YASKAWA Motoman NX100 Manual

Macro command function

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Operator's manual (493 pages)

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Page 1 ® Motoman NX100 Controller Macro Command Function Manual Part Number: 149648-17CD Revision: Motoman, Incorporated 805 Liberty Lane West Carrollton, Ohio 45449 USA 937.847.6200 (Voice) 937.847.6277 (Fax) 937.847.3200 (24-Hour Support) www.motoman.com info@motoman.com...
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 Macro Command 149648-17 Chapter 1 Introduction About This Document This manual provides information for the Macro Command function and contains the following sections: CHAPTER 1 - INTRODUCTION Provides general information about the structure of this manual, a list of reference documents, and customer service information.
Page 4 Function Manual Chapter 1 Introduction Notes page 2 Final...
Page 5 Macro Command 149648-17 Chapter 2 Safety Introduction It is the purchaser’s responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed. We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems.
Page 6: Standard Conventions
Function Manual Chapter 2 Safety 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, Operation, and Maintenance Safety (Section 2.6) Standard Conventions This manual includes the following alerts in descending order of severity...
Page 7: General Safeguarding Tips
Macro Command 149648-17 General Safeguarding Tips 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: Installation Safety
Function Manual Chapter 2 Safety Installation Safety Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location.
Page 9 Macro Command 149648-17 • Any modifications to PART 1, System Section, of the robot controller concurrent I/O program can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1, System Section. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY! •...
Page 10 Function Manual Chapter 2 Safety Notes page 8 Final...
Page 11 YASKAWA NX100 OPTIONS INSTRUCTIONS FOR MACRO COMMAND FUNCTION Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN-UUU INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR’S MANUAL NX100 MAINTENANCE MANUAL The NX100 operator’s manual above corresponds 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
HW0482453 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 HW0482453 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: Registered Trademark
HW0482453 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 HW0482453 Outline Features ........1-1 Preparation of Macro Commands 2.1 Preparing a Macro Job .
Page 18 HW0482453 1 Outline The macro command function registers a prepared job as a macro command and then carries out the job by the macro command. With the macro command function, system integrators who apply various MOTOMAN robot systems can freely create INFORM (a robot programming language used in NX100) that cor- responds to each system.
Page 19: Preparation Of Macro Commands
HW0482453 2.1 Preparing a Macro Job 2 Preparation of Macro Commands The execution sequence of a macro command is registered as a macro job. The macro command function is enabled only when the security mode is in the manage- NOTE ment mode.
Page 20 HW0482453 2.1 Preparing a Macro Job Operation Explanation Select {NEW JOB CRE- The NEW JOB CREATE window appears. ATE} EDIT DISPLAY UTILITY NEW JOB CREATE JOB NAME COMMENT GROUP SET JOB TYPE ROBOT JOB EXECUTE CANCEL Main Menu Short Cut Enter the job name.
Page 21: Teaching A Macro Job
HW0482453 2.2 Teaching a Macro Job Teaching a Macro Job Teach a macro job which is prepared as a macro command in the same manner as normal jobs. A maximum of sixteen argument tags can be added to a macro command. Since the data of the argument tag is stored in a local variable to be used, the required number of local variables must be set in a "JOB HEADER"...
Page 22 HW0482453 2.2 Teaching a Macro Job Job Example Robot Job Macro Job: SEALON MOVJ VJ=100.00 GETARG LI000 IARG#(1) Stores the first argument WAIT IN#(1)=ON DOUT OT#(10) ON data "8" in the local variable MOVJ VJ=50.00 MUL LI000 10 LI000. SEALON WIDTH=8 WAIT IN#(10)=ON Outputs the analog voltage MOVL V=125...
Page 23: Registration Of Macro Commands
HW0482453 3 Registration of Macro Commands To register the macro job prepared in " 2.1 Preparing a Macro Job " as a macro command, display the MACRO (ROBOT) window or MACRO (CONCURRENT) window following the procedure below. The macro command function is enabled only when the security mode is in the manage- NOTE ment mode.
Page 24: Setting An Execution Macro Job
HW0482453 3.1 Setting an Execution Macro Job Setting an Execution Macro Job The execution macro jobs are macro jobs in which the operations to be carried out by a macro command are programmed. Note that the JOB CONTENT window of a macro command dis- plays the names of the jobs which are specified as execution macro jobs.
Page 25: Setting The Contents Of Argument Tag Added To The Macro Command
HW0482453 3.2 Setting the Contents of Argument Tag Added to the Macro Command Setting the Contents of Argument Tag Added to the Macro Command Set the contents of argument tag to be added to the registered macro command. This setting is not necessary for the macro command with no argument. Operation Explanation Point the cursor to the...
Page 26 HW0482453 3.2 Setting the Contents of Argument Tag Added to the Macro Command Operation Explanation (Continued from the COMMENT 1 (Up to 16 characters) previous page.) Point the cursor to COMMENT 1 and press [SELECT]. A character input window appears. Enter the contents of the argument tag added to the macro com- mand in the "COMMENT 1"...
Page 27 HW0482453 3.2 Setting the Contents of Argument Tag Added to the Macro Command Operation Explanation (Continued from the EXPRES'N (Up to 8 characters) previous page.) Point the cursor to EXPRES'N and press [SELECT]. The character input box appears. Enter the expression for the argument tag. Perform the settings for each item.
Page 28: Setting An Interruption Macro Job
HW0482453 3.3 Setting an Interruption Macro Job Setting an Interruption Macro Job If a post-processing is required when a macro command is interrupted, add an interruption macro job (SUSPEND JOB) to the grogram. The interruption macro job is carried out when a macro command that includes an interruption macro job (SUSPEND JOB) is interrupted by being putting on a status such as hold, emergency stop, or mode switching.
Page 29 HW0482453 3.3 Setting an Interruption Macro Job Operation Explanation Select the desired The selected macro job is registered as the interruption macro job. macro job. DATA EDIT DISPLAY UTILITY MACRO (ROBOT) EXECUTE JOB SUSPEND JOB MACRO1 SEALON CANCEL MACRO2 MACRO3 MACRO4 MACRO5 MACRO6...
Page 30 +49-8166-90-103 YASKAWA ELECTRIC KOREA CORPORATION 1F, Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone +82-53-382-7844 +82-53-382-7845 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741 Phone +65-6282-3003 +65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD. Unit 47-1 and 2. Jalan PJU 5/9, Dataran Sunway, Kota Damansara, 47810, Petailng Jaya Selangor, Malaysia...

YASKAWA Motoman NX100 Manual

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