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YASKAWA Motoman NX100 Manual

Interrupt job function
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See also: Operator's Manual , Manual
Enlarged version
Motoman NX100 Controller
Interrupt Job
Function Manual
Part Number:
149648-6CD
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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Summary of Contents for YASKAWA Motoman NX100

  • Page 1 Motoman NX100 Controller Interrupt Job Function Manual Part Number: 149648-6CD 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 Motoman, Inc. ©2007 by MOTOMAN All Rights Reserved Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
  • Page 3 C€†q„„‡‚† Dh "'$"&$ %JCRVGT  +PVTQFWEVKQP This manual provides system information for the Interrupt Job Function and contains the following sections: 5'%6+10   +0641&7%6+10 Provides general information about the structure of this manual, a list of reference documents, and customer service information. 5'%6+10   5#('6;...
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  • Page 11 YASKAWA NX100 OPTIONS INSTRUCTIONS FOR THE INTERRUPT JOB FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manuals above correspond to specific usage.
  • Page 12 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 13: Notes For Safe Operation

    HW0482006 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 HW0482006 WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the program- ming pendant is turned OFF.
  • Page 15 • Read and understand the Explanation of Warning Labels in the NX100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the programming pendant, and supply cables.
  • Page 16 HW0482006 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character Keys The keys which have characters printed on them are Pendant denoted with [ ]. ex. [ENTER] Symbol Keys The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.

  • Page 17: What Is The Interrupt Job Function

    HW0482006 What is the Interrupt Job Function? Setting of the Interrupt Job Function 2.1 Interruption Table Display ......2-1 2.2 Setting of Interruption Table .

  • Page 18: System With Independent Control

    HW0482006 System with Independent Control Instruction List viii...
  • Page 19 HW0482006 1 What is the Interrupt Job Function? The interrupt job function is a kind of call job. When a signal to interrupt the job is sent from a peripheral device or another system, this function momentarily suspends a job in progress, and executes the job corresponding to the signal.
  • Page 20 HW0482006 An interrupt job can be executed when the start lamp is ON and between the execution of NOTE the EI (enable interruption) instruction and the DI (disable interruption) instruction. A different interruption level can be specified for both EI and DI. 0010 MOVJ VJ=50.00 Allows all levels if no interruption 0011 EI...

  • Page 21: Setting Of The Interrupt Job Function

    HW0482006 2.1 Interruption Table Display 2 Setting of the Interrupt Job Function Interruption Table Display Operation Explanation Select {JOB} under The sub menu appears. the main menu Select {INTERRUPT JOB} in the sub menu EDIT DISPLAY UTILITY INTERRUPT JOB TABLE NO.: 1 / 1 SIGNAL: OUT# 0001 LEVEL...
  • Page 22 HW0482006 2.2 Setting of Interruption Table Setting of Interruption Table In a system where an independent control is used simultaneously with the interrupt job func- tion, an interrupt job can be set and executed for each task. When using four tasks (eight tasks maximum) for the independent control: GO BACK changes the table No.

  • Page 23: Setting Of Interruption Levels

    HW0482006 2.3 Setting of Interruption Levels 2.2.2 Setting of Job Names Operation Explanation Move the cursor to the item to be selected , and press EDIT DISPLAY UTILITY [SELECT]. INTERRUPT JOB TABLE NO.: 1 / 1 SIGNAL: OUT# 0001 LEVEL SIGNAL JOB NAME PERMIT EXEC IN#0001...

  • Page 24: Registration Of Instructions

    HW0482006 3.1 EI (Enable Interruption) Instruction 3 Registration of Instructions EI (Enable Interruption) Instruction Executing an EI instruction activates the specified interruption levels set in the additional item. To specify the levels where interruptions can be enabled, set the bits corresponding to the lev- els to “1.”...
  • Page 25 HW0482006 3.1 EI (Enable Interruption) Instruction Operation Explanation Move the cursor to the address area. Press [INFORM LIST]. Select {CONTROL}. Move the cursor to “EI.” The EI instruction appears in the input buffer line with the previ- ously registered additional items. EDIT DISPLAY UTILITY...

  • Page 26: Di (Disable Interruption) Instruction

    HW0482006 3.2 DI (Disable Interruption) Instruction DI (Disable Interruption) Instruction Executing a DI instruction activates the specified interruption levels set in the additional item. To specify the levels where interruptions can be disabled, set the bits corresponding to the lev- els to “1.”...
  • Page 27 HW0482006 3.2 DI (Disable Interruption) Instruction Operation Explanation Move the cursor to the address area. Press [INFORM LIST]. Select {CONTROL}. Move the cursor to “DI.” The DI instruction appears in the input buffer line with the previ- ously registered additional items. EDIT UTILITY DISPLAY...

  • Page 28: Execution Of An Interrupt Job

    HW0482006 4.1 Interruption Signal Detection 4 Execution of an Interrupt Job Interruption Signal Detection An interruption signal is detected at the rising edge of the signal. If more than one interruption signal is detected at the same time, the job for the level with higher priority is executed.

  • Page 29: Interruption Signal Entered During Another Inter- Rupt Job

    HW0482006 4.4 Interruption Signal Entered During Another Interrupt Job Interruption Signal Entered During Another Inter- rupt Job All interruptions are automatically disabled during the execution of an interrupt job. Therefore, if another interruption signal with a higher priority is received, its corresponding job is not exe- cuted.

  • Page 30: Application Examples

    HW0482006 5.1 Interruption During Timer Instruction 5 Application Examples Interruption During Timer Instruction Job in progress 0000 NOP 0001 EI Interruption enabled Interrupt job 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVL Interruption during 0002 DOUT OG#(2) 5 0005 TIMER T=2.00 TIMER instruction 0003 RET...

  • Page 31: Interruption During Move Instruction With Nwait

    HW0482006 5.3 Interruption During Move Instruction with NWAIT Interruption During Move Instruction with NWAIT Job in progress 0000 NOP 0001 EI Interruption enabled Interrupt job 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVL Interruption during move from 0002 DOUT OG#(2) 5 Step 3 to Step 4 (while the 0005 MOVL NWAIT 0003 RET...

  • Page 32: Interruption During Circular Interpolation Move Instruction (Movc)

    HW0482006 5.4 Interruption During Circular Interpolation Move Instruction (MOVC) Interruption During Circular Interpolation Move Instruction (MOVC) Job in progress 0000 NOP 0001 EI Interrupt job Interruption enabled 0002 MOVJ 0000 NOP 0003 MOVL 0001 MOVJ 0004 MOVC Interruption during move 0002 DOUT OG#(2) 5 0005 MOVC from Step 3 to Step 4...
  • Page 33 HW0482006 6 System with Independent Control In a system where an independent control is used simultaneously with the interrupt job func- tion, an interrupt job can be set and executed for each task. When using four tasks (eight tasks maximum) for the independent control, the table No. indi- cates the type of task being displayed as follows: Master task Table No.
  • Page 34 HW0482006 • EI and DI instructions are valid only in each individual task. For example, an EI instruc- NOTE tion in subtask 1 does not affect any interruption tables in the master task or in subtask 2. • The following instructions are used for independent control. PSEND PRCIV PSTART...

  • Page 35: Instruction List

    HW0482006 7 Instruction List < > indicates numerical or alphabetical data. If multiple items are shown in one section, select one of the items. Enables a specified interruption level. Function <Interruption level> 0 to 255 for B <Variable No.> constants. Additional LB <Variable No.>...
  • Page 36 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore Phone 65-6282-3003 65-6289-3003 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. MALAYSIA REPRESENTATIVE OFFICE B615, 6th Floor, East Wing, Wisma Tractors, No.7, Jalan SS 16/1, Subang Jaya, 47500 Petaling Jaya, Selangor D.E. Malaysia Phone 60-3-5031-5311 60-3-5031-5312 YASKAWA ELECTRIC (SHANGHAI) CO., LTD.

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