YASKAWA Motoman NX100 Manual
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YASKAWA Motoman NX100 Manual

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/QVQOCP 0: %QPVTQNNGT
0:
%QPVTQNNGT /CPWCN
Part Number:
Release Date:
Document Version:
Document Status:
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
149201-1
February 5, 2004
3
Final

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Summary of Contents for YASKAWA Motoman NX100

  • Page 1 /QVQOCP 0: %QPVTQNNGT 0: %QPVTQNNGT /CPWCN Part Number: 149201-1 Release Date: February 5, 2004 Document Version: Document Status: Final 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. ©2003 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 HX "'  6CDNG QH %QPVGPVU %JCRVGT  +PVTQFWEVKQP %JCRVGT  5CHGV[ %JCRVGT  0: %QPVTQNNGT +PUVTWEVKQPU gsqÂÂu @u€gx...
  • Page 4 7€†„xxq„ Gg€‡gx HIT9S 016'5 gsqÂÂuu @u€gx...
  • Page 5 "'  %JCRVGT  +PVTQFWEVKQP The Motoman NX100 controller represents state-of-the-art technology in robotics today. The NX100 controller coodinates the operation of the robot with external equipment such as power supply and positioning tables. The NX100 processes input and output signals, maintains variable data, and performs numeric processing to convert to and from different coordinate systems.
  • Page 6 7€†„xxq„ Gg€‡gx 7tg‚†q„  C€†„p‡i†u€ 4GHGTGPEG VQ 1VJGT &QEWOGPVCVKQP For additional information refer to the following: • Manipulator Manual • Operator’s Manual for your application • Concurrent I/O Manual (P/N ) • 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.
  • Page 7 HX "'  %JCRVGT  5CHGV[ +PVTQFWEVKQP +V KU VJG RWTEJCUGT U TGURQPUKDKNKV[ VQ GPUWTG VJCV CNN NQECN EQWPV[ UVCVG CPF PCVKQPCN EQFGU TGIWNCVKQPU TWNGU QT NCYU TGNCVKPI VQ UCHGV[ CPF UCHG QRGTCVKPI EQPFKVKQPU HQT GCEJ KPUVCNNCVKQP CTG OGV CPF HQNNQYGF We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems.
  • Page 8 7€†„xxq„ Gg€‡gx 7tg‚†q„ Sgrq†‘ 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 Safety (Section 2.6) • Operation Safety (Section 2.7) •...
  • Page 9 HX "'  )GPGTCN 5CHGIWCTFKPI 6KRU 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 10 7€†„xxq„ Gg€‡gx 7tg‚†q„ Sgrq†‘ +PUVCNNCVKQP 5CHGV[ 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 11 HX "'  • Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to operate the system. • Inspect the robot and work envelope to be sure no potentially hazardous conditions exist.
  • Page 12 7€†„xxq„ Gg€‡gx 7tg‚†q„ Sgrq†‘ • All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot. This includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output) modifications.
  • Page 13 YASKAWA NX100 INSTRUCTIONS SUPPLEMENTARY FOR NORTH AMERICAN STANDARD (ANSI/RIA) 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 14 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 15 Notes for Safe Operation 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. Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and dam- CAUTION age to equipment.
  • Page 16 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 17 • Read and understand the Explanation of the Warning Labels 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 manipulator cable.
  • Page 18 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 19 Explanation of Warning Labels The following warning labels are attached to the manipulator and NX100. Fully comply with the precautions on the warning labels. WARNING • The label described below is attached to the manipulator. Observe the precautions on the warning labels. Failure to observe this caution may result in injury or damage to equipment.

  • Page 20: Table Of Contents

    Safety 1.1 For Your Safety ........1 1.2 Special Training .
  • Page 21 Turning ON and OFF the Power Supply 5.1 Turning ON the Main Power Supply ....5 5.1.1 Initial Diagnosis ........5-2 5.1.2 When Initial Diagnosis are Complete .
  • Page 22 " System I/O Signal Related to Start and Stop ... 7-14 " Connection of External Power Supply for I/O ... 7-16 "...

  • Page 23: Safety

    1.1 For Your Safety 1 Safety For Your Safety Robots generally have requirements which are different from other manufacturing equipment, such as larger working areas, high-speed operation, rapid arm movements, etc., which can pose safety hazards. Read and understand the instruction manuals and related documents, and observe all precau- tions in order to avoid the risk of injury to personnel and damage to equipment.
  • Page 24 • Teaching and maintaining the robot are specified as "Hazardous Operations" in the Industrial Safety and Health Law (Japan only). Workers employed in these above operations are requested to attend special training offered by YASKAWA.

  • Page 25: Special Training

    You should have the four manuals listed below: -MOTOMAN-### INSTRUCTIONS -NX100 INSTRUCTIONS -NX100 OPERATOR’S MANUAL Confirm that you have all these manuals on hand. If any manuals are missing, contact your salesman from YASKAWA’s local branch office. The relevant telephone numbers are listed on the back cover.

  • Page 26: Personnel Safety

    1.4 Personnel Safety Personnel Safety The entire manipulator P-point maximum envelope is potentially dangerous. All personnel working with the MOTOMAN (safety administration, installation, operation, and maintenance personnel) must always be prepared and "Safety First" minded, to ensure the safety of all personnel. CAUTION •...
  • Page 27 1.4 Personnel Safety CAUTION • Never forcibly move the manipulator axes. Failure to observe this caution may result in injury or equipment damage. • Never lean on NX100 or other controllers, and avoid inadvertently push- ing buttons. Failure to observe this caution may result in injury or damage by unexpected movement of the manipulator.

  • Page 28: Motoman Safety

    1.5 Motoman Safety Motoman Safety 1.5.1 Installation and Wiring Safety Refer to the MOTOMAN-### Instructions manual and NX100 Instructions for details on installation and wiring. In planning installation, adapt an easy to observe arrangement to ensure safety. Take safety into consideration when planning the installation. Observe the following when installing the manipulator: WARNING •...
  • Page 29 1.5 Motoman Safety CAUTION • Operation of the crane, sling, or forklift should only be performed by authorized personnel. Failure to observe this precaution may result in injury or equipment damage. MOTOMAN should be lifted with a crane using wire rope threaded through the shipping bolts and positioners and the body should be lifted in an upright posture as described in the manipulator instruction manual.
  • Page 30 1.5 Motoman Safety CAUTION • Be sure there is sufficient room for maintenance on the manipulator, NX100, and other peripheral equipment. Failure to observe this precaution could result in injury during maintenance. NX100 NX100 NX100 NX100/ TYPE POWER SUPPLY ERCR- PLAY   MODE 480V 50/60Hz 3PHASE...
  • Page 31 1.5 Motoman Safety CAUTION • Secure the position of the NX100 after setting up. Attach the NX100 to the floor or rack, etc., using the screw holes on the bottom of the NX100. NX100 NX100/ TYPE ERCR- POWER SUPPLY PLAY   MODE ENABLE 480V 50/60Hz 3PHASE...

  • Page 32: Work Area Safety

    1.5 Motoman Safety 1.5.2 Work Area Safety Carelessness contributes to serious accidents in the work area. To ensure safety, enforce the following precautions: WARNING • Install a safeguarding around the manipulator to prevent any accidental contact with the manipulator while the power is on. Post a warning sign stating "Off-limits During Operation"...

  • Page 33: Operation Safety

    1.5 Motoman Safety 1.5.3 Operation Safety WARNING • When attaching a tool such as the welding torch to the manipulator, be sure the power supply of the NX100 and the tool is off, lock the switch, and display a warning sign. NX100/ TYPE ERCR-...
  • Page 34 1.5 Motoman Safety WARNING • Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop button on the right of the front door of the NX100 and the programming pendant are pressed. And confirm that the servo lamp is turned off.
  • Page 35 1.5 Motoman Safety CAUTION • Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed. -Check for problems in manipulator movement. -Check for damage to the insulation and sheathing of external wires. •...

  • Page 36: Notes For Moving And Transferring The Motoman

    Contact your YASKAWA representative if you require new warning labels. • When the MOTOMAN is transferred, it is recommended to check with Yaskawa Engineering Co. which is listed on back cover of this manual. Incorrect installation or wiring may result in personal injury and property damage.

  • Page 37: Notes On Motoman Disposal

    1.7 Notes on MOTOMAN Disposal Notes on MOTOMAN Disposal CAUTION • When disposing of the MOTOMAN, follow the applicable national/local laws and regulations. • Anchor the manipulator well, even when temporarily storing it before disposal. Failure to observe this precaution may result in injury due to the manipulator falling down. 1-15...

  • Page 38: Product Confirmation

    2.1 Contents Confirmation 2 Product Confirmation Contents Confirmation Confirm the contents of the delivery when the product arrives. Standard delivery includes the following five items (Information for the content of optional goods is given separately): • Manipulator • NX100 • Programming Pendant •...

  • Page 39: Order Number Confirmation

    2.2 Order Number Confirmation Order Number Confirmation Confirm that the order number pasted on the manipulator and NX100 match. The order number plates are affixed to the figure below. THE MANIPULATOR AND THE CONTROLLER Example SHOULD HAVE SAME ORDER NUMBER. S4M160-2 O R D E R  ...

  • Page 40: Installation

    3.1 Handling Procedure 3 Installation Handling Procedure CAUTION • Crane, sling, and forklift operations must be performed only by autho- rized personnel. Failure to observe this caution may result in injury or damage. • Avoid jarring, dropping, or hitting the controller during handling. Excessive vibration or impacting the NX100 may adversely affect the performance of the NX100.

  • Page 41: Using A Forklift To Move The Controller

    3.2 Place of Installation 3.1.2 Using a Forklift to Move the Controller Observe the following precautions when using a forklift to handle the controller: • Confirm that there is a safe work environment and that the NX100 can be transported safely to the installation site.

  • Page 42: Location

    3.3 Location Location • Install the NX100 outside of the P-point maximum envelope of the manipulator (outside of the safeguarding). SAFEGUARD  NX100 DOOR 1000 mm or more 1000 mm or more 1000 mm or more WORKING ENVELOPE OF MANIPULATOR MAXIMUM WORKING ENVELOPE OF MANIPULATOR INCLUDING TOOL  OR WORKPIECE END 1000 mm or more • Install the controller in a location from which the manipulator is easily visible. •...
  • Page 43 3.3 Location • Install the controller at least 500mm from the nearest wall to allow maintenance access. Shows the external dimensions. NX100 NX100 NX100/ TYPE ERCR- POWER SUPPLY PLAY   MODE 480V INTERRUPT CURRENT 50/60Hz 3PHASE ENABLE SERIAL No. DATE MADE IN JAPAN NJ2533-1 WARNING NJ1530 High Voltage Do not open the door with power ON.

  • Page 44: Mounting The Controller

    3.4 Mounting the Controller Mounting the Controller CAUTION • Do not climb on top of the NX100. Failure to observe this caution could lead to injury or mechanical failure. Attach the controller to the floor using user-supplied brackets made according to the specifica- tions shown below.

  • Page 45: Connection

    4 Connection WARNING • The system must be grounded. Failure to ground equipment may result in injury from fire or electric shock. • Before grounding the system, turn off the power supply and lock the main power switch. Failure to observe this caution may result in injury and electric shock. •...

  • Page 46: Notes On Cable Junctions

    4.1 Notes on Cable Junctions CAUTION • Wiring must be performed only by authorized personnel. Incorrect wiring may cause fire and electric shock. • Perform wiring in accordance with the rated capacity as specified in the Instructions. Incorrect wiring may cause fire or mechanical breakdown. •...

  • Page 47: Power Supply

    4.2 Power Supply SAFETY FIRST LEAD PIPING cable channel NX100 Cable Junction Diagram Power Supply 4.2.1 Three-Phase Power Supply The three-phase power supply consists as follows: • With built-in transformer: 240/480/575 VAC at 50/60 Hz • Without built-in transformer: 200 VAC at 50/60 Hz and 220 VAC at 60 Hz The power failure processing circuit operates when there is a temporary black out or drop in voltage, and the servo power turns off.

  • Page 48: Noise Filter Installation

    4.2 Power Supply 4.2.2 Noise Filter Installation Insert the three-phase noise filter into the primary station of the fuse disconnect switch if you hear noise coming from the power source. Seal up each cable opening so that dust does not enter. NX100 (With built-in transformer) 3-phase...

  • Page 49: Primary Power Supply Switch Installation

    4.2 Power Supply 4.2.4 Primary Power Supply Switch Installation Install the primary power supply switch as shown. Breaker Breaker Breaker Power Controller NX100 for Positioner Source Installation of the Primary Power Supply Switch NX100 Power Capacities and Cable Sizes Power Cable size (size of terminal) Manipulator capacity (In case of Cabtyre cable (three wicks)) AWG...

  • Page 50: Connection Methods

    4.3 Connection Methods Connection Methods A connection diagram for the manipulator, manipulator cable, primary power cable and pro- gramming pendant is shown below. Primary power supply cable Manipulator NX100 NX100/ TYPE ERCR- PLAY   MODE POWER SUPPLY 480V 50/60Hz 3PHASE ENABLE INTERRUPT CURRENT SERIAL No. DATE MADE IN JAPAN NJ2533-1 ＴＨＥ ＭＡＮＩＰＵＬＡＴＯＲ ＡＮＤ ＣＯＮＴＲＯＬＬＥＲ...
  • Page 51 4.3 Connection Methods (2) Rotate the main power supply switch to the "OFF" position and open the door gen- tly. NX100/ ERCR- TYPE POWER SUPPLY 480V 50/60Hz 3PHASE INTERRUPT CURRENT SERIAL No. DATE MADE IN JAPAN NJ2533-1 THE MANIPULATOR AND THE CONTROLLER SHOULD HAVE SAME ORDER NUMBER. NJ1530 WARNING High Voltage Main power supply switch Do not open the door (Fuse disconnect switch) with power ON.
  • Page 52 4.3 Connection Methods (2) Connect a ground wire to reduce noise and prevent electric shock. 1) Connect the ground wire to the ground terminal (screw) of the fuse disconnect switch which is on the upper left side of NX100 . Ground wire Ground terminal ...
  • Page 53 4.3 Connection Methods (3) Connect the primary power supply cable. Connection of the Primary Power Supply Cable (4) Install the cover and tighten the cover screws. Install the Cover...

  • Page 54: Connecting The Manipulator Cable

    4.3 Connection Methods 4.3.2 Connecting the Manipulator Cable 1. Remove the package, and take out the manipulator cable. Connect the cable to the connectors on each side of NX100. Connection of the Manipulator Cable For more information on connecting the manipulator cable, please refer to the Instruction NOTE Manual which corresponds to the particular NX100 model.

  • Page 55: Connecting The Programming Pendant

    4.3 Connection Methods 4.3.3 Connecting the Programming Pendant Connect the programming pendant cable to the connector on the door lower right side of the controller cabinet. Alignment mark Connecting the Programming Pendant The manipulator, NX100, and the programming pendant connections are now complete. 4-11...

  • Page 56: Turning On And Off The Power Supply

    5.1 Turning ON the Main Power Supply 5 Turning ON and OFF the Power Supply WARNING • Confirm that nobody is present in the P-point maximum envelope of the manipulator when turning on NX100 power supply. Failure to observe this caution could result in injury caused by accidental contact with the manipulator.

  • Page 57: Initial Diagnosis

    5.1 Turning ON the Main Power Supply 5.1.1 Initial Diagnosis The initial diagnosis are performed in the NX100 when main power is turned on, and the star- tup window is shown on the programming pendant screen. Startup Window 5.1.2 When Initial Diagnosis are Complete When the power supply is turned off, the NX100 saves all condition data, including: •...

  • Page 58: Turning On The Servo Power

    5.2 Turning ON the Servo Power Turning ON the Servo Power 5.2.1 During Play Mode The worker’s safety is secure if the safety plug is turned on. 1. When the safeguarding is closed, press [SERVO ON READY] on the programming pendant to turn on the servo power sup- SERVO ON READY ply.

  • Page 59: Procedures For Operation Mode Change

    5.2 Turning ON the Servo Power Procedures for Operation Mode Change " Change of Operation Mode to PLAY Mode Operation Explanation Set the mode switch on P.P. The message “Push PLAY MODE ENABLE.” is shown on the message window located bottom right of P.P. screen. to [PLAY].
  • Page 60 5.2 Turning ON the Servo Power Change of Operation Mode to TEACH Mode Operation Explanation Set the mode switch on P.P. PLAY to [TEACH]. MODE ENABLE The [PLAY MODE ENABLE] switch is turned off and the operation mode is changed to TEACH mode. The mode status icon located up right of the programming pen- TEACH REMOTE...

  • Page 61: During Teach Mode

    5.2 Turning ON the Servo Power 5.2.3 During Teach Mode 1. Press [SERVO ON READY] on the programming pendant to turn on the servo power supply. [SERVO ON] lamp will flicker SERVO ON READY when the servo power is turned on. Flicker SERVO ON 2.

  • Page 62: Turning Off The Power Supply

    5.3 Turning OFF the Power Supply Turning OFF the Power Supply 5.3.1 Turning OFF the Servo Power (Emergency Stop) The manipulator cannot be operated when the emergency stop button is pressed and the servo power supply is turned off. Turning the Servo Power Off •...

  • Page 63: Nx100 Specification

    6 NX100 Specification WARNING • Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the NX100 and the programming pendant are pressed. Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
  • Page 64 CAUTION • Perform the following inspection procedures prior to performing teach- ing operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed. - Check for problems in manipulator movement. - Check for damage to the insulation and sheathing of external wires. •...

  • Page 65: Specification List

    6.1 Specification List Specification List Controller Construction Free-standing, enclosed type Dimensions Refer to following Cooling System Indirect cooling Ambient Temperature 0°C to + 45°C (During operation) -10°C to + 60°C (During transit and storage) Relative Humidity 10% to 90%RH (non-condensing) Power Supply 3-phase, 240/480/575 VAC (+10% to -15%) at 50/60 Hz (±2%) (Built-in transformer tap switchable)

  • Page 66: Function List

    6.2 Function List Function List Programming Coordinate System Joint, Rectangular/Cylindrical, Tool, User Coordinates Pendant Modification of Adding, Deleting, Correcting (Robot axes and external axes Operation Teaching Points respectively can be corrected.) Inching Operation Possible Path Confirmation Forward/Reverse step, Continuous feeding Speed Adjustment Fine adjustment possible during operating or pausing Timer Setting...

  • Page 67: Programming Pendant

    6.3 Programming Pendant Programing Programming Interactive programming Functions Language Robot language: INFORM II Robot Motion Con- Joint coordinates, Linear/Circular interpolations, Tool coordi- trol nates Speed Setting Percentage for joint coordinates, 0.1mm/s units for interpola- tions, Angular velocity for T.C.P. fixed motion Program Control Jumps, Calls, Timer, Robot stop, Execution of some instruc- Instructions...

  • Page 68: Equipment Configuration

    6.4 Equipment Configuration Equipment Configuration The NX100 is comprised of individual units and modules (circuit boards). Malfunctioning com- ponents can generally be easily repaired after a failure by replacing a unit or a module. This section explains the configuration of the NX100 equipment. 6.4.1 Arrangement of Units and Circuit Boards "...
  • Page 69 6.4 Equipment Configuration Robot I/F Unit JZNC-NIF01 Major Axes Control Backside Duct Fan Circuit Board SGDR-AXA01A Fuse Disconect Switch 4715MS-22T-B50-B00 Emergency Stop Button (For air inlet) 194RF-NC030R14 Control Power HW1B-V404R Supply CPS-420F Regenerative Resistor POWER CPS-NX1 SUPPLY DATE Fuji Electric Co.,Ltd. JAPAN SOURCE 03 04 05 06 13 14 15 16 08 09 10 18 19 20 MRC22-125K-220W-12.5 ...

  • Page 70: Cooling System Of The Controller Interior

    6.4 Equipment Configuration 6.4.2 Cooling System of the Controller Interior draws in air from the air intake and expels it from the air outlet to cool the backside duct fan SERVOPACK. The fan mounted inside the door circulates the air to keep temperature even through- out the interior of the NX100.

  • Page 71: Description Of Units And Circuit Boards

    Description of Units and Circuit Boards WARNING • Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the NX100 and the programming pendant are pressed. Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.

  • Page 72: Power Supply Contactor Unit

    7.1 Power Supply Contactor Unit CAUTION • Perform the following inspection procedures prior to performing teach- ing operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed. - Check for problems in manipulator movement. - Check for damage to insulation and sheathing of external wires.
  • Page 73 7.1 Power Supply Contactor Unit Power Supply Contactor Sequence Circuit Board JANCD-NTU01- (CN08) (4X) Brake Output Connector Main Power Supply Input (3FU) Fuse for Brake SMP50 (5A 125V) (CN07) (1FU)(2FU) Robot Connection Fuse for AC Control  Power Supply (CN06) 326010 (10A 250V) External Signal Connection 10A 250V 10A 250V (1KM) Contactor (CN05) (1Z) Line Filter (CN04) TU Hot Line I/O (2KM) Contactor (3X) CPS Power Supply Output (CN03) DC24V Input (2X) (CN02) AC Fan Power Supply DC24V Input (S1) (1X) Switch for MECHATROLINK...

  • Page 74: Power Supply Contactor Sequence Circuit Board

    7.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01-#) Power Supply Contactor Sequence Circuit Board (JANCD-NTU01-#) The power supply contactor sequence circuit board is controlled by the major axes circuit board (SGDR-AXA01A). The main functions of the contactor circuit board are as follows: •...
  • Page 75 7.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01-#) Power supply contactor unit  Manipulator JZRCR-NTU !! PC-2005M (manufactured by NICHIFU Co., Ltd.) CN07 +24V Manipulator cable (signal) +24V2 +24V (manufactured by NICHIFU Co., Ltd.) PC-2005M PC2005W (manufactured  by NICHIFU Co., Ltd.) Shock sensor  PC2005M (manufactured  (Option) by NICHIFU Co., Ltd.) SHOCK SHOCK- Shock sensor signal cable PC-2005W  (manufactured by NICHIFU Co., Ltd.) Fig. 1 Direct Connection to Tool Shock Sensor Signal Line To connect the tool shock sensor with the cable that is built into the manipulator 1.

  • Page 76: Connection For External Axis Overrun (Exot)

    7.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01-#) Connection for External Axis Overrun (EXOT) " With a unit of standard specifications without an external axis, the external axis overrun input signal is not used. In this case, a jumper cable is connected as shown in the following figure. If an overrun input signal for an axis other than manipulator axes, for example the external axis, is required, connect the signal input circuit in the following manner.

  • Page 77: Connection For Servo-On Enable Input

    7.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01-#) Connection for Servo-ON Enable Input (ON_EN1 and ON_EN2) " Connect the ON_EN signal lines to enable the function to turn ON or OFF the servo power supply of an individual servo when a robotic system is divided into areas. Because these signals are not used for units of standard specifications, a jumper cable is connected as shown in the following figure.

  • Page 78: Cpu Unit

    7.3 CPU Unit CPU Unit 7.3.1 CPU Unit Configuration CPU unit consists of the control power supply, circuit board racks, control circuit boards, robot I/F unit, and major axes control circuit boards. The JZNC-NRK01 CPU unit contains only cir- cuit board racks and control circuit boards. It does not contain the control power supply, the robot I/F unit, and the major axes control circuit board.

  • Page 79: Units And Circuit Boards In The Cpu Unit

    7.3 CPU Unit 7.3.2 Units and Circuit Boards in the CPU Unit " Control Circuit Board (JANCD-NCP01) This board performs to control the entire system, display to the programming pendant, control the operating keys, control operation, calculate motion type. This board has the Serial inter- face for RS-232C, video output, PS2 connector, and LAN (100BASE-TX/10BASE-T).
  • Page 80 7.3 CPU Unit Items Specifications To turn on the NX100 controller power, turn the non-fuse breaker of con- troller to the ON position then turning on the control power supply. If the controller is not located at the workplace, the non-fuse breaker of control- ler can be turned ON and OFF by input from external device.

  • Page 81: Wago Connector

    7.3 CPU Unit " WAGO Connector CN06, 07 on the power supply contactor unit (JZRCR-NTU##-#), CN02 on the control power supply (CPS-420F), and CN12 on the robot I/F unit (JZNC-NIF01) are equipped with a connector made by WAGO. The “wiring tool for the WAGO connector” is necessary to wire the WAGO connector. Two of these tools are supplied with the NX100.

  • Page 82: Major Axes Control Circuit Board (Sgdr-Axa01A)

    7.3 CPU Unit Major Axes Control Circuit Board (SGDR-AXA01A) " The major axes control circuit board (SGDR-AXB01A) controls the servomotors of the manipulator’s six axes. It also controls the converter, the PWM amplifiers, and the power supply contactor sequence circuit board of the power supply contactor unit. Mounting an external axes control circuit board of an option (SGDR-AXF01A) control the servomotor of nine axes, including the robot axes.

  • Page 83: Connection Wire With Robot User I/O Connector

    7.3 CPU Unit Connection wire with Robot User I/O Connector (CN07, 08, 09, 10) " Please refer to the figure below when you manufacture the cable connecting with robot user I/O connector (CN07, 08, 09, 10) of robot I/F unit (JZNC-NIF01). (The cable side connector and the I/O terminal block are the options) Connector A detailed (Cable side) Connector Type: FCN-361J040-AU (Fujitsu)

  • Page 84: System I/O Signal Related To Start And Stop

    7.3 CPU Unit System I/O Signal Related to Start and Stop " The following signals are system I/O signals related to start and stop. • Servo ON (depending on application: JANCD-NIO01) • External Servo ON (common to all application: System input terminal block MXT) •...
  • Page 85 7.3 CPU Unit Example of Start Sequence Circuit from External Device Only the rising edge of the external start signal is valid. This signal starts the manipulator. Reset this signal with the interlock configuration that determines if operation can start and with the playback (RUNNING) signal confirming that the manipulator has actually started moving.

  • Page 86: Connection Of External Power Supply For I/O

    7.3 CPU Unit Connection of External Power Supply for I/O " At factory setting, the internal power supply for I/O is used. If the external power supply for I/O is used, connect it with following procedure. 1. Remove the wire connected between CN12-1 to -3 and CN12-2 to -4 of the robot I/F unit.

  • Page 87: Robot System Input Terminal Block (Mxt)

    7.3 CPU Unit Robot System Input Terminal Block (MXT) " The following signals are provided for the robot system input terminal block (MXT). Refer to the robot system input terminal block connection diagram for the connection. NX100 Inside Bottom Face (The figure shows the bottom face   of the NX100 inside viewed from   the angle looking down from the   top.) (MXT) (MXT)
  • Page 88 7.3 CPU Unit Wiring Procedure of the MXT Connector For your safety, appropriate work must be done by following the instructions below. Tools For the connection, be sure to use a screwdriver of an applicable size and configuration. Screwdriver * WAGO standard screwdriver WAGO 210-119 WAGO 210-119SB (Short, delivered with the product)

  • Page 89: External Emergency Stop

    7.3 CPU Unit NOTE For dual input signals, wire the circuits so that both input signals are turned ON or OFF at the same time. If only one signal is turned ON, an alarm occurs. " External Emergency Stop This signal is used to connect the emergency stop switch of an external device. If the signal is input, the servo power is turned OFF and the job is stopped.

  • Page 90: Safety Plug

    7.3 CPU Unit Safety Plug " This signal is used to turn OFF the servo power if the door on the safeguarding is opened. Connect to the interlock signal from the safety plug on the safeguarding door. If the interlock signal is input, the servo power turns OFF.
  • Page 91 7.3 CPU Unit Installation of Safety Plug The manipulator must be surrounded by a safeguarding and a door protected by an interlock function. The door must be opened by the technician to enter and the interlock function stops the robot operation when the door is open. The safety plug input signal is connected to the interlock signal from the gate.

  • Page 92: Maintenance Input

    If the circuit for this signal must be used for an unavoidable reason, be sure to use a switch with a key that is kept under the care of the system manager. WARNING • This signal is used only for maintenance by YASKAWA’s service person- nel. For your safety, never use this signal for any purpose.

  • Page 93: Full-Speed Test

    7.3 CPU Unit Full-speed Test " This signal is used to reset the slow speed limit for the test run in the teach mode. If this signal input circuit is short-circuited, the speed of the test run becomes 100% in the teach mode.

  • Page 94: External Servo On

    7.3 CPU Unit External Servo ON " This signal is used to connect the servo ON switch of an external operation device. If the signal is input, the servo power supply is turned ON. NX100 Robot system input terminal block External servo ON +24V2 EXSVON Connection for External Servo ON "...

  • Page 95: External Enable Switch

    7.3 CPU Unit External Enable Switch " This signal is used to connect a Enable switch other than the one on the programming pendant when two people are teaching. CAUTION • Always connect the signals after removing jumper cable. Injury or damage to machinery may result because the external emergency stop do not work even if the signal is input.

  • Page 96: Direct-In 1 To 4 (Option)

    7.3 CPU Unit Direct-in 1 to 4 (Option) " NX100 Robot system input terminal block 024V CPDIN1 Direct-in 1 Direct-in 2 CPDIN2 Direct-in 3 CPDIN3 CPDIN4 Direct-in 4 CPDINCOM +24V2 Connection for Direct-in 1 to 4 " Direct-in (Servo) 1 to 5 This signal is used to input a responsive signal in search functions. NX100 Robot system input terminal block 024V...
  • Page 97 7.3 CPU Unit Signal Connection Dual Factory Function Name No. (MXT) input Setting EXESP1 Appli- External Emergency Stop Short-circuit cable with a jumper Used to connect the emergency stop cable switch of an external device. EXESP2 If the signal is input, the servo power is turned OFF and the job is stopped.
  • Page 98 7.3 CPU Unit Signal Connection Dual Factory Function Name No. (MXT) input Setting − EXSVON External Servo ON Open Use to connect the servo ON switch of an external operation device. If the signal is input, the servo power supply is turned ON. −...

  • Page 99: Contact Output Of Emergency Stop Button

    7.4 Contact Output of Emergency Stop Button Contact Output of Emergency Stop Button The contact output terminals for the emergency stop button on the programming pendant and the door front are provided on the terminal board 2XT (screw size M3.5) on NX100. These contact outputs are always valid no matter of the NX100 main power supply status ON or OFF.

  • Page 100: Servopack

    7.5 SERVOPACK SERVOPACK A SERVOPACK consists of a converter and a PWM amplifier of which there are two types. One type is the SERVOPACK with a combined converter and a PWM amplifier and the other type is one where both units are separate. (Refer to attached table “SERVOPACK Configuration”).
  • Page 101 7.5 SERVOPACK HP20, EA1900N UP50N UP20MN Configuration device Model Model SERVOPACK SGDR-HP20Y30 SGDR-EH50Y24 SGDR-EH50Y27 SGDR-SDA140A01B SGDR-SDA710A01BY32 SGDR-SDA710A01B Amplifier SGDR-SDA350A01BY23 SGDR-SDA710A01B SGDR-SDA710A01B SGDR-SDA140A01BY22 SGDR-SDA350A01BY28 SGDR-SDA350A01B SGDR-SDA060A01B SGDR-SDA140A01B SGDR-SDA060A01B SGDR-SDA060A01BY31 SGDR-SDA140A01B SGDR-SDA060A01B SGDR-SDA060A01B SGDR-SDA140A01B SGDR-SDA060A01B Converter SGDR-COA080A01B SGDR-COA250A01B SGDR-COA250A01B ES165N, HP165, ES200N ES165RN, ES200RN Configuration device Model...
  • Page 102 7.5 SERVOPACK (AMP4 to AMP6-CNP6) Converter Motor Power Output Top Grip Charge Lamp (CN102) PWM Amplifier  Control Power Supply (AMP4 to AMP6-CN1) PWM Signal (CN101) DC Control Power Supply Monitor Alarm Display LED (CN1) PWM Amplifier  X6 Converter Control Signal (CNP11) AC Control Power Supply (AMP1 to AMP3-CN1) PWM Signal (CNP1) Three-phase AC Power Supply (AMP1 to AMP3-CNP6) Ground Terminal Motor Power Output Bottom Grip (CNP3) Regenerative Resistor SERVOPACK Configuration for HP6 and EA1400N Converter SERVOPACK Charge Lamp (AMP4 to AMP6-CNP6) Motor Power Output Top Grip Top Grip...
  • Page 103 7.5 SERVOPACK Converter (AMP4 to AMP6-CNP6) SERVOPACK Charge Lamp Top Grip Motor Power Output Top Grip (CN102) PWM Amplifier  Control Power Supply (AMP4 to AMP6-CN1) (CN101) PWM Signal DC Control Power Supply Monitor Alarm Display LED (CN1) Converter Control Signal PWM Amplifier  X6 (CNP4) PN Power Supply (CNP11) AC Control Power Supply (AMP1 to AMP3-CN1) PWM Signal Ground Terminal (CNP1) (AMP1 to AMP3-CNP6) Three-phase  Motor Power Output AC Power Supply Ground Terminal Bottom Grip (CNP3) Regenerative Resistor SERVOPACK Configuration for UP50N Converter SERVOPACK Charge Lamp...

  • Page 104: User I/O Signal Assignment

    7.6 User I/O Signal Assignment User I/O Signal Assignment 7.6.1 Arc Welding NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Name Signal Number Number  Number Each Point External Start 20010 24VDC 20011 8mA  max.  Call Master Job 20012 Alarm/Error Reset 20013 20014 20015 20016 20017 Interference1 Entrance ...
  • Page 105 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN10 Connector Logical Terminal Connector Signal Number  Number Number Each Point 20024 24VDC 20025 8mA  max.  Weaving Prohibited 20026 Sensing Prohibited 20027 IN01 User Output 20030 IN02 20031 IN03 20032 IN04 20033 IN05 20034 IN06 20035 IN07 20036 IN08...
  • Page 106 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN07 Connector Logical Connector Terminal Signal Number Number  Number Each Point IN09  User Input 20040 24VDC IN10 20041 8mA  max.  IN11 20042 IN12 20043 20044 IN13 IN14 20045 IN15 20046 IN16 20047 OUT09 User Output 30040 OUT10 30041 OUT11...
  • Page 107 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN08 Connector Logical Connector Terminal Signal Number Number  Number Each Point IN17 20050 24VDC IN18 20051 8mA  max.  IN19 20052 IN20 20053 IN21 20054 IN22 20055 IN23 20056 IN24 20057 OUT17- 30050 OUT17+ OUT18- 30051...
  • Page 108 7.6 User I/O Signal Assignment System Input List NIO01 (Arc Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20022 WORK PROHIBITED (Arc Generation Prohib- Functions the same as the [START] button in ited) the programming pendant.
  • Page 109 7.6 User I/O Signal Assignment System Output List NIO01 (Arc Welding) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30021 IN CUBE 2 This signal signifies that the job is running. This signal turns ON when the current TCP lies (Signifies that the job is running, system status inside a pre-defined space (Cube 2).

  • Page 110: Handling

    7.6 User I/O Signal Assignment 7.6.2 Handling NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Name Signal Number Number  Number Each Point External Start 20010 24VDC 20011 8mA  max.  Call Master Job 20012 Alarm/Error Reset 20013 20014 20015 20016 20017 Interference1 Entrance  20020 Prohibited Interference2 Entrance  20021 Prohibited 20022...
  • Page 111 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN10 Connector Logical Terminal Connector Signal Number  Number Number Each Point 20024 24VDC 20025 8mA  max.  Shock Sensor (NC) 20026 - Hold Low Air Pressure 20027 IN01  User Input 20030 IN02 20031 IN03 20032 IN04 20033 IN05 20034 IN06 20035 IN07 20036...
  • Page 112 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN07 Connector Connector Logical Terminal Signal Number Number  Number Each Point IN09 20040 24VDC IN10 20041 8mA  max.  IN11 20042 IN12 20043 IN13 20044 IN14 20045 IN15 20046 IN16 20047 OUT09 30040 OUT10 30041 OUT11...
  • Page 113 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN08 Connector Logical Connector Terminal Signal Number Number  Number Each Point Sensor Input 1 20050 24VDC Sensor Input 2 20051 8mA  max.  Sensor Input 3 20052 Sensor Input 4 20053 Sensor Input 5 20054 Sensor Input 6 20055 Sensor Input 7 20056 Sensor Input 8 20057 Hand Value 1-1- 30050 Hand Value 1-1+ Hand Value 1-2- 30051...
  • Page 114 7.6 User I/O Signal Assignment System Input List NIO01 (Handling) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20021 INTERFERENCE 2 ENTRANCE PROHIB- Functions the same as the [START] button in ITED the programming pendant. Only the rising If the manipulator attempts to enter the cube edge of the signal is valid.
  • Page 115 7.6 User I/O Signal Assignment System Output List NIO01 (Handling) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30021 IN CUBE 2 This signal signifies that the job is running. This signal turns ON when the current TCP lies (Signifies that the job is running, system status inside a pre-defined space (Cube 2).

  • Page 116: General Application

    7.6 User I/O Signal Assignment 7.6.3 General Application NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Signal Name Number Number  Number Each Point External Start 20010 24VDC 20011 8mA  max.  Call Master Job 20012 Alarm/Error Reset 20013 20014 20015 20016 20017 Interference1 Entrance  20020 Prohibited Interference2 Entrance ...
  • Page 117 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN10 Connector Logical Connector Terminal Signal Number Number  Number Interference3 Entrance  Each Point 20024 Prohibited 24VDC Interference4 Entrance  20025 Prohibited 8mA  max.  20026 20027 IN01 User Input 20030 IN02 20031 IN03 20032 IN04 20033 IN05 20034 IN06 20035 IN07...
  • Page 118 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN07 Connector Logical Connector Terminal Signal Number Number  Number Each Point 20040 IN01  User Input 24VDC 20041 IN02 8mA  max.  IN03 20042 20043 IN04 20044 IN05 IN06 20045 IN07 20046 IN08 20047 OUT09 User Output 30040 OUT10 30041 OUT11...
  • Page 119 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN08 Connector Logical Connector Terminal Signal Number Number  Number Each Point IN17 20050 24VDC IN18 20051 8mA  max.  IN19 20052 IN20 20053 IN21 20054 IN22 20055 IN23 20056 IN24 20057 OUT17- 30050 OUT17+ OUT18- 30051...
  • Page 120 7.6 User I/O Signal Assignment System Input List NIO01 (General application) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20021 INTERFERENCE 2 ENTRANCE PROHIBITED Functions the same as the [START] button in If the manipulator attempts to enter the cube the programming pendant.
  • Page 121 7.6 User I/O Signal Assignment System Output List NIO01 (General application) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30021 IN CUBE 2 This signal signifies that the job is running. This signal turns ON when the current TCP lies (Signifies that the job is running, system status inside a pre-defined space (Cube 2).

  • Page 122: Spot Welding

    7.6 User I/O Signal Assignment 7.6.4 Spot Welding NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Connector Logical Terminal Name Signal Number Number  Number Each Point External Start 20010 24VDC 20011 8mA  max.  Call Master Job 20012 Alarm/Error Reset 20013 20014 20015 20016 20017 Interference1 Entrance  20020 Prohibited Interference2 Entrance ...
  • Page 123 7.6 User I/O Signal Assignment NX100 Robot I/F-Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN10 Connector Logical Connector Terminal Signal Number Number  Number Each Point Interference3 Entrance  20024 Prohibited 24VDC Interference4 Entrance  20025 Prohibited 8mA  max.  20026 20027 IN1 User Input 20030 20031 20032 20033 20034 20035 20036 20037 24  24 ...
  • Page 124 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN07 Connector Logical C o n n e c t o r Terminal Signal Number N u m b e r  Number Each Point IN17 20040 24VDC IN18 20041 8mA  max.  IN19 20042 IN20 20043...
  • Page 125 7.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN08 Connector Logical C o n n e c t o r Terminal Signal Number N u m b e r  Number Each Point Timer Cooling Water 20050 Error (IN09) 24VDC Gun Cooling Water 20051 Error (IN10) 8mA  max. ...
  • Page 126 7.6 User I/O Signal Assignment System Input List NIO01 (Spot Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20024 INTERFERENCE 3 ENTRANCE PROHIBITED Functions the same as the [START] button in If the manipulator attempts to enter the cube the programming pendant.
  • Page 127 7.6 User I/O Signal Assignment System Input List NIO01 (Spot Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20045 WELDING ERROR GUN SHORT OPEN DETECTION This signal indicates an abnormal welding This signal is connected with a single gun open result or Power Source’s error.
  • Page 128 7.6 User I/O Signal Assignment System Output List NIO01 (Spot Welding) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30023 INTERMEDIATE START OK This signal signifies that the job is running. This signal turns ON when the manipulator (Signifies that the job is running, system status operates.
  • Page 129 7.6 User I/O Signal Assignment System Output List NIO01 (Spot Welding) Logical Logical Output Name / Function Output Name / Function Number Number 30040 TIP REPLACE REQUEST 30506 to SHUT OFF VALVE CONTROL This signal is output when the stored number 30507 This signal is ON and water flows into the gun of welding reaches the number of welding set...

  • Page 130: Jancd-Xew01 Circuit Board

    7.6 User I/O Signal Assignment 7.6.5 JANCD-XEW01 Circuit Board " Arc Welding There are two types of XEW01 circuit board as follows; XEW01-1 (standard): Analog Outputs 3 ports + Status Signal Input of a Welder × XEW01-2: Analog Outputs 3 ports only ×...
  • Page 131 7.6 User I/O Signal Assignment 7-61...
  • Page 132 ... external emergency stop 7-14 , 7-19 , 7-27 ......external enable switch 7-25 , 7-28 ......external hold 7-14 , 7-24 , 7-28 ......acceleration/deceleration ..... external servo ON 7-14 , 7-24 , 7-28 ..........alarm display ..........external start 7-14 ........
  • Page 133 ............safety ........safety plug 7-20 , 7-27 ..........self-diagnosis ..........machine lock ......SENSlNG PROHIBITED 7-38 ......maintenance input 7-22 , 7-27 ........SENSOR INPUT 7-44 major axes control circuit board ........SERVO ON 5-3 , 7-14 ........(SGDR-AXA01A) 7-12 ........
  • Page 134 ......... WELD ON/OFF 7-58 ......WELDING COMMAND 7-58 ........WELDING ERROR 7-57 ..WELDING ON/OFF (from sequencer) 7-56 ... WELDING PAUSE (from sequencer) 7-56 ....WIRE SHORTAGE (MONITOR) 7-39 ....WIRE STICKING (MONITOR) 7-39 ........WORK COMMAND 7-51 WORK PROHIBITED ......
  • Page 135 49-8166-90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone 82-53-745-7844 82-2-784-8495 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore Phone 65-6282-3003 65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD. No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia...
  • Page 136 YASKAWA NX100 INSTRUCTIONS 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 137 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 138 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 139 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 140 • Read and understand the Explanation of the Warning Labels 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 manipulator cable.
  • Page 141 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 142 Explanation of Warning Labels The following warning labels are attached to the manipulator and NX100. Fully comply with the precautions on the warning labels. WARNING • The label described below is attached to the manipulator. Observe the precautions on the warning labels. Failure to observe this caution may result in injury or damage to equipment.
  • Page 143 Safety 1.1 For Your Safety ........1 1.2 Special Training .
  • Page 144 Turning ON and OFF the Power Supply 5.1 Turning ON the Main Power Supply ....5 5.1.1 Initial Diagnosis ........5-2 5.1.2 When Initial Diagnosis are Complete .
  • Page 145 System Up Outline of System Up Security System 8.1 Protection Through Security Mode Settings ..8 8.1.1 Security Mode ........8-1 Changing the Security Mode .
  • Page 146 9.8 Work Home Position ......9 9.8.1 What is the Work Home Position?..... .9-31 9.8.2 Setting Work Home Position .
  • Page 147 9.13 Instruction Level Setting ......9 9.13.1 Setting Contents ........9-78 Instruction Set.
  • Page 148 NX100 Specification 11.1 Specification List ....... . 11 11.2 Function List .
  • Page 149 12.5 SERVOPACK ........12 12.5.1 Description of Each Unit ......12-33 Converter .
  • Page 150 1.1 For Your Safety 1 Safety For Your Safety Robots generally have requirements which are different from other manufacturing equipment, such as larger working areas, high-speed operation, rapid arm movements, etc., which can pose safety hazards. Read and understand the instruction manuals and related documents, and observe all precau- tions in order to avoid the risk of injury to personnel and damage to equipment.
  • Page 151 • Teaching and maintaining the robot are specified as "Hazardous Operations" in the Industrial Safety and Health Law (Japan only). Workers employed in these above operations are requested to attend special training offered by YASKAWA.
  • Page 152 You should have the four manuals listed below: -MOTOMAN- INSTRUCTIONS -NX100 INSTRUCTIONS -NX100 OPERATOR’S MANUAL Confirm that you have all these manuals on hand. If any manuals are missing, contact your salesman from YASKAWA’s local branch office. The relevant telephone numbers are listed on the back cover.
  • Page 153 1.4 Personnel Safety Personnel Safety The entire manipulator P-point maximum envelope is potentially dangerous. All personnel working with the MOTOMAN (safety administration, installation, operation, and maintenance personnel) must always be prepared and "Safety First" minded, to ensure the safety of all personnel. CAUTION •...
  • Page 154 1.4 Personnel Safety CAUTION • Never forcibly move the manipulator axes. Failure to observe this caution may result in injury or equipment damage. • Never lean on NX100 or other controllers, and avoid inadvertently push- ing buttons. Failure to observe this caution may result in injury or damage by unexpected movement of the manipulator.
  • Page 155 1.5 Motoman Safety Motoman Safety 1.5.1 Installation and Wiring Safety Refer to the MOTOMAN- Instructions manual and NX100 Instructions for details on installation and wiring. In planning installation, adapt an easy to observe arrangement to ensure safety. Take safety into consideration when planning the installation. Observe the following when installing the manipulator: WARNING •...
  • Page 156 1.5 Motoman Safety CAUTION • Operation of the crane, sling, or forklift should only be performed by authorized personnel. Failure to observe this precaution may result in injury or equipment damage. MOTOMAN should be lifted with a crane using wire rope threaded through the shipping bolts and positioners and the body should be lifted in an upright posture as described in the manipulator instruction manual.
  • Page 157 1.5 Motoman Safety CAUTION • Be sure there is sufficient room for maintenance on the manipulator, NX100, and other peripheral equipment. Failure to observe this precaution could result in injury during maintenance. (600) (600) (550) NX100 NX100 NX100 DOOR Securing (mm) External Dimensions (mm) •...
  • Page 158 1.5 Motoman Safety CAUTION • Secure the position of the NX100 after setting up. Attach the NX100 to the floor or rack, etc., using the screw holes on the bottom of the NX100. NX100 Tapped Holes for (2) 12 mm M10 Screws on diameter the NX100 Side...
  • Page 159 1.5 Motoman Safety 1.5.2 Work Area Safety Carelessness contributes to serious accidents in the work area. To ensure safety, enforce the following precautions: WARNING • Install a safeguarding around the manipulator to prevent any accidental contact with the manipulator while the power is on. Post a warning sign stating "Off-limits During Operation"...
  • Page 160 1.5 Motoman Safety 1.5.3 Operation Safety WARNING • When attaching a tool such as the welding torch to the manipulator, be sure the power supply of the NX100 and the tool is off, lock the switch, and display a warning sign. ENERGIZING PROHIBITED PADLOCK...
  • Page 161 1.5 Motoman Safety WARNING • Before operating the manipulator, check that the SERVO ON lamp on the programming pendant goes out when the emergency stop button on the right of the front door of the NX100 and the programming pendant are pressed.
  • Page 162 1.5 Motoman Safety CAUTION • Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed. -Check for problems in manipulator movement. -Check for damage to the insulation and sheathing of external wires. •...
  • Page 163 Contact your YASKAWA representative if you require new warning labels. • When the MOTOMAN is transferred, it is recommended to check with Yaskawa Engineering Co. which is listed on back cover of this manual. Incorrect installation or wiring may result in personal injury and property damage.
  • Page 164 1.7 Notes on MOTOMAN Disposal Notes on MOTOMAN Disposal CAUTION • When disposing of the MOTOMAN, follow the applicable national/local laws and regulations. • Anchor the manipulator well, even when temporarily storing it before disposal. Failure to observe this precaution may result in injury due to the manipulator falling down. 1-15...
  • Page 165 2.1 Contents Confirmation 2 Product Confirmation Contents Confirmation Confirm the contents of the delivery when the product arrives. Standard delivery includes the following five items (Information for the content of optional goods is given separately): • Manipulator • NX100 • Programming Pendant •...
  • Page 166 2.2 Order Number Confirmation Order Number Confirmation Confirm that the order number pasted on the manipulator and NX100 match. The order number plates are affixed to the figure below. Example Only connect the MOTOMAN to the NX100 which has same order number.
  • Page 167 3.1 Handling Procedure 3 Installation Handling Procedure CAUTION • Crane, sling, and forklift operations must be performed only by autho- rized personnel. Failure to observe this caution may result in injury or damage. • Avoid jarring, dropping, or hitting the controller during handling. Excessive vibration or impacting the NX100 may adversely affect the performance of the NX100.
  • Page 168 3.2 Place of Installation 3.1.2 Using a Forklift to Move the Controller Observe the following precautions when using a forklift to handle the controller: • Confirm that there is a safe work environment and that the NX100 can be transported safely to the installation site.
  • Page 169 3.3 Location Location • Install the NX100 outside of the P-point maximum envelope of the manipulator (outside of the safeguarding) SAFEGUARD NX100 DOOR 1000 mm or more 1000 mm or more 1000 mm or more WORKING ENVELOPE OF MANIPULATOR MAXIMUM WORKING ENVELOPE OF MANIPULATOR INCLUDING TOOL OR WORKPIECE END 1000 mm or more...
  • Page 170 3.3 Location • Install the controller at least 500mm from the nearest wall to allow maintenance access. Shows the external dimensions. (600) (550) NX100 NX100...
  • Page 171 3.4 Mounting the Controller Mounting the Controller CAUTION • Do not climb on top of the NX100. Failure to observe this caution could lead to injury or mechanical failure. Attach the controller to the floor using user-supplied brackets made according to the specifica- tions shown below.
  • Page 172 4 Connection WARNING • The system must be grounded. Failure to ground equipment may result in injury from fire or electric shock. • Before grounding the system, turn off the power supply and lock the main power switch. Failure to observe this caution may result in injury and electric shock. •...
  • Page 173 4.1 Notes on Cable Junctions CAUTION • Wiring must be performed only by authorized personnel. Incorrect wiring may cause fire and electric shock. • Perform wiring in accordance with the rated capacity as specified in the Instructions. Incorrect wiring may cause fire or mechanical breakdown. •...
  • Page 174 4.2 Power Supply SAFETY FIRST LEAD PIPING cable channel NX100 Cable Junction Diagram Power Supply 4.2.1 Three-Phase Power Supply The three-phase power supply consists of 200VAC at 50Hz and 220VAC at 50/60Hz. The power failure processing circuit operates when there is a black out or drop in voltage, and the servo power turns off.
  • Page 175 4.2 Power Supply 4.2.2 Noise Filter Installation Insert the three-phase noise filter into the primary station of the non-fuse breaker filter if you hear noise coming from the power source. Seal up each cable opening so that dust does not enter. NX100 3-phase Noise Filter...
  • Page 176 4.2 Power Supply 4.2.4 Primary Power Supply Switch Installation Install the primary power supply switch as shown. Breaker Breaker Breaker Power Controller NX100 for Positioner Source Installation of the Primary Power Supply Switch NX100 Power Capacity, Cable Sizes, and Switch Capacities Switch Power Cable size (size of terminal)
  • Page 177 4.3 Connection Methods Connection Methods A connection diagram for the manipulator, manipulator cable, primary power cable and pro- gramming pendant is shown below. Primary power supply cable Manipulator NX100 Programming pendant cable Manipulator cable 4.3.1 Connecting the Primary Power Supply Open the front door of the NX100.
  • Page 178 4.3 Connection Methods (2) Rotate the main power supply switch to the "OFF" position and open the door gen- tly. NX100 Main power supply switch Rotating the main power supply switch to the OFF position. 2. Confirm that the primary power supply is OFF. 3.
  • Page 179 4.3 Connection Methods (2) Connect a ground wire to reduce noise and prevent electric shock. 1) Connect the ground wire to the ground terminal (screw) of the switch which is on the upper left side of NX100. Ground wire Ground terminal (M6 screws) Connection of the Ground Wire 2) Perform grounding in accordance with all relevant local and national electrical...
  • Page 180 4.3 Connection Methods (3) Connect the primary power supply cable. Connection of the Primary Power Supply Cable (4) Install the cover. Install the Cover...
  • Page 181 4.3 Connection Methods 4.3.2 Connecting the Manipulator Cable 1. Remove the package, and take out the manipulator cable. Connect the cable to the connectors on each side of NX100. Connection of the Manipulator Cable For more information on connecting the manipulator cable, please refer to the Instruction NOTE Manual which corresponds to the particular NX100 model.
  • Page 182 4.3 Connection Methods 4.3.3 Connecting the Programming Pendant Connect the programming pendant cable to the connector on the door lower right side of the controller cabinet. Alignment mark Connecting the Programming Pendant The manipulator, NX100, and the programming pendant connections are now complete. 4-11...
  • Page 183 5.1 Turning ON the Main Power Supply 5 Turning ON and OFF the Power Supply WARNING • Confirm that nobody is present in the P-point maximum envelope of the manipulator when turning on NX100 power supply. Failure to observe this caution could result in injury caused by accidental contact with the manipulator.
  • Page 184 5.1 Turning ON the Main Power Supply 5.1.1 Initial Diagnosis The initial diagnosis are performed in the NX100 when main power is turned on, and the star- tup window is shown on the programming pendant screen. Startup Window 5.1.2 When Initial Diagnosis are Complete When the power supply is turned off, the NX100 saves all condition data, including: •...
  • Page 185 5.2 Turning ON the Servo Power Turning ON the Servo Power 5.2.1 During Play Mode The worker’s safety is secure if the safety plug is turned on. 1. When the safeguarding is closed, press [SERVO ON READY] on the programming pendant to turn on the servo power sup- SERVO ON READY ply.
  • Page 186 5.2 Turning ON the Servo Power Servo Power ON/OFF --- Enable Switch SUPPLE -MENT When the operator grips the Enable switch, the servo power turns ON. However, if the operator squeezes the switch until a “click” is heard, the servo power will turn OFF. Servo On Release ->...
  • Page 187 5.3 Turning OFF the Power Supply Turning OFF the Power Supply 5.3.1 Turning OFF the Servo Power (Emergency Stop) The manipulator cannot be operated when the emergency stop button is pressed and the servo power supply is turned off. Turning the Servo Power Off •...
  • Page 188 6 Test of Program Operation WARNING • Press the emergency stop button on the right of the front door of the NX100 and the programming pendant before operating the manipulator. Confirm that the servo on lamp is turned off. Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
  • Page 189 CAUTION • Perform the following inspection procedures prior to performing teach- ing operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed. - Check for problems in manipulator movement. - Check for damage to the insulation and sheathing of external wires. •...
  • Page 190 6.1 Movement of the Axes Movement of the Axes Move each axis of the manipulator by pressing the axis keys on the programming pendant. This figure illustrates each axis of motion in the joint coordinates. Be sure to remove all items from the area before moving the manipulator. NOTE Refer to the INSTRUCTION MANUAL for the appropriate position of the fixture.
  • Page 191 System Up...
  • Page 192 7 Outline of System Up WARNING • Various settings control system compatibility and manipulator perfor- mance characteristics. Exercise caution when changing settings that can result in improper manipulator operation. Personal injury and/or equipment damage may result if incorrect settings are applied by the user.
  • Page 193 Making these settings optimizes the system to perform to its maximum potential in the chosen application. NOTE These functions can be operated in the teach mode.
  • Page 194 8.1 Protection Through Security Mode Settings 8 Security System Protection Through Security Mode Settings The NX100 modes setting are protected by a security system. The system allows operation and modification of settings according to operator clearance. Be sure operators have the cor- rect level of training for each level to which they are granted access.
  • Page 195 8.1 Protection Through Security Mode Settings Menu & Security Mode Allowed Security Mode Main Menu Sub Menu DISPLAY EDIT Operation Edit SELECT JOB Operation Operation CREATE NEW JOB Edit Edit MASTER JOB Operation Edit JOB CAPACITY Operation RESERVED START (JOB) Edit Edit RESERVATION STATUS...
  • Page 196 8.1 Protection Through Security Mode Settings Menu & Security Mode Allowed Security Mode Main Menu Sub Menu DISPLAY EDIT ROBOT CURRENT POSITION Operation COMMAND POSITION Operation SERVO MONITOR Management SECOND HOME POS Operation Edit WORK HOME POSITION Operation Edit DROP AMOUNT Management Management POWER ON/OFF POS...
  • Page 197 8.1 Protection Through Security Mode Settings Menu & Security Mode Allowed Security Mode Main Menu Sub Menu DISPLAY EDIT PARAMETER S1CxG Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management Management...
  • Page 198 8.1 Protection Through Security Mode Settings Menu & Security Mode Allowed Security Mode Main Menu Sub Menu DISPLAY EDIT GUN CONDITION AUX Management Management WELDER CONDITION Management Management GENERAL GENERAL DIAGNOSIS Operation Edit PAINT PAINT SYSTEM Management Management PAINT DEVICE Management Management CCV-PAINT TABLE...
  • Page 199 8.1 Protection Through Security Mode Settings Operation Explanation 3 Press [SELECT] and select DATA EDIT UTILITY DISPLAY "SECURITY MODE." SECURITY MODE FD/PC CARD DOUT MOVE PARAMETER ARC WELDING MODE OPERATING MODE EDITING MODE SETUP VARIABLE MANAGEMENT MODE B001 IN/OUT ROBOT SYSTEM INFO Main Menu ShortCut...
  • Page 200 8.1 Protection Through Security Mode Settings Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {USER ID}. User ID window is shown. EDIT DISPLAY UTILITY DATA USER ID EDITING MODE MANAGEMENT MODE Main Menu ShortCut Turn on servo power 3 Select the desired ID.
  • Page 201 9.1 Home Position Calibration 9 System Setup Home Position Calibration WARNING • Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the NX100 and the programming pendant are pressed. Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
  • Page 202 9.1 Home Position Calibration CAUTION • Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed. - Check for problems in manipulator movement. - Check for damage to the insulation and sheathing of external wires.
  • Page 203 9.1 Home Position Calibration Home Position SUPPLE -MENT The home position is the pulse value "0" for each axis and its posture. See "9.1.3 Home Position of the Robot." 9.1.2 Calibrating Operation Registering All Axes at One Time Operation Explanation Select {ROBOT} under the main menu.
  • Page 204 9.1 Home Position Calibration Registering Individual Axes Operation Explanation Select {ROBOT} under the main menu. Select {HOME POSITION}. The HOME POSITIONING window is shown. Select {DISPLAY} under the The pull down menu appears. menu. Select the desired control group. EDIT UTILITY DATA DISPLAY...
  • Page 205 9.1 Home Position Calibration Changing the Absolute Data To change the absolute data of the axis when home position calibration is completed, perform the following: Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {HOME POSITION}. The HOME POSITIONING window is shown. 3 Select {DISPLAY}.
  • Page 206 9.1 Home Position Calibration Clearing Absolute Data Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {HOME POSITION}. The HOME POSITIONING window is shown. 3 Select {DISPLAY}. The pull down menu appears. 4 Select the desired control group. 5 Select {DATA} under the menu.
  • Page 207 9.1 Home Position Calibration 9.1.3 Home Position of the Robot In case of HP6, the home position are as follows. U-axis angle against horizontal B-axis center line angle against line on the ground (-0°) U-axis center line (-0°) L-axis angle against vertical line to the ground(-0°) Other manipulator models have different positions.
  • Page 208 9.2 Second Home Position (Check Point) Second Home Position (Check Point) WARNING • Be aware of safety hazards when performing the position confirma- tion of the second home position (check point). Abnormality of the PG system may be a cause for alarm. The manipulator may operate in an unexpected manner, and there is a risk of damage to equipment or injury to personnel.
  • Page 209 9.2 Second Home Position (Check Point) CAUTION • Perform the following inspection procedures prior to teaching the manipulator. If problems are found, correct them immediately, and be sure that all other necessary tasks have been performed. - Check for problems in manipulator movement. - Check for damage to the insulation and sheathing of external wires.
  • Page 210 9.2 Second Home Position (Check Point) 9.2.1 Purpose of Position Check Operation If the absolute number of rotation detected at power supply ON does not match the data stored in the absolute encoder the last time the power supply was turned off, an alarm is issued when the controller power is turned ON.
  • Page 211 9.2 Second Home Position (Check Point) Pulse Difference Check The pulse number at the second home position is compared with that at the current posi- tion. If the difference is within the allowable range, playback is enabled. If not, the error alarm occurs again.
  • Page 212 9.2 Second Home Position (Check Point) 9.2.2 Setting the Second Home Position (Check Point) Apart from the normal home position of the manipulator, the second home position can be set up as a check point for absolute data. Use the following steps to set the specified point. If two or more manipulators or stations are controlled by one controller, the second home posi- tion must be set for each manipulator or station.
  • Page 213 9.2 Second Home Position (Check Point) 9.2.3 Procedure After an Alarm WARNING • Be aware of safety hazards when performing the position confirma- tion of the specified point. Abnormality of the PG system may be cause for alarm. The manipulator may oper- ate in an unexpected manner, and there is a risk of damage to equipment or injury to personnel.
  • Page 214 9.3 Setting the Controller Clock Setting the Controller Clock The clock inside of the NX100 controller can be set. Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {DATE/TIME}. The DATE/CLOCK SET window is shown. EDIT DATA DISPLAY UTILITY DATE/CLOCK SET DATE...
  • Page 215 9.4 Setting Play Speed Setting Play Speed Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {SET SPEED}. The SPEED SET window is shown. EDIT UTILITY DATA DISPLAY SPEED SET JOINT R1:1 0.78 % 1.56 % 3.12 % 6.25 % 12.50 % 25.50 %...
  • Page 216 9.5 All Limits Releasing All Limits Releasing CAUTION • To operate the manipulator with all limits released, pay extra attention to the operating environment around you. When all limits are released, the manipulator or equipment may be damaged. The following limits can be released by the operation explained in the following. Limit Type Contents Mechanical Limit...
  • Page 217 9.5 All Limits Releasing Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {LIMIT RELEASE}. The LIMIT RELEASE window is shown. EDIT UTILITY DATA DISPLAY LIMIT RELEASE INVALID SOFT LIMIT RELEASE INVALID ALL LIMITS RELEASE Main Menu ShortCut 3 Select “ALL LIMITS “VALID”...
  • Page 218 9.6 Overrun / Tool Shock Sensor Releasing Overrun / Tool Shock Sensor Releasing CAUTION • To operate the manipulator with overrun released or with tool shock sen- sor released, pay extra attention to the operating environment around you. If the manipulator stops by overrun detection or tool shock sensor detection, release the over- run or tool shock sensor by the following procedure and reset the alarm and move the manip- ulator using the axis keys.
  • Page 219 9.6 Overrun / Tool Shock Sensor Releasing Operation Explanation 3 Select “RELEASE.” “ " is shown at the control group which detects overrun or tool shock sensor. If “RELEASE” is selected, overrun or tool shock sensor is released and “CANCEL” is shown. EDIT DATA DISPLAY...
  • Page 220 9.7 Interference Area Interference Area 9.7.1 Interference Area The interference area is a function that prevents interference between multiple manipulators or the manipulator and peripheral device. The area can be set up to 32 area. There are two types of interference areas, as follows: •...
  • Page 221 9.7 Interference Area Cube Setting Method There are three ways to set cubic interference areas, as described in the following: Number Input of Cube Coordinates Enter the maximum and minimum values for the cube coordinates. Z-axis Maximum value Cubic X-axis interference area axis Minimum...
  • Page 222 9.7 Interference Area Setting Operation Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {INTERFERENCE}. The INTERFERENCE AREA window is shown. DATA EDIT DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIG: 1 / 32 METHOD AXIS INTERFERENCE CONTROL GROUP CHECK MEASURE COMMAND POSITION DIRECT PAGE Main Menu...
  • Page 223 9.7 Interference Area Operation Explanation 6 Select “REF COORDINATES.” The selection dialog box is shown. Select desired coordinate. If the user coordinates are selected, the number input line is shown. Input the user coordinate number and press [ENTER]. EDIT DATA DISPLAY UTILITY INTERFERENCE AREA...
  • Page 224 9.7 Interference Area Number Input of Cube Coordinates Operation Explanation 1 Select “METHOD.” Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate. Select “MAX/MIN”. EDIT DATA DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIG: 1 / 32 METHOD CUBIC INTERFERENCE CONTROL GROUP CHECK MEASURE COMMAND POSITION REF COORDINATE...
  • Page 225 9.7 Interference Area Teaching Corner Operation Explanation Select “METHOD.” Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate. Select “MAX/MIN”. Press [MODIFY]. The message “Teach max./min. position” is shown. EDIT DATA DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIG: 1 / 32 METHOD CUBIC INTERFERENCE CONTROL METHOD...
  • Page 226 9.7 Interference Area Number Input of the Side of Cube and Teaching Center Operation Explanation 1 Select “METHOD.” Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” alternate. Select “CENTER POS” EDIT UTILITY DATA DISPLAY INTERFERENCE AREA INTERFERENCE SIG: 1 / 32 METHOD CUBIC INTERFERENCE CONTROL GROUP...
  • Page 227 9.7 Interference Area 9.7.3 Axis Interference Area Axis Interference Area The axis interference area is a function that judges the current position of the each axis and outputs a signal. Once the maximum and minimum values have been set at the plus and minus sides of the axis to define the working range, a signal indicating whether the current position of the axis is inside or outside this range is output.
  • Page 228 9.7 Interference Area Operation Explanation 5 Select “CONTROL GROUP.” The selection dialog box is shown. Select desired control group. DATA EDIT DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIG: 1 / 32 METHOD AXIS INTERFERENCE CONTROL GROUP R1: ROBOT1 R2: ROBOT2 CHECK MEASURE <MAX>...
  • Page 229 9.7 Interference Area Setting Axis Data by Moving Manipulator Using the Axis Key Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {INTERFERENCE}. 3 Select the desired interference signal number. 4 Select “METHOD.” 5 Select “CONTROL GROUP.” Operate in the same way as shown in Explanation 2 to 5 in ”Num- ber Input of Axis Data”.
  • Page 230 9.7 Interference Area 9.7.4 Clearing Interference Area Data Operation Explanation 1 Select interference signal for Select the desired interference signal number for clearing using clearing. GO BACK the page key or by number input. PAGE The method for number input is as follows: Move cursor to the signal number and press [SELECT] to display the number input line.
  • Page 231 9.8 Work Home Position Work Home Position 9.8.1 What is the Work Home Position? The Work Home Position is a reference point for manipulator operations. It prevents interfer- ence with peripheral device by ensuring that the manipulator is always within a set range as a precondition for operations such as starting the line.
  • Page 232 9.8 Work Home Position When the work home position is changed, the cubic interference area is automatically set NOTE as cube 32 to 29 in the base coordinate system. • The cube 32 is for ROBOT1 • The cube 31 is for ROBOT2 •...
  • Page 233 9.9 Tool Data Setting Tool Data Setting 9.9.1 Registering Tool Files Number of Tool Files There are 24 tool files numbered 0 to 23. Each file is called as a tool file. TOOL FILE 0 TOOL FILE 23 Registering Coordinate Data When the number input operation is used for registering the tool file, input the TCP of the tool on the flange coordinates.
  • Page 234 9.9 Tool Data Setting Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {TOOL}. The TOOL window is shown. When the tool extension function is valid, the list is shown. When the tool extension function is invalid, the TOOL COORDINATE window is shown. Tool File Extension Function Normally, one robot uses one kind of tool file.
  • Page 235 9.9 Tool Data Setting Operation Explanation 3 Select the desired tool num- When the TOOL window is shown, move the cursor and press ber. [SELECT]. The coordinate window of the selected tool is shown. GO BACK If the coordinate window is shown, press the page key PAGE select the desired tool.
  • Page 236 9.9 Tool Data Setting Registering Tool Angle The tool pose data is angle data which shows the relation between the flange coordinates and the tool coordinates. The angle when the flange coordinates are rotated to meet to the tool coordinates becomes an input value. Clockwise toward the arrow is the positive direction. Register in the order of Rz The following, register Rz=180, Ry=90, Rx=0 Flange...
  • Page 237 9.9 Tool Data Setting Operation Explanation 6 Press [ENTER]. The rotation angle of Rz is registered. In the same way, register the angle of Ry, Rx. Ry must be the input rotation angle around Y’ flange coordi- nates. Ry = 90 deg.
  • Page 238 9.9 Tool Data Setting 9.9.2 Tool Calibration Tool Calibration To ensure that the manipulator can perform motion type operations such as linear and circular motion type correctly, accurate dimensional information on tools such as torches, tools, and guns must be registered and the position of the TCP must be defined. Tool calibration is a function that enables this dimensional information to be registered easily and accurately.
  • Page 239 9.9 Tool Data Setting Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {TOOL}. 3 Select the desired tool num- In the same way shown in Explanation 2, 3 in " Registering ber. Coordinate Data" of "9.9.1 Registering Tool Files," the desired coordinate window is shown.
  • Page 240 9.9 Tool Data Setting Operation Explanation 6 Select the robot. Select the robot to calibrate. (When the robot has already been selected or there is only one of robot, this operation should not be performed.) Select “**” in the TOOL CALIBRATION window and select the robot in the shown selection dialog box.
  • Page 241 9.9 Tool Data Setting Operation Explanation 9 Press [MODIFY] and Taught position is registered. [ENTER]. Repeat 7 to 9 operation to teach TC1 to TC5. indicates that teaching is completed and indicates that it is not completed. DATA EDIT DISPLAY UTILITY TOOL CALIBRATION TOOL NO.
  • Page 242 9.9 Tool Data Setting Clearing Calibration Data Before the calibration of a new tool, clear the robot information and calibration data. Operation Explanation 1 Select {DATA} under the main menu. 2 Select {CLEAR DATA}. The confirmation dialog box is shown. Clear data? 3 Select “YES.”...
  • Page 243 9.9 Tool Data Setting Checking the TCP After registering the tool file, check if the TCP is correctly registered by performing a TCP fixed operation like the one shown below, in any coordinate system other than the joint. Tool center point Operation Explanation...
  • Page 244 9.9 Tool Data Setting 9.9.3 Automatic Measurement of the Tool Load and the Center of Gravity What is the Automatic Measurement of the Tool Load and the Cen- ter of Gravity? With this function, the user can register the load of tool and the position of the tools center of gravity.
  • Page 245 9.9 Tool Data Setting Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {TOOL}. The TOOL window is shown. The TOOL window is called up only when the file extension function is valid. If the file extension func- tion is invalid, the coordinate window is shown.
  • Page 246 9.9 Tool Data Setting Operation Explanation 4 Select {UTILITY} under the menu. 5 Select {W.GRAV.POS MEA- The window for the automatic measurement of the tool load and SURE}. the center of gravity is shown. DATA EDIT DISPLAY UTILITY W.GRAV.POS MEASURE TOOL NO.
  • Page 247 9.9 Tool Data Setting Operation Explanation 8 Press [FWD] again. Press [FWD] again, and measurement starts. Keep the button pressed until measurement is completed. The manipulator moves in the order listed below. Once measurement is com- pleted, “ “changes to “ “. Measurement of the U-axis: U-axis home position + 4.5 degrees -4.5 degrees...
  • Page 248 9.10 User Coordinates Setting 9.10 User Coordinates Setting 9.10.1 User Coordinates Definition of User Coordinates User coordinates are defined by three points that have been taught to the manipulator through axis operations. These three defining points are ORG, XX, and XY, as shown in the diagram below.
  • Page 249 9.10 User Coordinates Setting 9.10.2 User Coordinates Setting Selecting User Coordinates File Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {USER COORDI- The USER COORDINATE window is shown. NATE}. DATA EDIT DISPLAY UTILITY USER COORDINATE NAME WORK1 WORK2 Main Menu ShortCut...
  • Page 250 9.10 User Coordinates Setting Teaching User Coordinates Operation Explanation 1 Select the robot. Select the robot for teaching user coordinates. (When the robot has already been selected or there is only one robot, this opera- tion should not be performed.) Select “**” in the following window and select the robot in the shown selection dialog box.
  • Page 251 9.10 User Coordinates Setting Operation Explanation 4 Press [MODIFY] and Taught position is registered. [ENTER]. Repeat 2 to 4 operation to teach ORG, XX and XY. indicates that teaching is completed and indicates that it is not completed. EDIT UTILITY DATA DISPLAY USER COORDINATE...
  • Page 252 9.10 User Coordinates Setting Clearing User Coordinates Operation Explanation 1 Select {DATA} under the main menu. 2 Select {CLEAR DATA}. The confirmation dialog box is shown. Clear data? 3 Select “YES.” All data is cleared. DATA EDIT DISPLAY UTILITY USER COORDINATE TOOL NO.
  • Page 253 In NX100, the operation performance of the robot which satisfies various demands on the pro- duction site such as the improvement of the path accuracy and the cycle time shortening is achieved by adopting the ARM (Advanced Robot Motion) control which Yaskawa originally developed.
  • Page 254 Especially, note the direction “+” or “-”. Only rotation angle around Y axis of the robot coordinates can be set in the robot installa- NOTE tion angle. Contact YASKAWA representative when robots is installed to incline Y axis of the robot coordinates relative to ground. 9-54...
  • Page 255 9.11 ARM Control S-head payload Set the weight and the center of gravity position roughly when the equipment such as trans- former is installed at the S-head. It is not necessary to set these value when there is no installed load at the S-head. WEIGHT (Unit:kg) The weight of the installed load is set.
  • Page 256 9.11 ARM Control X (From U-Axis) ( - ) ( + ) U axis rotation Center of Gravity center Position HEIGHT (From U-Axis) Load on U arm : Center of gravity position (Side View ) 9-56...
  • Page 257 9.11 ARM Control Setting ARM CONTROL window is shown only when the security mode is set as management NOTE mode. Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {ARM CONTROL}. The ARM CONTROL window is shown. DATA EDIT DISPLAY UTILITY...
  • Page 258 9.11 ARM Control 9.11.3 Tool Load Information Setting CAUTION • Set the tool load information correctly. The speed reducer longevity might decrease or the alarm might occur when the tool load information is not set correctly. • Confirm the operation path of robot of each job which uses the tool file after the tool load information is changed.
  • Page 259 9.11 ARM Control Center of gravity position : xg, yg, zg (Unit : mm) The center of gravity position of the installed tool is set as the position in the flange coordi- nates. It does not care by setting a rough value because it is usually difficult to get a strict center of gravity position.
  • Page 260 9.11 ARM Control <Example1> In the example of sealing gun of the figure below, it is assumed that there is center of gravity in the position where inclined to head from the center a little, and sets the center of gravity posi- tion on the flange coordinates.
  • Page 261 9.11 ARM Control <Example 2> It is necessary to set the moment of inertia at the center of gravity when the entire size of the tool and workpiece is large enough comparing with the distance from the flange to the center of gravity position.
  • Page 262 9.11 ARM Control • How to calculate "Center of gravity position" and "moment of inertia at center of gravity" SUPPLE for plural mass -MENT The center of gravity position and the moment of inertia at the center of gravity of the entire tool can be calculated by the weight and the center of gravity position of each mass when the tool can be thought that the tool consists of two or more big mass like the twin gun sys- tem etc.
  • Page 263 9.11 ARM Control <Example 3> When there is two or more big mass like the twin gun system like the figure below, 1. Set the center of gravity position when the center of gravity position of the entire tool is roughly understood, and set the moment of inertia at the center of gravity calculated by approximating the entire tool in the shape of hexahedron or cylinder.
  • Page 264 9.11 ARM Control * Here, the own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded, because each gun are smaller enough than the entire tool. <Setting> • W 10.000 • Xg : 100.000 • Yg : -83.333 •...
  • Page 265 9.11 ARM Control Tool load Information registering Tool load Information is registered in the tool file. Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {TOOL}. The TOOL window is shown. Only when the file expansion func- tion is valid, the TOOL window is shown. When the file expansion function is invalid, the coordinate window is shown.
  • Page 266 9.11 ARM Control Operation Explanation 4 Select the desired item to reg- The window can be scrolled by the cursor. The menu enters the ister and input the value. state of a numeric input if the cursor is on the desired item to reg- ister and the [SELECT] is pressed.
  • Page 267 9.12 Shock Detection Function 9.12 Shock Detection Function 9.12.1 Shock Detection Function The shock detection function is a function to decrease damage because of the collision by instantaneously detecting the shock and stopping the manipulator without any external sensor when the tool or the manipulator collide with peripheral device. When the shock is detected either in teach mode and in play mode, the manipulator is stopped instantaneously.
  • Page 268 9.12 Shock Detection Function Files for specific section in play mode (condition number 1 to 7) Standard file for play mode (condition number 1 to 8) Shock Detection Level File Condition number 1 File for teach mode (condition number 9) Condition number 7 Condition number 8 Condition number 9...
  • Page 269 9.12 Shock Detection Function Operation Explanation Function Select 2 (cont’d) VALID/INVALID of the shock detection function is specified here. The shock detection function is specified by each manipulator or each station axes which has this function. The cursor is moved to the robot or the station axis which is desired to change the function "VALID"...
  • Page 270 9.12 Shock Detection Function Tool load Information Setting To be the more accurate shock detection, the tool load information is set in the tool file. Refer to " 9.11.3 Tool Load Information Setting " for details concerning the tool load infor- SUPPLE mation setting.
  • Page 271 9.12 Shock Detection Function Operation Explanation 3 Select the desired tool num- Move the cursor to the number of the desired tool and press ber. [ENTER] in the TOOL window. The coordinate window of the selected number is shown. Select the desired number with page GO BACK in the coordinate window.
  • Page 272 9.12 Shock Detection Function Instruction of Shock Detection Function SHCKSET instruction The SHCKSET instruction changes the shock detection level to the value set in the shock detection level file during play back operation. The additional items of the SHCKSET instruction are as follows. SHCKSET R1 SSL#(1) Robot / Station Setting The robot or the station axis which is desired to change the shock detection level is speci-...
  • Page 273 9.12 Shock Detection Function Instruction Registration The instruction is registered when the cursor is in the address area in the JOB CONTENT win- dow in teach mode. Operation Explanation 1 Select {JOB} under the main menu. EDIT DATA DISPLAY UTILITY JOB CONTENT JOB NAME: WORK A STEP NO.: 0000...
  • Page 274 9.12 Shock Detection Function Operation Explanation 4 Change the value of additional < When registering as it is > item and numerical data. Operate 5 procedure when the instruction the input buffer line as it is should be registered. < When adding or changing the additional item > •...
  • Page 275 9.12 Shock Detection Function SHCKRST Operation Explanation 1 Move the cursor to the line just before the location where SHCKRST instruction is desired to register. 2 Press [INFORM LIST]. The inform list dialog box is shown. ARITH SHIFT OTHER SHCKSET SAME SHCKRST PRIOR...
  • Page 276 9.12 Shock Detection Function Operation Explanation 4 (cont’d) DATA EDIT DISPLAY UTILITY DETAIL SHCKRST ROBOT/STATION UNUSED R1:ROBOT1 R2:ROBOT2 UNUSED => SHCKRST Main Menu ShortCut When the addition of the robot/the station ends, press [ENTER]. The DETAIL window shuts and the JOB CONTENT window is shown.
  • Page 277 9.12 Shock Detection Function Reset Shock detected When the tool and the manipulator are collided with peripheral device and it is detected by the shock detection function, the manipulator is stopped in the instantaneously with alarm output. At this time, the shock detection alarm is shown. EDIT UTILITY DATA...
  • Page 278 9.13 Instruction Level Setting 9.13 Instruction Level Setting 9.13.1 Setting Contents Instruction Set There are three instruction sets that can be used when registering the instructions for the robot programming language (INFORM III) : the subset instruction set, the standard instruc- tion set, and the expanded instruction set.
  • Page 279 9.13 Instruction Level Setting Learning Function When an instruction is entered from the instruction list, the additional items that were entered last time are also shown. This function can simplify instruction input. To register the same additional items as those in the former operation, register them without changing.
  • Page 280 9.13 Instruction Level Setting 9.13.2 Setting Instruction Set Level Operation Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {TEACHIG COND}. The TEACHING CONDITION window is shown. DATA EDIT DISPLAY UTILITY TEACHING CONDITION RECT/CYLINDRICAL RECT LANGUAGE LEVEL SUBSET MOVE INSTRUCTION SET LINE PROHIBIT...
  • Page 281 Numeric key is pressed. The following shows the functions that can be allocated. Function Description Manufacturer Allocated by Yaskawa. Allocating another function invalidates the func- allocation tion allocated by the manufacturer. Instruction allocation Allocates any instructions assigned by the user.
  • Page 282 9.14 Numeric Key Customize Function Key Allocation (SIM) With key allocation (SIM), the manipulator operates according to the allocated function when the [INTERLOCK] and the Numeric key are pressed at the same time. The following shows the functions that can be allocated. Function Description Alternate output...
  • Page 283 9.14 Numeric Key Customize Function 9.14.3 Allocating an Operation Allocation Window Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {KEY ALLOCATION}. The KEY ALLOCATION (EACH) window is shown. DATA EDIT DISPLAY UTILITY KEY ALLOCATION (EACH) APPLI. NO.: 1 FUNCTION ALLOCATION CONTENT MAKER...
  • Page 284 9.14 Numeric Key Customize Function Instruction Allocation Use this function in the KEY ALLOCATION (EACH) window. Operation Explanation 1 Move the cursor to “FUNC- The selection dialog box is shown. TION” of the key to be allo- DATA EDIT DISPLAY UTILITY cated and press [SELECT].
  • Page 285 9.14 Numeric Key Customize Function Operation Explanation 2 (cont’d) EDIT UTILITY DATA DISPLAY KEY ALLOCATION (EACH) APPLI. NO.: 1 FUNCTION ALLOCATION CONTENT INSTRUCTION WAIT MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER Main Menu ShortCut 9-85...
  • Page 286 9.14 Numeric Key Customize Function Job Call Allocation Use this function in the KEY ALLOCATION (EACH) window. Operation Explanation 1 Move the cursor to the “FUNC- The selection dialog box is shown. TION” of the key to be allo- cated and press [SELECT]. 2 Select “JOB CALL.”...
  • Page 287 9.14 Numeric Key Customize Function Window Allocation Use this function is used in the KEY ALLOCATION (EACH) window. Operation Explanation 1 Move the cursor to the “FUNC- The selection dialog box is shown. TION” of the key to be allo- cated and press [SELECT].
  • Page 288 9.14 Numeric Key Customize Function Alternate Output Allocation Use this function is used in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- The selection dialog box is shown. TION” of the key to be allo- cated and press [SELECT].
  • Page 289 9.14 Numeric Key Customize Function Momentary Output Allocation Use this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- The selection dialog box is shown. TION” of the key to be allo- cated and press [SELECT]. 2 Select “MOMENTARY OUT- The output No.
  • Page 290 9.14 Numeric Key Customize Function Group (4-bit/8-bit) Output Allocation Use this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- The selection dialog box is shown. TION” of the key to be allo- cated and press [SELECT].
  • Page 291 9.14 Numeric Key Customize Function Analog Output Allocation Use this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- The selection dialog box is shown. TION” of the key to be allo- cated and press [SELECT]. 2 Select “ANALOG OUTPUT.”...
  • Page 292 9.14 Numeric Key Customize Function Analog Incremental Output Allocation Use this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- The selection dialog box is shown. TION” of the key to be allo- cated and press [SELECT].
  • Page 293 9.14 Numeric Key Customize Function 9.14.4 Allocation of I/O Control Instructions In key allocation (SIM), output control instructions can be allocated to the Numeric keys that have been allocated one of the following I/O controls with key allocation (EACH). Function Output Control Instruction To Be Allocated Alternate output allocation DOUT OT# (No.) ON...
  • Page 294 9.14 Numeric Key Customize Function Operation Explanation 2 Select “OUTPUT CONTROL The instruction corresponding to the I/O control allocated by key INST.” allocation (SIM) is shown in the “ALLOCATION CONTENT”. DATA EDIT DISPLAY UTILITY KEY APPLICATION (EACH) APPLI. NO.: 1 FUNCTION ALLOCATION CONTENT INSTRUCTION...
  • Page 295 9.14 Numeric Key Customize Function 9.14.5 Execution of Allocation Executing the Instruction/Output Control Allocation Operation Explanation 1 Press the key allocated for The allocated instruction is shown in the input buffer line. instruction allocation or output => WAIT IN#(1)=ON control allocation. 2 Press [INSERT] and [ENTER].
  • Page 296 9.15 Changing the Output Status 9.15 Changing the Output Status The status of external output signals can be changed from the programming pendant by using either of the following two methods. • On the user output status window • On the RELAY ON window The method that uses the RELAY ON window, which is described here, simplifies the opera- tion for changing the status of signals that are used frequently.
  • Page 297 9.15 Changing the Output Status Operation Explanation 4 Press [INTERLOCK] The status is changed. ( : status ON, : status OFF) +[SELECT]. EDIT DATA DISPLAY UTILITY RELAY ON STATUS ALLOCATION CONTENT OUTPUT NO. HAND 1 ON/OFF OUT#010 OUT#008 OUT#014 OUT#009 Main Menu ShortCut It is also possible to turn the relevant external output signal on only for the duration that...
  • Page 298 9.16 Temporary Release of Soft Limits 9.16 Temporary Release of Soft Limits The switches that are set to detect the motion range of the manipulator are called limit switches. The operating range is monitored by the software in order to stop motion before these limit switches are reached.
  • Page 299 9.17 Changing the Parameter Setting NOTE The teaching data cannot be entered while releasing software limit. 9.17 Changing the Parameter Setting The parameter settings can be changed only by the operator who has the correct user ID number for the management mode. Operation Explanation 1 Select {PARAMETER} under...
  • Page 300 9.17 Changing the Parameter Setting Set the parameters in the following manner. Operation Explanation 1 Select a parameter setting. Move the cursor to the parameter number data (decimal or binary) in the PARAMETER window, and press [SELECT]. - To enter a decimal setting, select the decimal figure. - To enter a binary setting, select the binary figure.
  • Page 301 9.18 File Initialize 9.18 File Initialize 9.18.1 Initialize Job File Operation Explanation 1 Turn the power supply ON again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. The INITIALIZE window is shown.
  • Page 302 9.18 File Initialize 9.18.2 Initialize Data File Operation Explanation 1 Turn the power supply ON again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {FILE/GENERAL The INITIALIZE window is shown.
  • Page 303 9.18 File Initialize 9.18.3 Initialize Parameter File Operation Explanation 1 Turn the power supply ON again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {PARAMETER}. The parameter selection window is shown.
  • Page 304 9.18 File Initialize 9.18.4 Initializing I/O Data Operation Explanation 1 Turn the power supply ON again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {I/O DATA}. The I/O data selection window is shown.
  • Page 305 9.18 File Initialize 9.18.5 Initializing System Data Operation Explanation 1 Turn the power supply ON again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {SYSTEM DATA}. The system data selection window is shown.
  • Page 306 10.1 Addition of I/O Modules 10 Modification of System Configuration 10.1 Addition of I/O Modules For addition of I/O modules, turn the power supply off. The additional operation must be done in the management mode. SUPPLE In operation mode or editing mode, only reference of status setting is possible. -MENT Operation Explanation...
  • Page 307 Confirm the statuses of the mounted I/O modules for the other stations. If the slot window is different, confirm the status NOTE again. If the status is correct, the I/O module may be defective. Contact your Yaskawa representative. EDIT DATA DISPLAY UTILITY...
  • Page 308 10.1 Addition of I/O Modules Operation Explanation 8 Press [ENTER]. The confirmation dialog box is shown. Modify? 9 Select “YES.” The system parameters are then set automatically according to the current mounted hardware status. The procedure for the addi- tion of the I/O module is complete. 10-3...
  • Page 309 10.2 Addition of Base and Station Axis 10.2 Addition of Base and Station Axis For addition of base and station axis, mount all hardware correctly and then execute maintenance mode. The additional operation must be done in the management mode. SUPPLE In operation mode or editing mode, only reference of status setting is possible.
  • Page 310 10.2 Addition of Base and Station Axis Operation Explanation 5 Select {CONTROL GROUP}. The window moves to the CONTROL GROUP window shown in (Display moves to the control the followings pages. group display.) The following items must be set for base and station axes. -TYPE Select one in the type list.
  • Page 311 10.2 Addition of Base and Station Axis Operation Explanation In case of UNIV-* type Select BALL-SCREW type, RACK & PINION type or TURN type. -MECHANICAL SPECIFICATION If axis type is ball-screw type, set the following items. MOTION RANGE (+) [mm] MOTION RANGE (-) [mm] REDUCTION RATIO (numerator)
  • Page 312 10.2 Addition of Base and Station Axis 10.2.1 Base Axis Setting First, select control group type Operation Explanation 1 Confirm the type of control The type of the control group is shown. group in CONTROL GROUP window. EDIT DATA DISPLAY UTILITY CONTROL GROUP : UP6-A0...
  • Page 313 10.2 Addition of Base and Station Axis Direction of Base Axis RECT-Z RECT-Y RECT-X CARTESIAN CARTESIAN CARTESIAN Z-AXIS X-AXIS Y-AXIS Base axis direction of travel coincides Base axis direction of travel coincides Base axis direction of travel with robot coordinate X-Axis. with robot coordinate Y-Axis.
  • Page 314 10.2 Addition of Base and Station Axis In the CONNECTION windows, each axes in respective control groups are specified to be connected to which connector of the SERVO board, or to which brake of the contactor unit, or to which converter. Operation Explanation 1 Confirm type of each control...
  • Page 315 10.2 Addition of Base and Station Axis Operation Explanation 2 (Cont’d) Select connection The axes are connected as shown in the following manner: item of desired control group. R1(Robot) 1st axis SERVO Board (SV #1), Connector (1CN) Contactor Unit (TU #1), Brake Connector (BRK1) Converter (CV #1) 2nd axis...
  • Page 316 10.2 Addition of Base and Station Axis In the AXES CONFIG window, the axis type are specified. Operation Explanation 1 Confirm axis type of each axis The axis type of each axis is shown. in the AXES CONFIG window. EDIT UTILITY DATA DISPLAY...
  • Page 317 10.2 Addition of Base and Station Axis In the MECHANICAL SPEC window, mechanical data are specified. Operation Explanation 1 Confirm specification of each The mechanical specification of axis is shown. axis in the MECHANICAL SPEC window. The MECHANICAL SPEC window (In case of BALL-SCREW type) EDIT DATA...
  • Page 318 10.2 Addition of Base and Station Axis Operation Explanation 4 Press [ENTER] in the After this setting, the window moves to the next axis. Set them for MECHANICAL SPEC window. all axes. When [ENTER] is pressed in the MECHANICAL SPEC window for last axis the setting in the MECHANICAL SPEC window is completed and the window moves to the MOTOR SPEC window.
  • Page 319 10.2 Addition of Base and Station Axis Operation Explanation ROTATION DIRECTION : Set the rotation direction to which the current position is increased. (The counterclockwise view from the loaded side is positioned normal.) Normal direction AC Servo Motor MAX. RPM: Input maximum rotation speed of a motor. (Unit: rpm) ACCELARATION SPEED: Input time between 0.01 and 1.00 to reach maximum speed from stopping status at 100% JOINT speed.
  • Page 320 10.2 Addition of Base and Station Axis CAUTION If the control axis configuration is changed by addition a base axis or station axis, the internal data of the job file are also changed so that the job file data should be initialized. Initialize the job file data with the procedure “File Initialize”...
  • Page 321 10.2 Addition of Base and Station Axis 10.2.2 Station Axis Setting Operation Explanation 1 Confirm the type of control The CONTROL GROUP window is shown. group in CONTROL GROUP window. EDIT UTILITY DATA DISPLAY CONTROL GROUP : UP6-A0 : NONE : NONE TURN-2 : NONE...
  • Page 322 10.2 Addition of Base and Station Axis Operation Explanation 3 Select desired type in the type After the type selection, the window returns to CONTROL list. GROUP window. When the station axis is not “TURN-1” and “TURN-2” (like a travel axis) “UNIVERSAL”...
  • Page 323 10.2 Addition of Base and Station Axis In the CONNECTION windows, each axes in respective control groups are specified to be connected to which connector of the SERVO board, or to which brake of the contactor unit, or to which converter. Operation Explanation 1 Confirm type of each control...
  • Page 324 10.2 Addition of Base and Station Axis Operation Explanation 2 (Cont’d) Select connection The axes are connected as shown in the following manner: item of desired control group. R1(Robot) 1st axis SERVO Board (SV #1), Connector (1CN) Contactor Unit (TU #1), Brake Connector (BRK1) Converter (CV #1) 2nd axis...
  • Page 325 10.2 Addition of Base and Station Axis In the AXES CONFIG window, the axis type and motor type are specified. Operation Explanation 1 Confirm axis type of each axis The axis type of each axis is shown. in the AXES CONFIG window. The AXES CONFIG window (In case of TURN type) EDIT DATA...
  • Page 326 10.2 Addition of Base and Station Axis In the MECHANICAL SPEC window, mechanical data are specified. Operation Explanation 1 Confirm specification of each The mechanical specification of axis is shown. axis in the MECHANICAL SPEC window. The MECHANICAL SPEC window (In case of ROTATION type) DATA EDIT DISPLAY...
  • Page 327 10.2 Addition of Base and Station Axis Operation Explanation The MECHANICAL SPEC window (In case of BALL-SCREW type) EDIT UTILITY DATA DISPLAY MECHANICAL SPEC Group, Type, Axis Number : UNIV-3 AXIS :1 and Axis Type selected AXIS TYPE : BALL-SCREW currently are shown.
  • Page 328 10.2 Addition of Base and Station Axis Operation Explanation 3 Press [ENTER] in the mechan- After this setting, the window moves to the next axis. Set them for ical specification. all axes. When [ENTER] is pressed in the MECHANICAL SPEC window for the last axis, the setting in the MECHANICAL SPEC window is completed and the window moves to the MOTOR SPEC window.
  • Page 329 10.2 Addition of Base and Station Axis Operation Explanation 2 Select desired item. When an item which is input by number is selected, the number input buffer line is shown. And when MOTOR (or SERVO AMP or CONVERTER) is selected, the list window of MOTOR (SERVO AMP or CON- VERTER) is shown.
  • Page 330 10.2 Addition of Base and Station Axis Operation Explanation 4 Press [ENTER] in the MOTOR After this motor specification setting, the window moves to the SPEC window. next axis. Set them for all axes. When [ENTER] is pressed at the MOTOR SPEC window for the last axis, the setting in this window is completed and the confir- mation dialog box is shown.
  • Page 331 11 NX100 Specification WARNING • Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the NX100 and the programming pendant are pressed. Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
  • Page 332 11.1 Specification List CAUTION • Perform the following inspection procedures prior to performing teach- ing operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed. - Check for problems in manipulator movement. - Check for damage to the insulation and sheathing of external wires.
  • Page 333 11.2 Function List External Dimensions Small capacity HP3, HP6, EA1400N, HP20, EA1900N 500(W) × 1200(H) × 500(D) mm Medium and UP20MN, UP50N, ES165N, HP165, ES200N, ES165RN, ES200RN 600(W) × 1200(H) × 550(D) mm Large capacity 11.2 Function List Programming Coordinate System Joint, Rectangular/Cylindrical, Tool, User Coordinates Pendant Modification of...
  • Page 334 11.3 Programming Pendant Maintenance Operation Time Control power-on time, Servo power-on time, Playback time, Function Display Operation time, Work time Alarm Display Alarm message and previous alarm records I/O Diagnosis Simulated enabled/disabled output possible T.C.P. Calibration Automatically calibrates parameters for end effectors using a master positioner Programing Programming...
  • Page 335 11.4 Equipment Configuration 11.4 Equipment Configuration The NX100 is comprised of individual units and modules (circuit boards). Malfunctioning com- ponents can generally be easily repaired after a failure by replacing a unit or a module. This section explains the configuration of the NX100 equipment. 11.4.1 Arrangement of Units and Circuit Boards Configuration...
  • Page 336 11.4 Equipment Configuration Emergency Stop Button Robot I/F Unit AR22V2R-04R JZNC-NIF01 Breaker Major Axes Control Refer to the Circuit Board following table. SGDR-AXA01A Control Power Supply CPS-420F Backside Duct Fan 4715MS-22T-B50-B00 CPU Unit JZNC-NRK01 (For air inlet) Power Supply Converter Contactor Unit Refer to the Refer to the...
  • Page 337 11.4 Equipment Configuration 11.4.2 Cooling System of the Controller Interior draws in air from the air intake and expels it from the air outlet to cool the backside duct fan SERVOPACK. The fan mounted inside the door circulates the air to keep temperature even through- out the interior of the NX100.
  • Page 338 Description of Units and Circuit Boards WARNING • Before operating the manipulator, check that the SERVO ON lamp goes out when the emergency stop buttons on the right of the front door of the NX100 and the programming pendant are pressed. Injury or damage to machinery may result if the manipulator cannot be stopped in case of an emergency.
  • Page 339 12.1 Power Supply Contactor Unit CAUTION • Perform the following inspection procedures prior to performing teach- ing operations. If problems are found, correct them immediately, and be sure that all other necessary processing has been performed. - Check for problems in manipulator movement. - Check for damage to insulation and sheathing of external wires.
  • Page 340 12.1 Power Supply Contactor Unit Power Supply Contactor Sequence Circuit Board JANCD-NTU01- (CN08) (4X) Brake Output Connector Main Power Supply Input (3FU) Fuse for Brake SMP50 (5A 125V) (CN07) Robot Connection (1FU)(2FU) Fuse for AC Control Power Supply (CN06) 326010 (10A 250V) External Signal Connection 10A 250V 10A 250V...
  • Page 341 12.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01- ) 12.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01- ) The power supply contactor sequence circuit board is controlled by the major axes circuit board (SGDR-AXA01A). The main functions of the contactor circuit board are as follows: •...
  • Page 342 12.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01- ) To connect the tool shock sensor with the cable that is built into the manipula- 1. Disconnect the minus SHOCK (-) and 24VU pin terminal from the WAGO connector, the NTU01-CN07 power supply contactor unit. 2.
  • Page 343 12.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01- ) Cautions for Connection of Dual Input Signals CAUTION • Connect the switch (contact) that turns the dual signals ON and OFF simultaneously. If the timing that turns the two signals ON and OFF is not right, a disagreement alarm occurs.
  • Page 344 12.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01- ) Connection for External Axis Overrun (EXOT) With a unit of standard specifications without an external axis, the external axis overrun input signal is not used. In this case, a jumper cable is connected as shown in the following figure. If an overrun input signal for an axis other than manipulator axes, for example the external axis, is required, connect the signal input circuit in the following manner.
  • Page 345 12.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01- ) Connection for Servo-ON Enable Input (ON_EN1 and ON_EN2) Connect the ON_EN signal lines to enable the function to turn ON or OFF the servo power supply of an individual servo when a robotic system is divided into areas. Because these signals are not used for units of standard specifications, a jumper cable is connected as shown in the following figure.
  • Page 346 12.3 CPU Unit 12.3 CPU Unit 12.3.1 CPU Unit Configuration CPU unit consists of the control power supply, circuit board racks, control circuit boards, robot I/F unit, and major axes control circuit boards. The JZNC-NRK01 CPU unit contains only cir- cuit board racks and control circuit boards.
  • Page 347 12.3 CPU Unit 12.3.2 Units and Circuit Boards in the CPU Unit Control Circuit Board (JANCD-NCP01) This board performs to control the entire system, display to the programming pendant, control the operating keys, control operation, calculate motion type. This board has the Serial inter- face for RS-232C, video output, PS2 connector, and LAN (100BASE-TX/10BASE-T).
  • Page 348 12.3 CPU Unit Items Specifications To turn on the NX100 controller power, turn the non-fuse breaker of con- troller to the ON position then turning on the control power supply. If the controller is not located at the workplace, the non-fuse breaker of control- ler can be turned ON and OFF by input from external device.
  • Page 349 12.3 CPU Unit WAGO Connector CN06, 07 on the power supply contactor unit (JZRCR-NTU - ), CN02 on the control power supply (CPS-420F), and CN12 on the robot I/F unit (JZNC-NIF01) are equipped with a connector made by WAGO. The “wiring tool for the WAGO connector” is necessary to wire the WAGO connector. Two of these tools are supplied with the NX100.
  • Page 350 12.3 CPU Unit Major Axes Control Circuit Board (SGDR-AXA01A) The major axes control circuit board (SGDR-AXB01A) controls the servomotors of the manipulator’s six axes. It also controls the converter, the PWM amplifiers, and the power supply contactor sequence circuit board of the power supply contactor unit. Mounting an external axes control circuit board of an option (SGDR-AXF01A) control the servomotor of nine axes, including the robot axes.
  • Page 351 12.3 CPU Unit Connection wire with Robot User I/O Connector (CN07, 08, 09, 10) Please refer to the figure below when you manufacture the cable connecting with robot user I/O connector (CN07, 08, 09, 10) of robot I/F unit (JZNC-NIF01). (The cable side connector and the I/O terminal block are the options) Connector A detailed (Cable side) Connector Type: FCN-361J040-AU (Fujitsu)
  • Page 352 12.3 CPU Unit System I/O Signal Related to Start and Stop The following signals are system I/O signals related to start and stop. • Servo ON (depending on application: JANCD-NIO01) • External Servo ON (common to all application: System input terminal block MXT) •...
  • Page 353 12.3 CPU Unit Example of Start Sequence Circuit from External Device Only the rising edge of the external start signal is valid. This signal starts the manipulator. Reset this signal with the interlock configuration that determines if operation can start and with the playback (RUNNING) signal confirming that the manipulator has actually started moving.
  • Page 354 12.3 CPU Unit Connection of External Power Supply for I/O At factory setting, the internal power supply for I/O is used. If the external power supply for I/O is used, connect it with following procedure. 1. Remove the wire connected between CN12-1 to -3 and CN12-2 to -4 of the robot I/F unit.
  • Page 355 12.3 CPU Unit Robot System Input Terminal Block (MXT) The robot system input termial block (MXT) is equipped on the bottom face of the inside NX100 as shown below. The input termilnal block (MXT) is used for the input of robot system signals.
  • Page 356 12.3 CPU Unit Wiring Procedure of the MXT Connector For your safety, appropriate work must be done by following the instructions below. Tools For the connection, be sure to use a screwdriver of an applicable size and configuration. Screwdriver * WAGO standard screwdriver WAGO 210-119 WAGO 210-119SB (Short, delivered with the product)
  • Page 357 12.3 CPU Unit Cautions for Connection of Dual Input Signals CAUTION • Connect the switch (contact) that turns the dual signals ON and OFF simultaneously. If the timing that turns the two signals ON and OFF is not right, a disagreement alarm occurs.
  • Page 358 12.3 CPU Unit External Emergency Stop This signal is used to connect the emergency stop switch of an external device. If the signal is input, the servo power is turned OFF and the job is stopped. While the signal is input, the servo power cannot be turned ON.
  • Page 359 12.3 CPU Unit Safety Plug This signal is used to turn OFF the servo power if the door on the safeguarding is opened. Connect to the interlock signal from the safety plug on the safeguarding door. If the interlock signal is input, the servo power turns OFF. While the signal is turned ON. The servo power cannot be turned ON.
  • Page 360 12.3 CPU Unit Installation of Safety Plug The manipulator must be surrounded by a safeguarding and a door protected by an interlock function. The door must be opened by the technician to enter and the interlock function stops the robot operation when the door is open. The safety plug input signal is connected to the interlock signal from the gate.
  • Page 361 If the circuit for this signal must be used for an unavoidable reason, be sure to use a switch with a key that is kept under the care of the system manager. WARNING • This signal is used only for maintenance by YASKAWA’s service person- nel. For your safety, never use this input for any purpose.
  • Page 362 12.3 CPU Unit Full-speed Test This signal is used to reset the slow speed limit for the test run in the teach mode. If this signal input circuit is short-circuited, the speed of the test run becomes 100% in the teach mode.
  • Page 363 12.3 CPU Unit External Servo ON This signal is used to connect the servo ON switch of an external operation device. If the signal is input, the servo power supply is turned ON. NX100 Robot system input terminal block External servo ON +24V2 EXSVON Connection for External Servo ON...
  • Page 364 12.3 CPU Unit External Hold This signal is used to connect the temporary stop switch of an external device. If the signal is input, the job is stopped. While the signal is input, starting and axis operations are disabled. CAUTION •...
  • Page 365 12.3 CPU Unit External Enable Switch This signal is used to connect a Enable switch other than the one on the programming pendant when two people are teaching. CAUTION • Always connect the signals after removing jumper cable. Injury or damage to machinery may result because the external emergency stop do not work even if the signal is input.
  • Page 366 12.3 CPU Unit Direct-in (Servo) 1 to 5 This signal is used to input a responsive signal in search functions. NX100 Robot system input terminal block 024V AXDIN1 Direct-in (Servo) 1 Direct-in (Servo) 2 AXDIN2 AXDIN3 Direct-in (Servo) 3 Direct-in (Servo) 4 AXDIN4 Direct-in (Servo) 5 AXDIN5...
  • Page 367 12.3 CPU Unit Signal Connection Dual Factory Function Name No. (MXT) input Setting EXESP1 Appli- External Emergency Stop Short-circuit cable with a jumper Used to connect the emergency stop cable switch of an external device. EXESP2 If the signal is input, the servo power is turned OFF and the job is stopped.
  • Page 368 12.3 CPU Unit Signal Connection Dual Factory Function Name No. (MXT) input Setting − EXSVON External Servo ON Open Use to connect the servo ON switch of an external operation device. If the signal is input, the servo power supply is turned ON. −...
  • Page 369 12.4 Contact Output of Emergency Stop Button 12.4 Contact Output of Emergency Stop Button The contact output terminals for the emergency stop button on the programming pendant and the door front are provided on the terminal board 2XT (screw size M3.5) on NX100. These contact outputs are always valid no matter of the NX100 main power supply status ON or OFF.
  • Page 370 12.5 SERVOPACK 12.5 SERVOPACK A SERVOPACK consists of a converter and a PWM amplifier of which there are two types. One type is the SERVOPACK with a combined converter and a PWM amplifier and the other type is one where both units are separate. (Refer to attached table “SERVOPACK Configuration”).
  • Page 371 12.5 SERVOPACK HP20, EA1900N UP50N UP20MN Configuration device Model Model Model SERVOPACK SGDR-HP20Y30 SGDR-EH50Y24 SGDR-EH50Y27 SGDR-SDA140A01B SGDR-SDA710A01BY32 SGDR-SDA710A01B Amplifier SGDR-SDA350A01BY23 SGDR-SDA710A01B SGDR-SDA710A01B SGDR-SDA140A01BY22 SGDR-SDA350A01BY28 SGDR-SDA350A01B SGDR-SDA060A01B SGDR-SDA140A01B SGDR-SDA060A01B SGDR-SDA060A01BY31 SGDR-SDA140A01B SGDR-SDA060A01B SGDR-SDA060A01B SGDR-SDA140A01B SGDR-SDA060A01B Converter SGDR-COA080A01B SGDR-COA250A01B SGDR-COA250A01B ES165N, HP165, ES200N ES165RN, ES200RN Configuration device Model...
  • Page 372 12.5 SERVOPACK (AMP4 to AMP6-CNP6) Converter Motor Power Output Top Grip (CN102) Charge Lamp PWM Amplifier Control Power Supply (AMP4 to AMP6-CN1) PWM Signal (CN101) DC Control Power Supply Monitor Alarm Display LED (CN1) PWM Amplifier X6 Converter Control Signal (CNP11) AC Control Power Supply (AMP1 to AMP3-CN1)
  • Page 373 12.5 SERVOPACK Converter (AMP4 to AMP6-CNP6) SERVOPACK Charge Lamp Top Grip Motor Power Output Top Grip (CN102) PWM Amplifier Control Power Supply (AMP4 to AMP6-CN1) (CN101) PWM Signal DC Control Power Supply Monitor Alarm Display LED (CN1) Converter Control Signal PWM Amplifier X6 (CNP4) PN Power Supply...
  • Page 374 12.6 User I/O Signal Assignment 12.6 User I/O Signal Assignment 12.6.1 Arc Welding NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Name Signal Number Number Number Each Point External Start 20010 24VDC 20011 8mA max.
  • Page 375 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN10 Connector Logical Connector Terminal Signal Number Number Number Each Point 20024 24VDC 20025 8mA max. Weaving Prohibited 20026 Sensing Prohibited 20027 IN01 User Output 20030 IN02 20031...
  • Page 376 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN07 Connector Connector Logical Terminal Signal Number Number Number Each Point IN09 User Input 20040 24VDC IN10 20041 8mA max. IN11 20042 20043 IN12 20044 IN13 IN14...
  • Page 377 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN08 Connector Logical Connector Terminal Signal Number Number Number Each Point IN17 20050 24VDC IN18 20051 8mA max. IN19 20052 IN20 20053 IN21 20054 IN22 20055 IN23...
  • Page 378 12.6 User I/O Signal Assignment System Input List NIO01 (Arc Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20022 WORK PROHIBITED (Arc Generation Prohib- Functions the same as the [START] button in ited) the programming pendant.
  • Page 379 12.6 User I/O Signal Assignment System Output List NIO01 (Arc Welding) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30021 IN CUBE 2 This signal signifies that the job is running. This signal turns ON when the current TCP lies (Signifies that the job is running, system status inside a pre-defined space (Cube 2).
  • Page 380 12.6 User I/O Signal Assignment 12.6.2 Handling NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Name Signal Number Number Number Each Point External Start 20010 24VDC 20011 8mA max. Call Master Job 20012 Alarm/Error Reset 20013...
  • Page 381 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN10 Connector Connector Logical Terminal Signal Number Number Number Each Point 20024 24VDC 20025 8mA max. Shock Sensor (NC) 20026 - Hold Low Air Pressure 20027 IN01 User Input 20030...
  • Page 382 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN07 Connector Logical Connector Terminal Signal Number Number Number Each Point IN09 20040 24VDC IN10 20041 8mA max. IN11 20042 IN12 20043 IN13 20044 IN14 20045 IN15...
  • Page 383 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN08 Connector Connector Logical Terminal Signal Number Number Number Each Point Sensor Input 1 20050 24VDC Sensor Input 2 20051 8mA max. Sensor Input 3 20052 Sensor Input 4 20053...
  • Page 384 12.6 User I/O Signal Assignment System Input List NIO01 (Handling) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20021 INTERFERENCE 2 ENTRANCE PROHIB- Functions the same as the [START] button in ITED If the manipulator attempts to enter the cube the programming pendant.
  • Page 385 12.6 User I/O Signal Assignment System Output List NIO01 (Handling) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30021 IN CUBE 2 This signal signifies that the job is running. This signal turns ON when the current TCP lies (Signifies that the job is running, system status inside a pre-defined space (Cube 2).
  • Page 386 12.6 User I/O Signal Assignment 12.6.3 General Application NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Name Signal Number Number Number Each Point External Start 20010 24VDC 20011 8mA max. Call Master Job 20012 Alarm/Error Reset 20013...
  • Page 387 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN10 Connector Logical Connector Terminal Signal Number Number Number Interference3 Entrance Each Point 20024 Prohibited Interference4 Entrance 24VDC 20025 Prohibited 8mA max. 20026 20027 IN01 User Input 20030 IN02...
  • Page 388 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN07 Connector Logical Connector Terminal Signal Number Number Number Each Point IN01 User Input 20040 24VDC 20041 IN02 8mA max. IN03 20042 20043 IN04 20044 IN05 IN06...
  • Page 389 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN08 Connector Connector Logical Terminal Signal Number Number Number Each Point IN17 20050 24VDC IN18 20051 8mA max. IN19 20052 IN20 20053 IN21 20054 IN22 20055 IN23...
  • Page 390 12.6 User I/O Signal Assignment System Input List NIO01 (General application) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20021 INTERFERENCE 2 ENTRANCE PROHIBITED Functions the same as the [START] button in If the manipulator attempts to enter the cube the programming pendant.
  • Page 391 12.6 User I/O Signal Assignment System Output List NIO01 (General application) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30021 IN CUBE 2 This signal signifies that the job is running. This signal turns ON when the current TCP lies (Signifies that the job is running, system status inside a pre-defined space (Cube 2).
  • Page 392 12.6 User I/O Signal Assignment 12.6.4 Spot Welding NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Name Signal Number Number Number Each Point External Start 20010 24VDC 20011 8mA max. Call Master Job 20012 Alarm/Error Reset 20013...
  • Page 393 12.6 User I/O Signal Assignment NX100 Robot I/F-Unit (JZNC-NIF01) Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN10 Connector Connector Logical Terminal Signal Number Number Number Interference3 Entrance Each Point 20024 Prohibited Interference4 Entrance 24VDC 20025 Prohibited 8mA max. 20026 20027 IN1 USER INPUT 20030 20031 20032...
  • Page 394 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN07 Connector Logical Connector Terminal Signal Number Number Number Each Point IN17 20040 24VDC IN18 20041 8mA max. IN19 20042 IN20 20043 IN21 20044 IN22 20045 IN23...
  • Page 395 12.6 User I/O Signal Assignment NX100 Robot I/F Unit (JZNC-NIF01) Connector Terminal Converter (Optional) +24VU Model:PX7DS-40V6-R CN08 Connector Connector Logical Terminal Signal Number Number Number Each Point Timer Cooling Water 20050 Error (IN09) 24VDC Gun Cooling Water 20051 Error (IN10) 8mA max.
  • Page 396 12.6 User I/O Signal Assignment System Input List NIO01 (Spot Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20024 INTERFERENCE 3 ENTRANCE PROHIBITED Functions the same as the [START] button in If the manipulator attempts to enter the cube the programming pendant.
  • Page 397 12.6 User I/O Signal Assignment System Input List NIO01 (Spot Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20045 WELDING ERROR GUN SHORT OPEN DETECTION This signal indicates an abnormal welding This signal is connected with a single gun open result or Power Source’s error.
  • Page 398 12.6 User I/O Signal Assignment System Output List NIO01 (Spot Welding) Logical Logical Output Name / Function Output Name / Function Number Number 30010 RUNNING 30023 INTERMEDIATE START OK This signal signifies that the job is running. This signal turns ON when the manipulator (Signifies that the job is running, system status operates.
  • Page 399 12.6 User I/O Signal Assignment System Output List NIO01 (Spot Welding) Logical Logical Output Name / Function Output Name / Function Number Number 30040 TIP REPLACE REQUEST 30506 to SHUT OFF VALVE CONTROL This signal is output when the stored number 30507 This signal is ON and water flows into the gun of welding reaches the number of welding set...
  • Page 400 12.6 User I/O Signal Assignment 12.6.5 JANCD-XEW02 Circuit Board (Standard) Arc Welding JANCD-XEW02 Circuit Board: Analog outputs × 2 ports, Analog inputs × 2 ports + Status signal I/O of a Welder NX100 MR Connector MS Connector Logical Connector Name Signal Pin No.
  • Page 401 ........control power supply 12-9 ....control power supply (CPS-420F) 12-10 ........controller for positioner ..........absolute data ..........converter 12-33 absolute data allowable range alarm occurs 9-10 ..........cooling system 11-2 ........... absolute encoder ........coordinate system 11-3 ......... AC servo motor 10-24 ............
  • Page 402 ................. GAS SHORTAGE (MONITOR) 12-42 language 11-4 ......................grounding 1-6 , 11-2 L-axis ........... group (4-bit/8-bit) output allocation 9-90 leakage breaker installation ............group output allocation (4-bit/8-bit) 9-82 learning function 9-79 ............GUN COOLING WATER ERROR 12-59 lifting the NX100 ....
  • Page 403 ........setting play speed 9-15 ....setting shock detection function 9-67 ........setting station axis 10-16 ......... path confirmation 11-3 ......setting the controller clock 9-14 ........PINION DIAMETER 10-12 setting the second home position ........positioning system 11-2 ..........(check point) 9-12 ........
  • Page 404 ........user coordinate 9-20 , 9-48 ........user coordinates file 9-48 ............user ID ............variable 11-4 ..........variable type 11-4 ........WAGO connector 12-12 ......WEAVING PROHIBITED 12-41 ........ WELD COMPLETION 12-59 ........WELD CONDITION 12-61 ......WELD ERROR RESET 12-61 ..........
  • Page 405 49-8166-90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea Phone 82-53-745-7844 82-2-784-8495 YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. 151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore Phone 65-6282-3003 65-6289-3003 YASKAWA ELECTRIC (MALAYSIA) SDN. BHD. No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia...

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