YASKAWA Motoman NXC100 Manual
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YASKAWA Motoman NXC100 Manual

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Summary of Contents for YASKAWA Motoman NXC100

  • Page 1 (217) 352-9330 | Click HERE Find the Yaskawa / Motoman NXC100 at our website:...
  • Page 2 Motoman NXC100 Controller NXC100 Controller Manual Part Number: 150975-1CD Revison Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 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. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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  • Page 5 7€†„xxq„ Gg€‡gx 7tg‚†q„  C€†„p‡i†u€ 0QVGU gsq @u€gx Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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  • Page 10 HX7 #'%# ‡ $Q\ PRGLILFDWLRQV WR 3$57  6\VWHP 6HFWLRQ RI WKH URERW FRQWUROOHU FRQFXUUHQW ,2 SURJUDP FDQ FDXVH VHYHUH SHUVRQDO LQMXU\ RU GHDWK DV ZHOO DV GDPDJH WR WKH URERW 'R QRW PDNH DQ\ PRGLILFDWLRQV WR 3$57  6\VWHP 6HFWLRQ 0DNLQJ DQ\ FKDQJHV ZLWKRXW WKH ZULWWHQ SHUPLVVLRQ RI 0RWRPDQ ZLOO 92,' <285 :$55$17<...
  • Page 11 7€†„xxq„ Gg€‡gx 7tg‚†q„ Sgrq†‘ 0QVGU gsq @u€gx Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 12 YASKAWA NXC100 INSTRUCTIONS TYPE: ERCR-NS00-A200 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS NXC100 INSTRUCTIONS NX100 OPERATOR’S MANUAL The NX100 operator’s manual above corresponds to specific usage.
  • Page 13 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 14 HW0482738 Notes for Safe Operation Read this manual and other required documents carefully before installation, operation, main- tenance, or inspection of the NXC100. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” Indicates a potentially hazardous situation which, if not WARNING avoided, could result in death or serious injury to personnel.
  • Page 15 HW0482738 WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front face of the NXC100 and on the right side of the programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the program- ming pendant is turned OFF.
  • Page 16 Emergency stop button REMOTE TEACH START HOLD PLAY Emergency stop button SER NO. 44A220-011 DATE 3-2005 TYPE ERCR-NS00-A200 YASKAWA ELECTRIC CORPORATION JAPAN NJ2518-2 POWER SUPPLY AC200/220V 50/60Hz 1 1 KVA NXC100 NJ2519-2 Approx mass. 16 Kg NJ2520-2 ON (I) SOURCE...
  • Page 17 HW0482738 CAUTION • Perform the following inspection procedures prior to conducting manip- ulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. -Check for problems in movement of the manipulator and servo track. -Check for damage to insulation and sheathing of external wires.
  • Page 18 208/110 VAC PRESENT Contact may cause electric shock or burn Turn off and lock out system power before servicing 44A220-011 DATE SER NO. 3-2005 ERCR-NS00-A200 TYPE YASKAWA ELECTRIC CORPORATION JAPAN NJ2518-2 POWER SUPPLY SER NO. 44A220-011 DATE 3-2005 TYPE ERCR-NS00-A200 AC200/220V...
  • Page 19 HW0482738 Safety 1.1 For Your Safety ........2 1.2 Special Training .
  • Page 20 HW0482738 Maintenance and Inspection 6.1 Inspection Schedule ....... 6 6.2 Inspection Items .
  • Page 21 HW0482738 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 22 "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. HW0482738 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 23 -NXC100 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. HW0482738 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 24 HW0482738 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 25 HW0482738 1.4 Personnel Safety CAUTION • Never forcibly move the manipulator axes. Failure to observe this caution may result in injury or equipment damage. • Avoid inadvertently pushing buttons. Failure to observe this caution may result in injury or damage by unexpected movement of the manipulator.
  • Page 26 HW0482738 1.5 Motoman Safety Motoman Safety 1.5.1 Installation and Wiring Safety Refer to the MOTOMAN- Instructions manual and NXC100 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.
  • Page 27 HW0482738 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 28 HW0482738 1.5 Motoman Safety CAUTION • Be familiar with the connection diagram before wiring the NXC100, and perform the wiring in accordance with the connection diagram. There is a danger of equipment damage or injury due to miswiring and unexpected move- ment of the equipment.
  • Page 29 HW0482738 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 30 HW0482738 1.5 Motoman Safety 1.5.3 Operation Safety WARNING • Never exceed the rated capacity of the manipulator (capacity can be found in the specifications section of the manipulator manual.). Failure to observe this caution may result in injury or damage to equipment. •...
  • Page 31 HW0482738 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 NXC100 and the programming pendant are pressed.
  • Page 32 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 33 HW0482738 2 Product Confirmation CAUTION • Confirm the contents of the delivery that there is no damage or lack of parts caused by transporting. Failure to observe this instruction may affect the manipulator performance or the manipu- lator may not perform as expected. •...
  • Page 34 HW0482738 3.1 Transporting Method 3 Transporting CAUTION • Perform transporting and installing of the NXC100 with 2 personnel or more. Approx. mass NXC100 controller (ERCR-NS00-A200) : 16 kg Failure to observe this caution may result in injury or damage to the machinery. Transporting Method Approximate mass of the NXC100 is 16 kg.
  • Page 35 HW0482738 4.1 NXC100 Basic Specifications 4 Installation NXC100 Basic Specifications Table. 1 NXC100 Specifications Item Specifications Applications Material handling (The NXC100 cannot be used for arc welding.) Basic Specifications Input Power Supply Single-phase 200/220 VAC (50/60Hz) Power fluctuation +/- 10 % Frequency fluctuation +/- 2 Hz Grounding Ground resistance 100 Ω...
  • Page 36 Manipulators Applicable to NXC100 HP3, HP3L, HP5 Motors Applicable to NXC100 ΣΙΙ, ΣΙΙΙ series AC servo motors manufactured by YASKAWA ELECTRIC CORPORATION (200 VAC spec.) Display Pilot lamp for power supply input (White) 7-Segment LED, 4 digits (Green)
  • Page 37 HW0482738 4.2 Programming Pendant Specifications Programming Pendant Specifications Table. 2 Programming Pendant Specifications Item Specifications Basic Specifications Material Reinforced plastic (with strap) External Dimensions Width: 200 x Height: 300 x Depth: 60 [mm] Approx. Mass 1.3 kg Display Display 6.5 inch TFT-color LCD Number of Indication Dots 640 x 480...
  • Page 38 Intake duct I/O fuse battery Type NXC100 Ser.No. Date Approx Mass YASKAWA ELECTRIC JAPAN MADE IN JAPAN NJ2450 Fans for fuse FUFAN1, FUFAN2 AC FUSE F1,F2 I/O FUSE F1,F2,F3,F4 15A / 250V 3.15A / 250V...
  • Page 39 HW0482738 4.4 LED Indicator, Operation Switch, etc. LED Indicator, Operation Switch, etc. 1. 7-segment LED Indicator Indicates the NXC100’s internal status in 4 digits. Mainly used to indicate an error code. Display Display 2. Power Switch Turns ON/OFF the input power supply. 3.
  • Page 40 HW0482738 4.4 LED Indicator, Operation Switch, etc. 4. LED Indicator Device code: SOURCE LED Indicator (SOURCE) indicates the ON/OFF condition of the NXC100 power sup- ply. Device code: BAT LED indicator (BAT) indicates with detecting the decline of the CPU memory backup battery voltage.
  • Page 41 HW0482738 5.1 NXC100 Connector Names 5 Explanation NXC100 Connector Names Type NXC100 Ser.No. Date Approx Mass YASKAWA ELECTRIC JAPAN MADE IN JAPAN NJ2450 ON (I) SOURCE BATTERY FUSE OFF (O) AC FUSE:F1,F2 I/O FUSE:F1,F2,F3,F4 15A / 250V 3.15A / 250V...
  • Page 42 HW0482738 5.2 Pin Assignments Pin Assignments WARNING • Do not remove/insert connectors when operating the equipment or turn- ing ON the power supply. Failure to observe this instruction may result in electric shock, damage on the operation circuit, or the manipulator may become uncontrollable. The followings show the connector pin assignments between the NXC100 and the host sys- tem.
  • Page 43 HW0482738 5.2 Pin Assignments (2) X52 RS232C For host communication and maintenance PC connection NXC100 Side Connector: DSUB 9 Pin (Pin) Cable Side Connector: DSUB 9 Pin (Socket) Pin No. Signal Name Contents Connection Disabled Data Receiving Data Transmission Connection Disabled Signal Ground Connection Disabled Request Transmission...
  • Page 44 HW0482738 5.2 Pin Assignments Concurrent Concurrent Signal Name Signal Name Assignment Assignment 20012 20012 ALARM/ERROR RESET A ALARM/ERROR RESET B 20013 20013 SELECT PLAY MODE A SERECT PLAY MODE B 20014 20014 SELECT TEACH MODE A SELECT TEACH MODE B 20015 20015 IN01A...
  • Page 45 HW0482738 5.2 Pin Assignments • The signal names in the table are common in the general-purpose and handling applica- NOTE tion. • The concurrent assignment Nos.: 20024 to 20037 and 30026 to 30037 are not available. • If I/O board is additionally installed, the concurrent assignment Nos.: 20040 or more and DOUT Item Specification...
  • Page 46 HW0482738 5.2 Pin Assignments (5) X61 SAFETY For interlock I/O signal NXC100 Side Connector: 10250-52A2JL (3M) Cable Side Connector: 10150-6000EL (3M) Cable Side Shell: 10350-3280-000-0 (3M) Signal Logic *1 Direction Signal Signal Function Name Name Host The signal turns OFF the servo power if the door on the safe- guarding is opened.
  • Page 47 HW0482738 5.2 Pin Assignments Signal Logic *1 Direction Signal Signal Function Name Name Host The signal is used for input of the Emergency EXESP1+ EXESP1- Normal emergency stop button which is stop → (Switch installed in external operation (Switch EXESP2+ EXESP2- closed) device.
  • Page 48 HW0482738 5.2 Pin Assignments (7) PRESP Contact Point of Programming Pendant Emergency Stop Button The signal outputs status of the emergency stop button on programming pendant. NXC100 Side Connector: 721-604/019-000 (WAGO) Cable Side Connector: 721-104/026-000 (WAGO), delivered with the NXC100 Pin No.
  • Page 49 HW0482738 5.3 Circuit Diagram for I/O Signals Circuit Diagram for I/O Signals (1) X33 DI/O For general-purpose digital I/O signal When the 24 VDC output of the NXC100 is used; • Connect +24V2 to EX+24VIN. • Connect 024V2 to EX024VIN. When the 24 VDC input from the host controller is used;...
  • Page 50 HW0482738 5.3 Circuit Diagram for I/O Signals (2) X61 SAFETY For SAFETY I/O signal a) Signal: EXESP; The signal is used for hotline signal of emergency stop button. For safety reasons, use the switch with direct contact opening mechanism. Programming pendant b) Signals: SAFE, FORCE, HSW, FST, EXDSW, ONEN The signals are used for hotline signals for safety.
  • Page 51 HW0482738 5.3 Circuit Diagram for I/O Signals C) Signals: EXSVON, EXHOLD The signals are used for mode setting signals. Input a contact signal. PLD1 +24V2 024V2 Safety Circuit PLD2 024V2 I/O Circuit Block Diagram (3) X32 RESET For RESET I/O signals The signal is used for the NXC100 reset signal.
  • Page 52 HW0482738 5.3 Circuit Diagram for I/O Signals (4) PPESP PPESP is the signal which indicates the state of the emergency stop button on the pro- gramming pendant. Programming pendant Emergency stop NXC100 Emergency stop Circuit PPESP (5) PBESP PBESP is the signal which indicates the state of the emergency stop button on the NXC100 panel.
  • Page 53 HW0482738 5.4 Interlock Circuit Interlock Circuit The NXC100 has "Interlock signals" connected to the conntector X61 on the NXC100. The NXC100 has interlock circuit: "EXESP" for the hardware configuration. Together with "ALARM" circuit, this interlock circuit gives feedback on the operating status to the user software.
  • Page 54 HW0482738 5.5 Expansion of I/O Capacity Expansion of I/O Capacity When the I/O capacity is expanded, the I/O signals are assigned as follows. For expanding the I/O capacity, one board such as XOI01 board, XFB01 board, etc. can be used. The board for I/O expansion is installed in the expansion I/O box (optional).
  • Page 55 In addition, YASKAWA recommends the complete check (including the items which cannot be done on-site) at YASKAWA as a preventive maintenance after 5 years (30,000 hours). In this case, for the best adjustment, YASKAWA recommends to check manipulator and the NXC100 as a set.
  • Page 56 The inspection items are classified into three types of operations: the operation which can be performed by personnel authorized by the user, the operation which can be performed by personnel being trained and the operation which is performed by YASKAWA. Only specified personnel are to do the inspection work.
  • Page 57 HW0482738 7 Recommended Spare Parts CAUTION • Be sure to use Yaskawa’s recommended parts for replacement. Product performance cannot be guaranteed when using spare parts from any company other than Yaskawa. It is recommended that the following parts and components be kept in stock as spare parts for the NXC100.
  • Page 58 HW0482738 Table. 4 Spare Parts for the NXC100 Parts Rank Name Type Manufacturer Remarks Unit Type: PS/150 (Japan Vilene) × × 340 mm 130 mm t8 mm × × 90 mm 33 mm t8 mm × × 40 mm 23 mm t8 mm Japan Vilene Air filter...
  • Page 59 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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