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YASKAWA Motoman NX100 Manual

Servofloat function
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See also: Operator's Manual , Manual
Enlarged version
Motoman NX100 Controller
ServoFloat
Function Manual
Part Number:
149648-10CD
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 ServoFloat Function Manual Part Number: 149648-10CD 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 Sq„ˆ@xg† "'$"& %JCRVGT  +PVTQFWEVKQP This manual provides system information for the ServoFloat Control 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 SERVOFLOAT 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 HW0482018 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 HW0482018 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 HW0482018 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: Table Of Contents

    HW0482018 Servofloat Function 1.1 Link Servofloat Function ......1-1 1.2 Linear Servofloat Function ......1-2 1.3 Using the Link Servofloat Function and the Linear Servofloat Function .
  • Page 18 HW0482018 Application Example of the Servofloat Function 6.1 Movement Example ....... . 6-1 6.2 Job Example .

  • Page 19: Servofloat Function

    HW0482018 1.1 Link Servofloat Function 1 Servofloat Function The servofloat function of the NX100 consists of the link servofloat function and the linear ser- vofloat function. The link servofloat function controls the torque independently for each axis; and the linear servofloat function controls the torque on the Cartesian coordinates. Select these two functions by setting the servofloat instructions accordingly.

  • Page 20: Linear Servofloat Function

    HW0482018 1.2 Linear Servofloat Function Linear Servofloat Function When a manipulator pushes a workpiece or visa-versa, a movement to one predetermined direction may be desirable. With the link servofloat function, a servofloat motion in one direc- tion is not possible since torque control is performed independently for each axis. This function can specify the control of force in one direction within a space.

  • Page 21: The Servofloat Function

    HW0482018 2 The Servofloat Function Enable the servofloat function with the servofloat function start instruction FLOATON. It remains enabled until one of the following conditions is established. • Performing the a servofloat function end instruction FLOATOF • Performing the FWD/BWD key operation, jogging, or a job startup after the cursor is moved •...

  • Page 22: Moving With The Move Instruction

    HW0482018 2.1 Moving with the Move Instruction Moving with the Move Instruction If an external force prevents manipulator operation, the manipulator does not reach the taught position when the servofloat function is enabled. Even though the manipulator does not actu- ally reach the taught position, the instruction that would be activated at that position are none- theless enabled, so the move instruction terminated.

  • Page 23: Moving With The Timer And Wait Instructions

    HW0482018 2.2 Moving with the TIMER and WAIT Instructions Moving with the TIMER and WAIT Instructions When the servofloat function is enabled, torque control can be performed even during the TIMER and WAIT instructions. These instructions end when time is up or when a condition described in page 2-1 is established.

  • Page 24: Display During Servofloat Operation

    HW0482018 2.5 Display during Servofloat Operation Display during Servofloat Operation When the servofloat function is enabled, the message “Servo float activated” appears at the bottom of the programming pendant display, and the specific output 50274 “SERVOFLOAT ON R1” is output. Turning Servo ON Again During Servofloat Operation When the servo power has been turned OFF due to an emergency stop during servofloat...

  • Page 25: Servofloat Condition Files

    HW0482018 3 Servofloat Condition Files CAUTION • If the values for the maximum force and maximum torque are set too low, gravity may cause an arm to drop. The arm drop may cause an accident or damage to the devices. There are two kinds of servofloat condition files: the link servofloat condition file specified for the link servofloat function, and the linear servofloat condition file specified for the linear ser- vofloat function.

  • Page 26: Link Servofloat Condition File

    HW0482018 3.1 Link Servofloat Condition File Link Servofloat Condition File Operation Explanation Select {ROBOT} from the main menu Select The link servofloat window appears. {LINK SERVOFLOAT} DATA EDIT DISPLAY UTILITY LINK SERVOFLOAT    COND NO. :  1 / 8 +MAX.TORQUE(%) -MAX.TORQUE(%) FUNC R1 : S -100 -100 -100 PAGE MRESET  Turn on servo power...

  • Page 27: Linear Servofloat Condition File

    HW0482018 3.2 Linear Servofloat Condition File Linear Servofloat Condition File Operation Explanation Select {ROBOT} from the main menu Select The linear servofloat window appears. {LNR. SERVOFLOAT} DATA EDIT DISPLAY UTILITY LINEAR SERVOFLOAT    COND NO. :  1 / 8 COORDINATE ROBOT TOOL ORIENT'N FUNC           +MAX.FORCE               -MAX.FORCE R1 : FUNC           +MAX.TORQUE            -MAX.TORQUE R1 : PAGE MRESET  Turn on servo power Main Menu...

  • Page 28: Instructions For The Servofloat Function

    HW0482018 4.1 FLOATON Instruction 4 Instructions for the Servofloat Function FLOATON Instruction FLOATON is an instruction to enable and start the link servofloat function or the linear servof- loat function. Additional items for the FLOATON instruction are as follows: FLOATON FL#(1 to 8) LFL#(1 to 8) FL# ( ) (Setting range: 1 to 8)
  • Page 29 HW0482018 5.1 FLOATON Instruction 5 Registration of Instruction When in the job content display in teach mode, register an instruction with the cursor in the address area. Operation Explanation Select {JOB} from the main menu Select {JOB CONTENT} The job content window appears. UTILITY EDIT DISPLAY...

  • Page 30: Floaton Instruction

    HW0482018 5.1 FLOATON Instruction Operation Explanation Select “FLOATON” The “FLOATON” instruction appears in the input buffer line. =>   FLOATON Change any additional < To register without change> To register the instruction displayed in the input buffer line without items and numerical values any changes, go to step 5.

  • Page 31: Floatof Instruction

    HW0482018 5.2 FLOATOF Instruction FLOATOF Instruction Operation Explanation Move the cursor to the line where “FLOATOF” is to be registered Press [INFORM LIST] The instruction dialog box appears. IN/OUT CONTROL DEVICE MOTION ARITH SHIFT OTHER FLOATON SAME FLOATOF PRIOR Select “FLOATOF” The “FLOATOF”...
  • Page 32 HW0482018 5.3 Addition of SPDL Tag to a Move Instruction Operation Explanation Press [SELECT] The detail edit window appears. EDIT DISPLAY UTILITY DETAIL EDIT MOVJ VJ=  50.00 JOINT SPEED UNUSED POS LEVEL NWAIT UNUSED =>   MOVJ  VJ=50.00  Turn on servo power Main Menu Short Cut With the cursor on “UNUSED” for the “POS LEVEL”, press [SELECT].

  • Page 33: Application Example Of The Servofloat Function

    HW0482018 6.1 Movement Example 6 Application Example of the Servofloat Function When removing a workpiece from a die-casting machine, a large external force is applied to the manipulator during extraction after grasping it. In such a case, the following example is applicable using the servofloat function.
  • Page 34 HW0482018 6.1 Movement Example 2. Moves to the grasping starting point and performs the TIMER instruction, and then starts the servofloat function. 3. When function enabled, the manipulator grasps a “biscuit”. 4. After having grasped a workpiece, the “start extraction instruction” signal is output, and the manipulator performs an extracting motion.
  • Page 35 HW0482018 6.1 Movement Example 7. The manipulator returns to its normal motion and performs an extraction motion with the workpiece. Then, it returns to the home position.

  • Page 36: Job Example

    HW0482018 6.2 Job Example Job Example Explanation Instruction Moves to the waiting point. MOVJ VJ=50.0 Moves to the workpiece grasping point. MOVL V=300.0 Stops and waits for 0.5 seconds. TIMER T=0.50 Starts the linear servofloat function. FLOATON LFL#(1) Turns ON the “grasping instruction” signal. DOUT OT#(10)=1 (general output No.

  • Page 37: A Setting Example In The Linear Servofloat Condition File

    HW0482018 6.3 A Setting Example in the Linear Servofloat Condition File A Setting Example in the Linear Servofloat Condition File For the example described in “6.1 Movement Example”, set the servofloat condition file as fol- lows. In the example, the extracting direction corresponds to that of the Y-axis of the robot coordi- nates.

  • Page 38: A Setting Example For The Link Servofloat Condition File

    HW0482018 6.4 A Setting Example for the Link Servofloat Condition File A Setting Example for the Link Servofloat Condition File For the example described in “6.1 Movement Example”, specify the link servofloat condition file by specifying LF# as the FLOATON instruction file. In this case, a setting example is as follows.
  • Page 39 151 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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