} <RO>: Writing disabled “Edit-lock”(Read Only) <WO>: Reading disabled(Write Only) <RW>: Reading/Writing capable(Read/Write) <RJ>: Relative job FRAME Function : Represents relative job teaching coordinate system. Format : ///FRAME <C> <C>: BASE|ROBOT|N| <N>: User coordinate system No.(1 to 24) <BASE>: Base coordinate system(Cartesian) <ROBOT>: Robot coordinate system(Cartesian) <USER>: User coordinate system(Cartesian)
  • Page 45 HW0481924 4.1 Job Data Format GROUP2 Function : Represents 2nd MOVE control group. Format : ///GROUP2 <m1>,<m2>,<m3> Add any of the following to<m1>,<m2>, and<m3>. RE1(robot 1) RE2(robot 2) RE3(robot 3) RE4(robot 4) BS1(base 1) BS2(base 2) BS3(base 3) BS4(base 4) ST1(station 1) ST2(station 2) ST3(station 3)
  • Page 46 HW0481924 4.1 Job Data Format ST9(station 9) ST10(station 10) ST11(station 11) ST12(station 12) GROUP4 Function : Represents 4th MOVE control group. Format : ///GROUP4 <m1>,<m2>,<m3> Add any of the following to<m1>,<m2>, and<m3>. RE1(robot 1) RE2(robot 2) RE3(robot 3) RE4(robot 4) BS1(base 1) BS2(base 2) BS3(base 3)

  • Page 47: Job For User Coordinate System No. 3, Only For Robot Axis

    HW0481924 4.2 Relative Job Data Examples Relative Job Data Examples 4.2.1 Job for User Coordinate System No. 3, Only for Robot Axis File Name : SAMPLE1.JBI /JOB //NAME SAMPLE1 //POS ///NPOS 5,0,0,0,0,0 ///USER 3 ///TOOL 0 ///POSTYPE USER ///RECTAN ///RCONF 0,0,0,0,0 C0000=171.314,36.037,36.032,179.99,-1.52,85.23 C0001=39.290,36.037,36.014,179.99,-1.51,85.23 C0002=39.292,-65.965,36.016,179.99,-1.51,85.23...

  • Page 48: Job For Robot Axis + Base Axis (Base Coordinate System)

    HW0481924 4.2 Relative Job Data Examples 4.2.2 Job for Robot Axis + Base axis (Base Coordinate Sys- tem) File Name : SAMPLE2.JBI /JOB //NAME SAMPLE2 //POS ///NPOS 3,3,0,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 0,0,0,0,0 C0000=-415.000,0.000,770.000,180,00,-90.00,0.00 C0001=874.552,-626.159,1031.906,64.76,-37.91,95.22 C0002=1344.117,582.515,1090.264,52,72,-37.72,18.41 BC0000=0.000,0.000 BC0001=1343.952,-531.981 BC0002=1838.601,830.637 //INST ///DATE 1993/07/23 17:36...
  • Page 49 HW0481924 4.2 Relative Job Data Examples 4.2.3 Job for Robot Axis + Base Axis + Station Axis (Base Coordinate System, Single Job) File Name : SAMPLE3.JBI /JOB //NAME SAMPLE3 //POS ///NPOS 2,2,2,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 0,0,0,0,0 C0000=-494.484,-248.122,1090.264,52.72,-37.2,118.41 C0001=-157.216,-187.240,1079.290,84.07,-35.63,118.76 BC0000=0.000,0,000 BC0001=550.647,485.316...
  • Page 50 HW0481924 4.2 Relative Job Data Examples 4.2.4 Job for Robot Axis + Base Axis + Station Axis (Base Coordinate System, Coordinate Job) File Name:SAMPLE4.JBI /JOB //NAME SAMPLE3 //POS ///NPOS 2,2,2,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 0,0,0,0,0 C0000=-494.484,-248.122,1090.264,52.72,-37.2,118.41 C0001=-157.216,-187.240,1079.290,84.07,-35.63,118.76 BC0000=0.000,0,000 BC0001=550.647,485.316 ///POSTYPE PULSE ///PULSE...

  • Page 51: System, Coordinate Job)

    HW0481924 4.2 Relative Job Data Examples 4.2.5 Job for Robot Axis + Robot Axis (Base Coordinate System, Coordinate Job) File Name:SAMPLE5.JBI /JOB //NAME SAMPLE5 //POS ///NPOS 10,0,0,0,0,0 ///TOOL 0 ///POSTYPE BASE ///RECTAN ///RCONF 0,0,0,0,0 C0000=-765.337,202.936,1118,673,0.00,1.59,160.42 ///TOOL 1 C0001=-856.025,-93.532,1134.850,1.43,-25.69,172.39 ///TOOL 0 C0002=-831.637,122.110,1130.506,-0.36,6.81,167.30 ///TOOL 1 C0003=-812.058,-39.516,1162.852,1.42,-25.68,172.39...

  • Page 52: Configuration Of Position Data

    HW0481924 4.3 Configuration of Position Data Configuration of Position Data The configuration of the position data for each axis in each coordinate system is as follows. 4.3.1 Position Data of Each Axis Robot Axis R1 = X, Y, Z, RX, RY, RZ + type The position of a robot axis is represented in a specified coordinate system.

  • Page 53: Position Data Of Each Coordinate System

    HW0481924 4.3 Configuration of Position Data 4.3.2 Position Data of Each Coordinate System The position data of a robot axis, base axis, and station axis in each coordinate system is as follows. Base Coordinate System Robot Axis Coordinate Values(Xb,Yb,Zb,RXb,RYb,RZb) Base Coordinate System Station Axis Pulse Values(W1,W2) Base Axis Coordinate Values(X0,Y0,Z0) Robot Coordinate System...

  • Page 54: User Coordinate System

    This manipulator type is called “TYPE”. The NX100 has up to six types. The number of types differs depending on the manipulator models. Six types are explained in this section.

  • Page 55: R-Axis Angle

    HW0481924 4.4 Manipulator Type Flip No-flip 0° 0° -90<θR<=90 90<θR<=270 270<θR<=360,-360<θR<=-270 -270<θR<=-90 Note : R is the angle when the R-axis zero-point position is assumed to be at 0°. θ This specification is required for EA, ES, and HP model manipulators. 4.4.2 R-axis Angle Specify whether the R-axis angle is within ±180°or exceeds ±180°.

  • Page 56: T-Axis Angle

    HW0481924 4.4 Manipulator Type 4.4.3 T-axis Angle Specify whether the T-axis angle is within ±180°or exceeds ±180°in a manipulator with a three-axis wrist, paying attention to the T-axis angle. ° ° T<180 T>=180 0° 0° 360° -360° -180° 180° -180<θT<=180 180<θT<=360,-360<θT<=-180 Note : T is the angle when the T-axis zero-point position is assumed to be at 0°.

  • Page 57: Front/Back (Relation Between S-Axis And Control Point)

    HW0481924 4.4 Manipulator Type 4.4.4 Front/Back (Relation between S-axis and Control Point) Viewing the L-axis and U-axis from the right side, specify the side of the S-axis rotation center where the B-axis rotation center will be located. The right side of the S-axis rotation center is the front and left side is back.

  • Page 58: Upper/Lower Arm

    HW0481924 4.4 Manipulator Type 4.4.5 Upper/Lower Arm (Type Comprised of an L-axis and U-axis Specify the type comprised of the L-axis and the U-axis when the L-axis and the U-axis are viewed from the right side. Right Side Upper arm Lower arm This specification is required for the EA, ES, and HP model manipulators.

  • Page 59: S-Axis Angle

    HW0481924 4.4 Manipulator Type 4.4.6 S-axis Angle Specify whether the S-axis angle is within ±180°or exceeds ±180°. ° ° S<180 S>=180 0° 0° 360° -360° -180° 180° ° ° <θs<=360 ° ° -180 <θs<=180 ° ° -360 <θs<=-180 Note : s is the angle when the S-axis zero-point position is assumed to be at 0°.

  • Page 60: Alarm And Error Message List

    HW0481924 5.1 Alarm Messages 5 Alarm and Error Message List Alarm Messages Alarm Message Cause Remedy Number UNDEFINED Undefined user coordinates were Define the user coordi- 4500 USER FRAME used. nate. [Decimal Data] MFRAME Impossible to create user coordi- Register the position file 4509 ERROR nates.
  • Page 61 HW0481924 6 Instruction List < >shows number or character data. When there are more than one additional items in one section, choose one. Function Creates a user coordinate system using the position data of the given three points as the definition point. Format : MFRAME UF#(xx) <Data 1><Data 2><Data 3>...
  • Page 62 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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