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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. Be sure to use the appropriate manual. MANUAL NO. RE-CTO-A211...
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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.
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.
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Injury may result if anyone enters the P-point maximum envelope of the manipulator dur- ing operation. Always press an emergency stop button immediately if there are prob- lems.The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.
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-Check for problems in manipulator movement. -Check for damage to insulation and sheathing of external wires. • Always return the programming pendant to the hook on the NX100 cabi- net after use. The programming pendant can be damaged if it is left in the P-point maximum envelope of the manipulator’s work area, on the floor, or near fixtures.
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.
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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.
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Safety 1.1 For Your Safety ........1 1.2 Special Training .
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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 .
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System Up Security System 7.1 Protection Through Security Mode Settings ..7 7.1.1 Security Mode........7-1 Changing the Security Mode .
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Tool Load Information ......8-37 How to Calculate Tool Load Information ....8-37 Tool Load Information Registering .
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8.19.4 Layout Storage ........8-119 System Backup 9.1 System Backup with NX100 ......9...
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Settings ........9-10 NX100 Status and Automatic Backup ....9-14 Setting Examples .
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NX100 Specification 12.1 Specification List ....... . 12 12.2 Function List .
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.
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By designating authorized workers and safety managers, as well as giving continuing safety education. • 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.
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.
Improper clothing may result in injury. • Unauthorized persons should not approach the manipulator or associ- ated peripheral equipment. Failure to observe this caution may result in injury due to contact with NX100, controller, the workpiece, the positioner, etc.
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• 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.
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...
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• When lifting the NX100, please check the following: -As a rule, handling of NX100 must be performed using a crane with wire rope threaded through attached eyebolts. -Be sure to use wire that is strong enough to handle the weight of the NX100.
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NX100 DOOR Securing (mm) External Dimensions (mm) • The manipulator is controlled by the NX100 or the controller for posi- tioner. To ensure safety, be sure to operate the controller from a location where the manipulator is easily visible. Operation by unauthorized personnel may result in injury or equipment damage.
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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...
Tools and loose equipment should not be left on the floor around the manipulator, NX100, or welding fixture, etc., as injury or damage to equipment can occur if the manip- ulator comes in contact with objects or equipment left in the work area.
Operation Safety WARNING • When attaching a tool such as the welding torch to the manipulator, be sure to turn OFF the power supply of the NX100 and the tool, lock the switch, and display a warning sign. ENERGIZING PROHIBITED...
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Injury may result from contact with the manipulator if persons enter the P-point maximum envelope of the manipulator. Press the emergency stop button immediately if there are problems. The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant. Emergency Stop Button...
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-Check for problems in manipulator movement. -Check for damage to the insulation and sheathing of external wires. • Always return the programming pendant to its hook on the NX100 cabi- net after use. If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
If any manuals are missing, contact your Yaskawa representative. • If the warning labels on the manipulator and NX100 are illegible, clean the labels so that they can be read clearly. Note that some local laws may prohibit equipment operation if safety labels are not in place.
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...
Standard delivery includes the following five items (Information for the content of optional goods is given separately): • Manipulator • NX100 • Programming Pendant • Manipulator Cable (Between Manipulator and NX100) • Complete Set of Manuals Manipulator NX100 Programming Pendant...
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.
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. 3.1.1 Using a Crane to Move the Controller Check the following before handling the NX100: •...
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.
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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...
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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...
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.
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ON. Failure to observe this caution may result in fire and electric shock. • Any occurrence during wiring while the NX100 is in the emergency stop mode is the user’s responsibility. Do an operation check once the wir- ing is completed.
• Confirm the connector and cable numbers to prevent misconnection and equipment dam- age. One connects the manipulator and NX100. Another connects the NX100 and peripheral device. A wrong connection can cause damage to electronic equipment.
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 200/220VAC at 60Hz and 200VAC at 50Hz. The power failure processing circuit operates when there is a black out or drop in voltage, and the servo power turns OFF.
Leakage Breaker Installation When connecting the leakage breaker to the controller power supply wiring, use a leakage breaker which can handle high frequencies from the NX100 inverter. Leakage breakers which cannot handle high frequencies may malfunction. Example of High Frequency Leakage Breakers...
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) capacity for Manipulator capacity NX100 (In case of Cabtyre cable (four wicks))mm (kVA) 3.5 (M5)
Manipulator cable 4.3.1 Connecting the Primary Power Supply Open the front door of the NX100. (1) Insert the door lock in the door lock on the front of NX100 (two places), and rotate it 90 degrees clockwise. door lock clockwise ( - )screw driver Rotating the Door Lock Clockwise.
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NX100. Attach the plate and cable firmly so that it won’t shift or slide out of place. (1) Pull off the primary cover of the switch which is on the upper left side of the NX100. Pulling Off the Cover...
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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...
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...
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3. Close the NX100 door. (1) Close the door gently. (2) Rotate the door lock counterclockwise 90 degrees. counterclockwise 90 door lock (-)screwdriver Rotating the Door Lock Counterclockwise NOTE Close the door of the controller (NX100) securely to prevent dust from entering. 4-10...
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...
Press the emergency stop button immediately if any problems occur. The emergency stop button is located in the upper left of the door on the NX100 and on the right side of the programming pendant. Turning ON the Main Power Supply The main power supply is turned ON when the main power supply switch on the front of the NX100 is turned to the "ON"...
When the power supply is turned OFF, the NX100 saves all condition data, including: • Mode of operation • Called job (active job if the NX100 is in the play mode; edit job if the NX100 is in the teach mode) and the cursor position in the job.
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.
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Release -> OFF Squeeze -> ON Squeeze Tightly -> OFF When performing emergency stop on the front door of the NX100, programming pendant, NOTE or external signal, the servo power-on operation from the Enable switch is cancelled. When turning the power back ON, follow the previously listed instructions.
5.3.2 Turning OFF the Main Power After turning OFF the servo power, turn OFF the main power. When the main power switch on the front of NX100 is turned to the “OFF“ position, the main power is turned OFF. NX100...
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. The emergency stop buttons are attached on the front door of the NX100 and right of the programming pendant.
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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. •...
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. NOTE Be sure to remove all items from the area before moving the manipulator. Refer to the INSTRUCTION MANUAL for the appropriate position of the fixture.
7 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.
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7.1 Protection Through Security Mode Settings Menu & Security Mode Allowed Security Mode Main Menu Sub Menu DISPLAY EDIT Operation Edit SELECT JOB Operation Operation Edit Edit CREATE NEW JOB MASTER JOB Operation Edit JOB CAPACITY Operation Edit Edit RES. START (JOB) Operation RES.
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7.1 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 WORK HOME POS Operation Edit SECOND HOME POS Operation Edit DROP AMOUNT Management Management POWER ON/OFF POS...
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7.1 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...
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7.1 Protection Through Security Mode Settings Menu & Security Mode Allowed Security Mode Main Menu Sub Menu DISPLAY EDIT SPOT WELDING WELD DIAGNOSIS Operation Edit (MOTOR GUN) GUN PRESSURE Edit Edit PRESSURE Edit Edit I/O ALLOCATION Management Management GUN CONDITION Management Management CLEARANCE SETTING...
7.1 Protection Through Security Mode Settings Changing the Security Mode Operation Explanation 1 Select {SYSTEM INFO} under The sub menu appears. the main menu. FD/CF DOUT MOVE SETUP ARC WELDING VERSION VARIABLE B001 MONITORING TIME IN/OUT ALARM HISTORY ROBOT I/O MSG HISTORY SYSTEM INFO SECURITY Main Menu...
7.1 Protection Through Security Mode Settings Operation Explanation 4 Input the user ID. The user ID input window appears. EDIT DISPLAY UTILITY DATA SECURITY FD/CF DOUT MOVE Password= DISPLAY SETUP ARC WELDING MODE VARIABLE B001 IN/OUT ROBOT SYSTEM INFO Input current ID no. (4 to 8 digits) Main Menu Short Cut The following user ID numbers are set by default.
Create the user ID with four to eight numbers and symbols: the numbers 0 to 9; the symbols "-" and ".". Changing a User ID In order to change the user ID, the NX100 must be in Editing Mode or Management Mode. Higher security modes can make changes the user ID of to lower security modes. Operation...
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7.1 Protection Through Security Mode Settings Operation Explanation 3 Select the desired ID. The character input line appears, and a message "Input current ID no. (4 to 8 digits)" appears. DATA EDIT DISPLAY UTILITY USER ID FD/CF DOUT MOVE Password= PARAMETER ARC WELDING EDITING MODE...
• 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.
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- Check for problems in manipulator movement. - Check for damage to the insulation and sheathing of external wires. • Always return the programming pendant to its hook on the NX100 cabi- net after use. If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator movement, possibly causing injury or equipment damage.
8.1 Home Position Calibration • All the axes can be moved at the same time: Recalibrate the home position by moving all the axes together if changing the combina- tion of manipulator and circuit board. • Axes can be moved individually: Recalibrate the home position for the individual axes that were affected by the replacement, if replacing the motor or absolute encoder.
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8.1 Home Position Calibration Operation Explanation Select {DISPLAY} under the The pull-down menu appears. menu, DATA DISPLAY EDIT UTILITY or select {PAGE} to display ROBOT 1 HOME POSITIONING the selection window for the FD/CF SELECT ABSOLUTE DATA DOUT STATION 1 MOVE control group, R1:S...
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8.1 Home Position Calibration Operation Explanation Select {SELECT ALL AXES}. The confirmation dialog box appears. EDIT DISPLAY UTILITY DATA HOME POSITIONING FD/CF SELECT ABSOLUTE DATA DOUT MOVE R1:S PARAMETER ARC WELDING VARIABLE SETUP ¡ B001 Create home position? ¡ IN/OUT DISPLAY SETUP ROBOT SYSTEM INFO...
8.1 Home Position Calibration Registering Individual Axes Operation Explanation Select {ROBOT} under the main menu. Select {HOME POSITION}. Select the desired control Perform steps 3 and 4 which have been described in "Register- group. ing All Axes at One Time" to select the desired control group. Select the axis to be regis- tered.
8.1 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 Select {ROBOT} under the main menu. Select {HOME POSITION}. Select the desired control Perform steps 3 and 4 which have been described in "Register- group.
8.1 Home Position Calibration Clearing Absolute Data Operation Explanation Select {ROBOT} under the main menu. Select {HOME POSITION}. Perform steps 2, 3, and 4 which have been described in "Regis- tering All Axes at One Time" to display the HOME POSITION- ING window and select the desired control group.
8.1 Home Position Calibration 8.1.3 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°).
Injury may result from contact with the manipulator if persons enter the P-point max- imum envelope of the manipulator. • Always press the emergency stop button immediately if there are problems. Emergency stop buttons are attached on the right of the front door of the NX100 and the programming pendant. 8-10...
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- Check for damage to the insulation and sheathing of external wires. - Always return the programming pendant to its hook on the NX100 cabinet after use. If the programming pendant is inadvertently left on the manipulator, a fixture, or on the floor, the manipulator or a tool could collide with it during manipulator move- ment, possibly causing injury or equipment damage.
8.2 Setting the Second Home Position (Check Point) 8.2.1 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.
8.2 Setting the 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 alarm occurs again.
8.2 Setting the Second Home Position (Check Point) 8.2.2 Procedure for the Second Home Position Setting (Check Point) Apart from the "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.
The robot current position data when turning main power supply OFF and ON can be con- firmed in “POWER ON/OFF POS" window. For details on the “POWER ON/OFF POS" window, refer to " 7.7 Position Data When SUPPLE Power is Turned ON/OFF " in NX100 MAINTENANCE MANUAL. -MENT Operation Explanation 1 Select {ROBOT} under the main menu.
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8.2 Setting the Second Home Position (Check Point) Operation Explanation When there are two or more group axes, select the group axes to GO BACK which the second home position is to be specified. Press the page key PAGE or select {PAGE} to display the DATA EDIT DISPLAY...
Use the following parameter to set this function. S2C333: TOOL NO. SWITCHING (1: enabled; 0: disabled) For more details, refer to “ 8 Parameter ” in NX100 OPERATOR’S MANUAL. 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.
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8.3 Tool Data Setting Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {TOOL}. The TOOL COORDINATE window appears. The TOOL COOR- DINATE window appears only when the file extension function is valid. When the file extension function is invalid, the TOOL win- dow appears.
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8.3 Tool Data Setting Operation Explanation 3 (Continued from the previous To switch the TOOL window and the coordinate window, press page.) {DISPLAY} {LIST} or {DISPLAY} {COORDINATE DATA}. DISPLAY DATA EDIT UTILITY LIST TOOL TOOL NO. : 0 / 24 NAME RB1 STD TOOL 0.000 mm...
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8.3 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 In the following case, register Rz=180, Ry=90, Rx=0 Flange...
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8.3 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. X’’ Z’ Y’...
8.3 Tool Data Setting Setting the Tool Load Information The tool load information includes weight, a center of gravity position, and moment of inertia at the center of gravity of the tool installed at the flange. For more details on the tool load information, refer to "8.4.3 Tool Load Information Setting". SUPPLE -MENT 8.3.2...
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8.3 Tool Data Setting There are 24 tool files numbered 0 to 23. In a basic system with one manipulator and one SUPPLE tool, the tool file for tool No.0 is used. If there is more than one tool, for example when -MENT using a multihand, use the tool numbers in the order 0, 1, 2, ..
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8.3 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.
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8.3 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...
8.3 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 pull- down menu. 2 Select {CLEAR DATA}. The confirmation dialog box is shown. DATA EDIT DISPLAY...
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8.3 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...
8.3 Tool Data Setting 8.3.3 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.
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8.3 Tool Data Setting Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {TOOL}. The TOOL window appears. 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 appears. DATA EDIT DISPLAY...
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8.3 Tool Data Setting Operation Explanation 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. : 00 LOAD SETTING ON U-ARM NOT CONSIDER R2 : <STATUS>...
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8.3 Tool Data Setting Operation Explanation 8 (Continued from the previous When all the measurements are completed or when all the page.) “ “marks have changed into “ “, the measured data appears on the screen. DATA EDIT DISPLAY UTILITY W.GRAV.POS MEASURE TOOL NO.
The moment of inertia and the gravity moment etc. of each axis are calculated by the ARM control function, and NX100 controls robot motion according to the result. It is necessary to set the Robot setup condition and the tool load information to request these accurately.
“+” 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. 8-33...
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8.4 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 values when there is no installed load on the S-head. WEIGHT (unit: kg) The weight of the installed load is set.
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8.4 ARM Control X (From U-Axis) ( - ) ( + ) U-axis Center of Gravity rotation Position center HEIGHT (From U-Axis) Load on the U-arm: Center of gravity position (Side View) 8-35...
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8.4 ARM Control Setting NOTE ARM CONTROL window is displayed only when the security mode is set in the manage- ment mode. Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {ARM CONTROL}. The ARM CONTROL window appears. DATA EDIT DISPLAY...
8.4 ARM Control 8.4.3 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.
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8.4 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. Since it is usually difficult to get a strict center of gravity position, it can be set with a rough value.
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8.4 ARM Control <Example 1> In the example of sealing gun of the figure below, the center of gravity is set on the flange coordinates assuming that the center of gravity is positioned slightly inclined to the head from the center. There is no need to set the moment of inertia at the center of gravity since the size of the gun is not too large.
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8.4 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 compared to the distance from the flange to the center of gravity position.
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8.4 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.
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8.4 ARM Control <Example 3> When there are two or more big mass such as the twin gun system as shown in the figure below, perform: 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.
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8.4 ARM Control * The own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded in this example, since each gun is smaller than the entire tool. <Setting> • W 10.000 • Xg : 100.000 • Yg : -83.333 •...
8.4 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 COORDINATE window appears. The TOOL COOR- DINATE window appears only when the file extension function is valid.
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8.4 ARM Control Operation Explanation 3 Select the desired tool num- Move the cursor to the number of the desired tool, and press ber. [SELECT] in the TOOL window. The coordinate window of the selected number appears. Select the desired number in the coordinate window by pressing GO BACK the page key or clicking on the {PAGE} button.
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8.4 ARM Control • When the data setting is not done NOTE It is considered that data is not set correctly in tool load information in the following cases. • When the weight (W) is "0". • When the center of gravity position (Xg, Yg, Zg) are all “0”. In these cases, the manipulator is controlled by using the standard parameter values (vary according to each robot model) which were set by default.
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8.5 Work Home Position Work Home Position 8.5.1 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.
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8.5 Work Home Position Registering/Changing the Work Home Position Operation Explanation 1 Press the axis keys in the work Move the manipulator to the new work home position. home position display. 2 Press [MODIFY] and New work home position is set. [ENTER].
• Cubic Interference Area • Axis Interference Area The NX100 judges whether the TCP of the manipulator is inside or outside this area, and out- puts this status as a signal. 8.6.2 Cubic Interference Area...
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8.6 Interference Area Cube Setting Method There are three ways to set cubic a interference area as described in the following sections: Number Input of Cube Coordinates Enter the maximum and minimum values for the cube coordinates. Z-axis Maximum value Cubic X-axis interference...
8.6 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 SIGNAL : 1 / 32 METHOD AXIS INTERFERENCE CONTROL GROUP CHECK MEASURE COMMAND POSITION PAGE...
8.6 Interference Area Operation Explanation 5 Select “CONTROL GROUP”. A selection box appears. Select the desired control group. DATA EDIT DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIGNAL : 1 / 32 METHOD CUBIC INTERFERENCE CONTROL GROUP :ROBOT1 :ROBOT2 CHECK MEASURE COMMAND POSITION REF COORDINATE BASE TEACHING METHOD...
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8.6 Interference Area To stop the manipulator movement using the interference signal (use the cube interference NOTE signal for mutual interference between robots), set CHECK MEASURE to “COMMAND POSITION”. When set to the “FEEDBACK POSITION”, the manipulator decelerates to a stop after entering the interference area.
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8.6 Interference Area Teaching Corner Operation Explanation Select “METHOD”. Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS” switch alternately. Select “MAX/MIN”. Press [MODIFY]. A message “Teach max./min. position” appears. DATA EDIT DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIGNAL : 1 / 32 METHOD CUBIC INTERFERENCE CONTROL GROUP...
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8.6 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” switch alternately. Select “CENTER POS”. DATA EDIT DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIGNAL : 1 / 32 METHOD CUBIC INTERFERENCE CONTROL GROUP...
8.6 Interference Area 8.6.3 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.
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8.6 Interference Area Operation Explanation 3 Select the desired interference Select the desired interference signal number using the page signal number. GO BACK or by number input. PAGE When selecting the desired interference signal number by num- ber input, click on {PAGE} to input the desired signal number. DATA EDIT DISPLAY...
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8.6 Interference Area Operation Explanation 7 Input data for the desired axis The axis interference area is set. and press [ENTER]. DATA EDIT DISPLAY UTILITY INTERFERENCE AREA INTERFERENCE SIGNAL : 1 / 32 METHOD AXIS INTERFERENCE CONTROL GROUP CHECK MEASURE FEEDBACK POSITION <MAX>...
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8.6 Interference Area Setting the Axis Data by Moving Manipulator with 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 the steps 2 to 5 of ”Number Input of Axis Data”.
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8.6 Interference Area 8.6.4 Clearing the Interference Area Data Operation Explanation 1 Select interference signal to Select the desired interference signal number to be cleared using be cleared. GO BACK the page key or by number input. PAGE When selecting the desired interference signal number by num- ber input, click on {PAGE} to input the desired signal number.
8.7 Shock Detection Function Shock Detection Function 8.7.1 Shock Detection Function The shock detection function is a function to decrease damage due to the collision by stopping the manipulator without any external sensor when the tool or the manipulator collide with peripheral device.
8.7 Shock Detection Function Setting in the specific section in play mode (Condition number 1 to 7) Standard used for play mode (Condition number 1 to 8) Shock Detection Level File Condition number 1 Used for teach mode (Condition number 9) Condition number 7 Condition number 8 Condition number 9...
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8.7 Shock Detection Function Max. Disturbance Force Indicates the maximum disturbance force to the manipulator when the manipulator is moved in play back operation or axis operation. Refer to this value when inputting the detection level value in The maximum disturbance force can be cleared by selecting {DATA} {CLEAR MAX VALUE} in the menu.
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8.7 Shock Detection Function Tool load Information Setting To increase the accuracy of shock detection, set the tool load information in the tool file. Refer to "8.4.3 Tool Load Information Setting" for details of the tool load information setting. 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.
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8.7 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. DATA EDIT DISPLAY UTILITY JOB CONTENT JOB NAME: WORK A STEP NO.: 0000...
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8.7 Shock Detection Function Operation Explanation 4 Change the value of additional < When registering the instruction as it is > item and numerical data. Operate the step 5 when registering the instruction in the input buffer line as it is. <...
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8.7 Shock Detection Function SHCKRST Operation Explanation 1 Move the cursor to the imme- diately preceding line where the SHCKRST instruction is to be registered. 2 Press [INFORM LIST]. The inform list appears. ARITH SHIFT OTHER SHCKSET SAME SHCKRST PRIOR 3 Select SHCKRST instruction.
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8.7 Shock Detection Function Operation Explanation 4 (Continued from the previous page.) EDIT UTILITY DATA DISPLAY DETAIL SHCKRST ROBOT/STATION UNUSED R1:ROBOT1 R2:ROBOT2 UNUSED => SHCKRST Main Menu ShortCut When the addition of robot is completed, press [ENTER]. The DETAIL window closes and the JOB CONTENT window appears. 5 Press [INSERT] then [ENTER].
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8.7 Shock Detection Function Resetting the Shock Detected When the collision of tool/manipulator and peripheral device is detected with the shock detec- tion function, the manipulator stops instantaneously with alarm output. In this case, the shock detection alarm is displayed. EDIT DATA DISPLAY...
8.8 User Coordinate Setting User Coordinate Setting 8.8.1 User Coordinates Definition of the 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.
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8.8 User Coordinate Setting 8.8.2 User Coordinate Setting Selecting the User Coordinate File Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {USER COORDI- The USER COORDINATE window appears. NATE}. DATA EDIT DISPLAY UTILITY USER COORDINATE NAME Main Menu Short Cut The "...
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8.8 User Coordinate Setting Teaching the User Coordinates Operation Explanation 1 Select the robot. Select "**" on the upper left of the window to select the subject robot. (This operation can be omitted if the robot selection has already been made or if there is only one robot.) DATA EDIT DISPLAY...
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8.8 User Coordinate Setting Operation Explanation 4 Press [MODIFY] then Taught position is registered. [ENTER]. Repeat the steps 2 to 4 to teach ORG, XX and XY. “ “ indicates that teaching is completed and " " indicates that it is not completed.
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8.8 User Coordinate Setting Clearing the User Coordinates Operation Explanation 1 Select {DATA} under the pull- down menu. 2 Select {CLEAR DATA}. The confirmation dialog box appears. DATA EDIT DISPLAY UTILITY USER COORDINATE USER COORD NO. : 01 R1 : TOOL: 00 SET POS.
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8.9 Overrun / Tool Shock Sensor Releasing Overrun / Tool Shock Sensor Releasing CAUTION • To operate the manipulator with the overrun or shock sensor released, pay extra attention to the safety of the surrounding operation environ- ment. 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 with the axis keys.
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8.9 Overrun / Tool Shock Sensor Releasing Operation Explanation 3 Select “RELEASE”. The control group in which overrun or shock sensor is detected is indicated with “ ". If “RELEASE” is selected, overrun or tool shock sensor is released and “CANCEL” indication will be dis- played.
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8.10 Soft Limit Release Function 8.10 Soft Limit Release Function 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.
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8.11 All Limit Release Function 8.11 All Limit Release Function CAUTION • To operate the manipulator with all limits released, pay extra attention to ensure the safety of the surrounding operation environment. Failure to observe this caution may result in injury or damage to equipment due to the unexpected manipulator motion exceeding its range of motion.
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8.11 All Limit Release Function Operation Explanation 1 Select {ROBOT} under the main menu. 2 Select {LIMIT RELEASE}. The LIMIT RELEASE window appears. DATA EDIT DISPLAY UTILITY LIMIT RELEASE SOFT LIMIT RELEASE INVALID ALL LIMIT RELEASE INVALID Main Menu Short Cut 3 Select “ALL LIMITS “VALID”...
8.12 Instruction Level Setting 8.12 Instruction Level Setting 8.12.1 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 instruction set, and the expanded instruction set.
8.12 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.
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8.12 Instruction Level Setting 8.12.2 Setting the Instruction Set Level Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {TEACHIG COND}. The TEACHING CONDITION window appears. DATA EDIT DISPLAY UTILITY TEACHING CONDITION RECT / CYLINDRICAL RECT LANGUAGE LEVEL SUBSET INSTRUCTION INPUT LEARNING VALID...
8.12 Instruction Level Setting 8.12.3 Setting the Learning Function The learning function is set at "VALID" by default. Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {TEACHIG COND}. The TEACHING CONDITION window appears. DATA EDIT DISPLAY UTILITY TEACHING CONDITION RECT / CYLINDRICAL RECT...
8.13 Setting the Controller Clock 8.13 Setting the Controller Clock The clock inside the NX100 controller can be set as follows. Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {DATE/TIME}. The DATE/CLOCK SET window appears. EDIT UTILITY...
8.14 Setting the Play Speed 8.14 Setting the Play Speed Operation Explanation 1 Select {SETUP} under the main menu. 2 Select {SET SPEED}. The SPEED SET window is shown. DATA EDIT DISPLAY UTILITY SPEED SET JOINT R1 :1 0.78 1.56 3.12 6.25 12.50...
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8.14 Setting the Play Speed Operation Explanation 5 Select the speed to modify. The input buffer line appears. 6 Input the speed value. 7 Press [ENTER]. The speed is modified. DATA EDIT DISPLAY UTILITY SPEED SET JOINT R1 :1 0.78 1.56 3.12 6.25...
With key allocation (EACH), the manipulator operates according to the allocated function when the numeric key is pressed. The allocatable functions are listed below. 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.
8.15 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 allocatable func- tions are listed below. Function Description Alternate output...
8.15 Numeric Key Customize Function Instruction Allocation Set this function in the KEY ALLOCATION (EACH) window. Operation Explanation 1 Move the cursor to “FUNC- A selection list appears. TION” of the key to be allo- cated and press [SELECT]. DATA EDIT DISPLAY UTILITY...
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8.15 Numeric Key Customize Function Operation Explanation 2 (Continued from the previous page.) DATA EDIT DISPLAY UTILITY KEY ALLOCATION(EACH) APPLI. NO. : 1 FUNCTION ALLOCATION CONTENT INSTRUCTION DOUT WAIT MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER MAKER PAGE Main Menu Short Cut...
8.15 Numeric Key Customize Function Job Call Allocation Set this function in the KEY ALLOCATION (EACH) window. Operation Explanation 1 Move the cursor to the “FUNC- A selection list appears. TION” of the key to be allo- cated and press [SELECT]. 2 Select “JOB CALL”.
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8.15 Numeric Key Customize Function Window Allocation Set this function in the KEY ALLOCATION (EACH) window. Operation Explanation 1 Move the cursor to the “FUNC- A selection list appears. TION” of the key to be allo- cated and press [SELECT]. 2 Select “DISPLAY”.
8.15 Numeric Key Customize Function Alternate Output Allocation Set this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- A selection list appears. TION” of the key to be allo- cated and press [SELECT]. DATA EDIT DISPLAY...
8.15 Numeric Key Customize Function Momentary Output Allocation Set this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- A selection list appears. TION” of the key to be allo- cated and press [SELECT]. 2 Select “MOMENTARY OUT- The output No.
8.15 Numeric Key Customize Function Group (4-bit/8-bit) Output Allocation Set this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- A selection list appears. TION” of the key to be allo- cated and press [SELECT]. 2 Select “4 BIT OUTPUT”...
8.15 Numeric Key Customize Function Analog Incremental Output Allocation Set this function in the KEY ALLOCATION (SIM) window. Operation Explanation 1 Move the cursor to the “FUNC- A selection list appears. TION” of the key to be allo- cated and press [SELECT]. 2 Select “ANALOG INC OUT- The output port No.
8.15 Numeric Key Customize Function 8.15.4 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 allowed to be Allocated Alternate output allocation DOUT OT# (No.) ON...
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8.15 Numeric Key Customize Function Operation Explanation 3 Select “OUTPUT CONTROL The instruction corresponding to the I/O control allocated by key INST”. allocation (SIM) is displayed in the “ALLOCATION CONTENT”. DATA EDIT DISPLAY UTILITY KEY ALLOCATION(EACH) APPLI. NO. : 1 FUNCTION ALLOCATION CONTENT INSTRUCTION...
8.15 Numeric Key Customize Function 8.15.5 Execution of Allocation Executing the Instruction/Output Control Allocation Operation Explanation 1 Press the key allocated for The allocated instruction is displayed in the input buffer line. instruction allocation or output => WAIT IN#(1)=ON control allocation. 2 Press [INSERT] and [ENTER].
8.16 Changing the Output Status 8.16 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.
8.17 Changing the Parameter Setting 8.17 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 the main menu. 2 Select the parameter type.
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8.17 Changing the Parameter Setting Set the parameters in the following manner. Operation Explanation 1 Select the parameter data to Move the cursor to the parameter number data (decimal or be set. binary) in the PARAMETER window, and press [SELECT]. - To enter a decimal setting, select the decimal figure.
8.18 File Initialize 8.18 File Initialize 8.18.1 Initialize Job File Operation Explanation 1 Turn ON the power supply again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to the management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}.
8.18 File Initialize 8.18.2 Initialize Data File Operation Explanation 1 Turn ON the power supply again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to the management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {FILE/GENERAL The INITIALIZE window appears.
8.18 File Initialize 8.18.3 Initialize Parameter File Operation Explanation 1 Turn ON the power supply again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to the management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {PARAMETER}.
8.18 File Initialize 8.18.4 Initializing I/O Data Operation Explanation 1 Turn ON the power supply again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to the management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {I/O DATA}.
8.18 File Initialize 8.18.5 Initializing System Data Operation Explanation 1 Turn ON the power supply again while pressing [MAIN MENU] simultaneously. 2 Change the security mode to the management mode. 3 Select {FILE} under the main menu. 4 Select {INITIALIZE}. 5 Select {SYSTEM DATA}.
8.19 Display Setting Function 8.19.1 Font Size Setting NX100 enables changing the font size displayed on the screen. The fonts displayed on the screen can be selected from eight patterns of fonts in the font size setting dialog box. Applicable Range for the Font Size Change...
8.19 Display Setting Function Setting the Font Size To set the font size, first off display the font size setting dialog box as follows. Operation Explanation 1 Select {DISPLAY SETUP} then {CHANGE FONT} under EDIT DISPLAY UTILITY the main menu. JOB CONTENT: MASTER FD/CF JOB NAME: 1...
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8.19 Display Setting Function To set the font size in the font size setting dialog box, follow the procedure below. In the explanation of the operation procedure, the expression "Select ..." means that the SUPPLE cursor is moved to the object item and the SELECT key is pressed, or that the item is -MENT directly selected by touching the screen.
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8.19 Display Setting Function To cancel the setting of the font size, follow the procedure below. Operation Explanation 1 Select {Cancel} in the font size setting dialog box. EDIT DISPLAY UTILITY JOB CONTENT: MASTER FD/CF JOB NAME: 1 STEP NO: 000 DOUT MOVE CONTROL GROUP: R1...
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8.19 Display Setting Function 8.19.2 Operation Button Size Setting NX100 enables changing the size of operation buttons. The button size in the main menu area, menu area, and instruction list can be respectively selected from three sizes. Applicable Range for the Button Size Change...
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8.19 Display Setting Function Setting the Button Size To set the button size, first off display the button size setting dialog box as follows. Operation Explanation 1 Select {DISPLAY SETUP} then {CHANGE BUTTON} EDIT DISPLAY UTILITY under the main menu. JOB CONTENT: MASTER FD/CF JOB NAME: 1...
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8.19 Display Setting Function To set the button size in the button size setting dialog box, follow the procedure below. In the explanation of the operation procedure, the expression "Select ..." means that the SUPPLE cursor is moved to the object item and the SELECT key is pressed, or that the item is -MENT directly selected by touching the screen.
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8.19 Display Setting Function Operation Explanation 4 The font size setting dialog The modification is applied only to the buttons in the area box is closed, and the screen selected with the area setting button. (In this example, the displays the buttons specified change is applied only to the pull-down menu buttons in the menu in the dialog box.
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8.19 Display Setting Function To cancel the setting of the button size, follow the procedure below. Operation Explanation 1 Select {Cancel} in the button size setting dialog box. EDIT DISPLAY UTILITY JOB CONTENT: MASTER FD/CF JOB NAME: 1 STEP NO: 000 DOUT MOVE CONTROL GROUP: R1...
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8.19 Display Setting Function 8.19.3 Initialization of Screen Layout The font/button size changed with the font/button size setting function can be collectively changed back to the regular size. Initializing the Screen Layout To initialize the screen layout, follow the procedure below. Operation Explanation 1 Select {DISPLAY SETUP}...
8.19 Display Setting Function Operation Explanation 3 To Initialize the screen layout, The dialog box is closed, and the font/button sizes are collectively select {OK}. changed to the regular size. EDIT DISPLAY UTILITY JOB CONTENT: MASTER FD/CF JOB NAME: 1 STEP NO: 000 DOUT MOVE...
9.1 System Backup with NX100 9 System Backup For the NX100, the system data can be collectively backed up in advance so that the data can be immediately loaded and restored in case of an unexpected trouble such as data loss.
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9.1 System Backup with NX100 9.1.2 Device For the backup of the NX100 system, the CompactFlash can be used. The following tables show the recommended CompactFlash. <Currently Recommended CompactFlash> Manufacturer Model Remarks Hagiwara Sys-Com MCF10P-128MS (128MB) (A00A II -YE Hagiwara Sys-Com...
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9.1 System Backup with NX100 Removing the CF or disconnecting the control power supply while writing data to NOTE the CF/reading data from the CF may cause data corruption in the CF. Please DO NOT remove the CF or disconnect the control power supply while •...
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Management Mode 9.2.1 CMOS.BIN Save Follow the procedures below to save CMOS.BIN. Operation Explanation 1 Turn ON the NX100 power supply while pressing [MAIN MENU]. 2 Insert a CompactFlash into the CompactFlash slot on the programming pendant. 3 Select {TOOL} under the main The sub menu appears.
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9.2 Backup by CMOS.BIN Operation Explanation 5 Select {CMOS SAVE}. The confirmation dialog box appears. CompactFlash SYSTEM INFO CMOS SAVE FILE CMOS LOAD SYSTEM RESTORE TOOL Save? DISPLAY SETUP Maintenance mode Main Menu Short Cut 6 Select {YES}. Select {YES} to save the CMOS data into the CompactFlash. When saving the file, if the CMOS.BIN file already exists in the CompactFlash, the following confirmation dialog box appears.
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CMOS data (the contents of "CMOS.BIN") in the CompactFlash. Therefore, before per- forming the load, make sure to perform the {CMOS SAVE} of the CMOS data to be loaded. Operation Explanation 1 Turn ON the NX100 power supply while pressing [MAIN MENU]. 2 Change the security mode to the maintenance mode.
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9.2 Backup by CMOS.BIN Operation Explanation 6 Select {CMOS LOAD}. The confirmation dialog box appears. CompactFlash SYSTEM INFO CMOS SAVE FILE CMOS LOAD SYSTEM RESTORE TOOL Load? DISPLAY SETUP Short Cut Maintenance mode Main Menu 7 Select {YES}. The loaded CMOS.BIN file contents are reflected in the data in the robot I/F unit and the CompactFlash of NCP01.
In case of an unexpected trouble such as data loss, the backup data saved in the Compact- Flash by the automatic backup function can be loaded to the NX100 memory to restore the file data. The automatic backup function is enabled only while the NX100 power supply is ON in nor- NOTE mal mode whereas it isn’t while in the maintenance mode or the power supply is OFF.
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CompactFlash can be starting time. loaded to the NX100 in case of data loss so that the damage can be minimized. Backup when switching modes The editing data is backed up when editing is When switching the mode from the teach completed.
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9.3 Automatic Backup Function 9.3.2 Settings for Automatic Backup To set the automatic backup function, insert a CompactFlash in the CompactFlash slot on the programming pendant, then set each item on the AUTO BACKUP SET display. Four ways to perform the automatic backup are available: "Cyclic backup," "Backup when NOTE switching modes,"...
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9.3 Automatic Backup Function Operation Explanation Turn ON the NX100. If the auto backup function is already set valid, insert a Compact- Flash. 2 Insert a CompactFlash in the CompactFlash slot on the pro- gramming pendant. 3 Change the security mode to the management mode.
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9.3 Automatic Backup Function Operation Explanation 5 (Continued from the previous BACKUP CYCLE page.) Specify the length of time for a cycle to back up. After the first backup, the next backup is performed automatically in the time specified in the BACKUP CYCLE. Set the backup cycle in units of minutes.
9.3 Automatic Backup Function Operation Explanation 5 (Continued from the previous DURING ALARM OCCURENCE page.) Set the backup function to be valid or invalid when an alarm is occurred. Each time [SELECT] is pressed, "INVALID" and "VALID" are displayed alternately. STORED FILE SETTING Set the number of files to be stored by the automatic backup function.
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* An error can be indicated by a message depending on setting. Reserve Time Backup While the data in the NX100 memory is being edited or overwritten, the automatic backup is not performed at the specified backup starting time and is suspended and retried later. To start the backup at the reserved time, set to the time when the robot program is stopped and no job or file is edited.
9.3 Automatic Backup Function Backup when the NX 100 starts up Since the automatic backup process is added to the NX100 start-up process, a few extra sec- onds are needed to start up the NX100. Backup when Specific Signal is Input While the NX 100 memory is edited such as overwriting, the backup operation becomes an error even if there is an input to a specific signal (#40350).
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9.3 Automatic Backup Function Power ON B. BASE TIME C. BACKUP CYCLE D. RETRY CYCLE 8:00 20:00 21:00 22:00 20:00 20:00 1st day 1st day 2nd day 3rd day Backup Backup Backup While a job is being executed, the automatic backup or retry is not performed. Also, after NOTE an error occurs in writing into the CompactFlash, the retry is not performed until the next backup starting time.
CMOS, and call the master job to confirm that the current manipu- lator position is correct and safe. Then, start moving the manipulator. Loading Procedure Restore the backup data saved in the CompactFlash to the NX100 in maintenance mode. Operation Explanation 1 Insert the CompactFlash with The backup data is stored under the file name "CMOSBK.BIN"...
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9.3 Automatic Backup Function Operation Explanation 5 Select {CompactFlash}. The CompactFlash display appears. Move the cursor to SYSTEM RESTORE. 6 Select {SYSTEM RESTORE} The Backup File list display appears. in the CompactFlash display. 7 Select the file to be loaded. The dialog box appears for the NIF/NCP01 board replacement confirmation.
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"Exchanged NIF/ NCP01 board?" Load? FILE : 08-07-11 10:48 Select {YES} in the loading confirmation dialog box to start load- ing the contents of "CMOSBK.BIN" or "CMOSBK??.BIN" (?? denotes figures) from the CompactFlash to the NX100. 9 Select {YES}. 9-19...
9.3 Automatic Backup Function 9.3.4 Error List Error Contents Error No. Data Message Cause During robot or station opera- The automatic backup would not work when 0770 tion the robot or a station is in motion. 3390 File not found The file to be loaded no longer exists.
10 Upgrade Function 10.1 Functional Overview NX100 applies two softwares for the CPU configuration: a software for NCP01 (for the main CPU board) and a software for NPP01 (for programming pendant). The system works only with the combination of certain versions due to a compatibility problem of each software.
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When {Yes} is selected in the step 1, the preparation for upgrade starts and the follow- ing window appears. Controller -> Pendant File transfer When the preparation is completed, the screen displays the following window and NX100 starts upgrading the software version (for approx. 30 seconds). PPVerUp.exe(Ver 1.01) Changing Software version. 10-2...
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10.2 Upgrade Procedure 3. Restart of the NPP01 Software (Upgrade Completed) The NPP01 software is restarted when the upgrade of NPP01 software is completed (in the same manner as power-on procedure). The following initial window appears approx. 40 seconds later. (If the initial window is not displayed properly, turn ON the main power again.) FD/CF DOUT...
11.1 Addition of I/O Modules 11 Modification of System Configuration 11.1 Addition of I/O Modules To add I/O modules, turn OFF the power supply. Addition operation must be performed in the management mode. SUPPLE In the operation mode or editing mode, only reference of status setting is possible. -MENT Operation Explanation...
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11.1 Addition of I/O Modules Operation Explanation 5 Select {IO MODULE}. The current status of the mounted I/O module is shown. IO MODULE DO AI AO BOARD 0040 0040 NI001-02 0008 0008 XEW02 NONE NONE NONE NONE NONE NONE NONE NONE NONE NONE...
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I/O module is complete. If there is a difference between the displayed contents and the actual mounted status, NOTE confirm the status again. If the status is correct, the I/O module may be defective: in such a case, contact your Yaskawa representative. 11-3...
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11.2 Addition of Base and Station Axes 11.2 Addition of Base and Station Axes To add the base and station axes, mount all hardware correctly and then execute maintenance mode. Addition operation must be performed in the management mode. SUPPLE In the operation mode or editing mode, only reference of status setting is possible.
11.2 Addition of Base and Station Axes MECHANICAL SPECIFICATION If axis type is ball-screw type, set the following items: MOTION RANGE (+) [mm] MOTION RANGE (-) [mm] REDUCTION RATIO (numerator) REDUCTION RATIO (denominator) BALL-SCREW PITCH [mm/r] If axis type is rack & pinion type, set the following items. MOTION RANGE (+) [mm] MOTION RANGE (-)
11.2 Addition of Base and Station Axes 11.2.1 Base Axis Setting Selection of Base Axis Type Select the type of base axis to be added/modified. Operation Explanation 1 Turn ON the power supply again while pressing [MAIN MENU] simultaneously. 2 Change the "SECURITY MODE"...
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11.2 Addition of Base and Station Axes Operation Explanation 5 Select {CONTROL GROUP}. The current control group type is displayed. CONTROL GROUP EA1400N-A0 : NONE : HP20-A0 : NONE : NONE : TURN-1 : TURN-1 : NONE Main Menu Short Cut Maintenance mode 6 Point the cursor to the type of The MACHINE LIST window is displayed.
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11.2 Addition of Base and Station Axes Direction of Base Axis RECT-X RECT-Y RECT-Z CARTESIAN CARTESIAN X-AXIS CARTESIAN Y-AXIS Z-AXIS Base axis direction of travel coincides Base axis direction of travel coincides Base axis direction of travel coincides with robot coordinate X-Axis. with robot coordinate Y-Axis.
11.2 Addition of Base and Station Axes Connection Setting In the CONNECT window, each axis in respective control groups is specified to be connected to which connector of the SERVO board, or to which brake of the contactor unit, or to which converter.
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11.2 Addition of Base and Station Axes Operation Explanation 2 (Continued from the previous In this example, B1 (Base) is to be connected as shown in the fol- page.) lowing manner: 1st axis SERVO Board (SV #1), Connector (7CN) Contactor Unit (TU #1), Brake Connector (BRK7) Converter (CV #2) 2nd axis...
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11.2 Addition of Base and Station Axes Axis Configuration Setting The axis type is specified in the AXES CONFIG window. Operation Explanation 1 Confirm axis type of each axis The axis type of each axis is displayed. in the AXES CONFIG window. AXES CONFIG RECT-XYZ AXIS...
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11.2 Addition of Base and Station Axes Mechanical Specification Setting The mechanical data is specified in the MECHANICAL SPEC window. Operation Explanation 1 Confirm specification of each The mechanical specification of axis is shown. axis in the MECHANICAL The MECHANICAL SPEC window (in case of the BALL- SPEC window.
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11.2 Addition of Base and Station Axes Operation Explanation 2 Select the item to be modified. Point the cursor to the item subject for setting value modification, and press [SELECT]. 3 Modify the settings. The selected item is in the input status. Input the setting value, and press [ENTER].
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11.2 Addition of Base and Station Axes Motor Specification Setting The motor data is specified in the MOTOR SPEC window. Operation Explanation 1 Confirm specification of each The motor specification of each axis is displayed. axis in the MOTOR SPEC win- dow.
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11.2 Addition of Base and Station Axes Operation Explanation 3 Modify the settings. 4 Press [ENTER] in the MOTOR After the setting, the current window moves to the window for the SPEC window. next axis setting. Complete the settings for all axes in the same manner.
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11.2 Addition of Base and Station Axes 11.2.2 Station Axis Setting Selection of Station Axis Type Select the type of station axis to be added/modified. Operation Explanation 1 Confirm the type of control The CONTROL GROUP window appears. group in CONTROL GROUP window.
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11.2 Addition of Base and Station Axes Operation Explanation 3 Select desired type in the type After the type selection, the window returns to CONTROL list. GROUP window. Select "UNIV" (universal) when using a mechanism other than the registered type (such as a servo track) as a station axis. When “UNIV”...
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11.2 Addition of Base and Station Axes Connection Setting In the CONNECTION window, each axis in respective control group is specified to be connected to which connector of the SERVO board, or to which brake of the contactor unit, or to which converter.
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11.2 Addition of Base and Station Axes Axis Configuration Setting The axis type and motor type are specified in the AXES CONFIG window. Operation Explanation 1 Confirm axis type of each axis The axis type of each axis is displayed. in the AXES CONFIG window.
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11.2 Addition of Base and Station Axes Operation Explanation 3 Select the desired axis type. 4 Press [ENTER] in the AXES The setting in the AXES CONFIG window is completed and the CONFIG window window moves to the MECHANICAL SPEC window. Mechanical Specification Setting The mechanical data is specified in the MECHANICAL SPEC window.
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11.2 Addition of Base and Station Axes Operation Explanation 1 (Continued from the previous The MECHANICAL SPEC window (In case of the BALL- page.) SCREW type) MECHANICAL SPEC Group, Type, Axis Number Group, Type, Axis Number UNIV-3 AXIS : 1 and Axis Type currently and Axis Type currently AXIS TYPE...
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11.2 Addition of Base and Station Axes Operation Explanation 1 (Continued from the previous The MECHANICAL SPEC window (In case of the ROTATION page.) type) MECHANICAL SPEC Group, Type, Axis Number Group, Type, Axis Number UNIV-3 AXIS : 3 and Axis Type currently and Axis Type currently AXIS TYPE ROTATION...
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11.2 Addition of Base and Station Axes Motor Specification Setting The motor data is specified in the MOTOR SPEC window. Operation Explanation 1 Confirm specification of each The motor specification of each axis is displayed. axis in the MOTOR SPEC win- dow.
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11.2 Addition of Base and Station Axes Operation Explanation 3 Modify the settings 4 Press [ENTER] in the MOTOR After the setting, the current window moves to the window for the SPEC window. next axis setting. Complete the settings for all axes in the same manner.
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• 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.
12.1 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.
12.2 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 12.2 Function List Programming Coordinate System Joint, Rectangular/Cylindrical, Tool, User Coordinates Pendant Modification of...
12.3 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...
12.4 Equipment Configuration 12.4 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.
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Breaker Contactor Unit Type HP20 ERCR-HP20-AA00 SGDR-HP20Y30 SGDR-COA080A01B NF30SW 3P 15A JZRCR-NTU01 -1 EA1900N Configuration 2 for Small-Capacity NX100 Medium and Large Capacity Robot I/F Unit JZNC-NIF01 Emergency Stop Button AR22V2R-04R Major Axes Control Circuit Board Breaker SGDR-AXA01A (Refer to the following table.)
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SERVOPACK. The fan mounted inside the door circulates the air to keep temperature even through- out the interior of the NX100. Backside Duct Fan Circulation Fan Air Intake...
- Ensure that you have a place to retreat to in case of emergency. Improper or unintentional manipulator operation can result in injury. • When turning ON the power to NX100, be sure that there is no one within the P-point maximum envelope of the manipulator, and that you are in a safe place.
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• 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. Refer to the figure below. NX100 Input for the robot system Switch +24V2...
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13.1 Power Supply Contactor Unit 13.1 Power Supply Contactor Unit The power supply contactor unit consists of the power supply contactor sequence circuit board (JANCD-NTU ) and the contactor (1KM, 2KM) for servo power and the line filter (1LF). It turns the contactor servo power ON and OFF using the signal for servo power control from the power supply contactor sequence circuit board and supplies power(3-phase AC200/ 220V) to the unit.
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13.1 Power Supply Contactor Unit Power Supply Contactor Sequence Circuit Board JANCD-NTU01- Main Power Supply Input (CN08) (4X) Brake Output Connector (3FU) Fuse for Brake SDP50 (5A 125V) (CN07) Robot Connection (1FU)(2FU) Fuse for AC Control Power Supply (CN06) 326010 (10A 250V) 10A 250V 10A 250V External Signal Connector...
13.2 Power Supply Contactor Sequence Circuit Board (JANCD-NTU01- ) 13.2 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: •...
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13.2 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.
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CAUTION • Remove jumper cable installed on system input signal before connect- ing the input signal lines. Failure to observe this caution could lead to injury or mechanical failure. NX100 Power supply contactor unit JZRCR-NTU Remove the jumper cable CN06...
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ON or OFF at the same time. If only one signal is turned ON, an alarm occurs. Refer to “8 Servo Power Supply Individual Control Function” of “Independent/Coordinated Function Instructions Manual” for the usage of the Servo-ON Enable signals. NX100 Power supply contactor unit JZRCR-NTU Remove the jumper cable...
13.3 CPU Unit 13.3 CPU Unit 13.3.1 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.
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13.3 CPU Unit 13.3.2 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).
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.
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WAGO. The “wiring tool for the WAGO connector” is necessary to wire the WAGO connector. Two of these tools are supplied with the NX100. The wiring procedure is described as follows: 1. Insert part A of the wiring tool into one of the holes designed for the tool.
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13.3 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.
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13.3 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 ). Unshielded twisted pair cable must be used.(The cable side connector and the I/O terminal block are the options) Connector A detailed (Cable side) Connector Type: FCN-361J040-AU (Fujitsu)
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Example of Servo ON Sequence Circuit from External Device Only the rising edge of the servo ON signal is valid. This signal turns ON the manipulator servo power supply. The set and reset timings are shown in the following. NX100 Servo ON Servo ON...
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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. NX100 While Alarm/Error...
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In case using external power supply In case using internal power supply • The internal power supply of 24V of about 1A of NX100 can be used for I/O. NOTE Use external 24V power supply for higher currents and to isolate the circuit inside and outside the NX100.
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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.
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13.3 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)
• Always connect the signals after removing jumper cable. If the cables are not removed, injury or damage to machinery may result and the external emergency stop will not work even if the signal is input. NX100 Robot system input JANCD-...
• Always connect the signals after removing jumper cable. If the cables are not removed, injury or damage to machinery may result and the external emergency stop will not work even if the signal is input. NX100 Robot system input JANCD-...
The safety plug input signal is connected to the interlock signal from the gate. Manipulator Working Area Safeguarding Servo ON Lamp (Option) NX100 Safeguarding Safety Plug Emergency Stop Taked Plug If the servo power is ON when the interlock signal is input, the servo power turns OFF. The servo power cannot be turned ON while the interlock signal is input.
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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.
If this signal input circuit is short-circuited, the speed of the test run becomes 100% in the teach mode. If this signal’s circuit is open, the status SSP input signal determines the slow speed: The first slow speed (16%) or second slow speed (2%). NX100 Robot system input JANCD- JANCD-...
13.3 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 JANCD- JANCD- terminal block...
• Always connect the signals after removing jumper cable. If the cables are not removed, injury or damage to machinery may result and the external emergency stop will not work even if the signal is input. NX100 Robot system input JANCD-...
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. NX100 Robot system input JANCD- JANCD- terminal block...
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13.3 CPU Unit Direct-in (Servo) 1 to 5 This signal is used to input a responsive signal in search functions. <For 0V Common> CPU Unit JZNC-NRK01 Robot system input SGDR- JANCD- terminal block AXA01A-□ NBB01 024V AXDIN1 Direct-in (Servo) 1 AXDIN2 Direct-in (Servo) 2 AXDIN3...
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13.3 CPU Unit <For +24V Common> CPU Unit JZNC-NRK01 Robot system input SGDR- JANCD- terminal block AXA01A-□ NBB01 +24V2 AXDIN1 Direct-in (Servo) 1 AXDIN2 Direct-in (Servo) 2 AXDIN3 Direct-in (Servo) 3 AXDIN4 Direct-in (Servo) 4 AXDIN5 Direct-in (Servo) 5 AXINCOM 024V Connect the jumper cable.
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13.3 CPU Unit <For the EH80 or UP400RN> CPU Unit JZNC-NRK01 Robot system input SGDR- JANCD- terminal block AXA01A-□ NBB01 +24V2 AXDIN1 Direct-in (Servo) 1 Signal to indicate a AXDIN2 blown fuse in the brake power supply AXDIN3 Direct-in (Servo) 3 AXDIN4 Direct-in (Servo) 4 AXDIN5...
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13.3 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.
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13.3 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. −...
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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. (Status output signal: normally closed contact) CAUTION •...
13.5 SERVOPACK 13.5 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”).
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13.5 SERVOPACK (AMP4 to AMP6-CNP6) Top Grip Motor Power Output Converter 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)
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13.5 SERVOPACK SERVOPACK Top Grip (AMP4 to AMP6-CNP6) Converter Charge Lamp Top Grip Motor Power Output (CN102) PWM Amplifier (AMP4 to AMP6-CN1) Control Power Supply PWM Signal (CN101) DC Control Power Supply Monitor Alarm Display LED (CN1) PWM Amplifier X6 Converter Control Signal (CNP4) PN Power Supply...
13.6 User I/O Signal Assignment 13.6 User I/O Signal Assignment 13.6.1 Arc Welding NX100 Robot I/F Unit (JZNC-NIF01 Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Signal Name Number Number Number Each Point External Start 20010 24VDC 20011 8mA max.
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13.6 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 Name Number Number Number Each Point 20024 24VDC 20025 8mA max. Weaving Prohibited 20026 Sensing Prohibited 20027 IN01 User Output...
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13.6 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 Name Number Number Number IN09 User Input Each Point 20040 24VDC 20041 IN10 8mA max. IN11 20042 20043...
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13.6 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 Name Number Number Number Each Point IN17 20050 24VDC IN18 20051 8mA max. IN19 20052 IN20 20053 IN21...
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13.6 User I/O Signal Assignment System Input List NIO01 (Arc Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20021 INTERFERENCE 2 ENTRANCE PROHIBITED Functions the same as the [START] button in If the manipulator attempts to enter the cube the programming pendant.
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START command. This sig- the start position. nal turns OFF when the servo power supply turns OFF. It can be used for NX100 status diagnosis for an external start. 30012 TOP OF MASTER JOB...
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13.6 User I/O Signal Assignment 13.6.2 Handling 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...
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13.6 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 Name Number Number Number Each Point 20024 24VDC 20025 Shock Sensor (NC) 8mA max. 20026 - Hold Low Air Pressure...
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13.6 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 Name Number Number Number Each Point IN09 20040 24VDC IN10 20041 8mA max. IN11 20042 IN12 20043 IN13...
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13.6 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 Name Number Number Number Each Point Sensor Input 1 20050 24VDC Sensor Input 2 20051 8mA max. Sensor Input 3...
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After an alarm or error has occurred and the This is normally ON (NC) signal input. When cause been corrected, this signal resets the it turns OFF, an NX100 displays a message alarm or error. "HAND TOOL SHOCK SENSOR OPERAT- ING"...
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START command. This sig- the start position. nal turns OFF when the servo power supply turns OFF. It can be used for NX100 status diagnosis for an external start. 30012 TOP OF MASTER JOB...
13.6 User I/O Signal Assignment 13.6.3 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...
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13.6 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 Name Number Number Number Interference3 Entrance Each Point 20024 Prohibited Interference4 Entrance 24VDC 20025 Prohibited 8mA max. 20026...
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13.6 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 Name Number Number Number IN09 User Input Each Point 20040 24VDC 20041 IN10 8mA max. IN11 20042 20043...
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13.6 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 Name Number Number Number Each Point IN17 20050 24VDC IN18 20051 8mA max. IN19 20052 IN20 20053 IN21...
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13.6 User I/O Signal Assignment System Input List NIO01 (General application) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20020 INTERFERENCE 1 ENTRANCE PROHIBITED Functions the same as the [START] button in If the manipulator attempts to enter the cube the programming pendant.
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13.6 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).
13.6 User I/O Signal Assignment 13.6.4 Spot Welding NX100 Robot I/F Unit (JZNC-NIF01 Connector Terminal Converter (Optional) Model:PX7DS-40V6-R +24VU CN09 Connector Logical Connector Terminal Signal Name Number Number Number Each Point External Start 20010 24VDC 20011 8mA max. Call Master Job...
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13.6 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 Name Number Number Number Interference3 Entrance Each Point 20024 Prohibited Interference4 Entrance 24VDC 20025 Prohibited 8mA max. 20026 20027...
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13.6 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 Signal Terminal Name Number Number Number IN17 Each Point 20040 24VDC IN18 20041 8mA max. IN19 20042 IN20 20043 IN21...
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13.6 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 Name Number Number Number Each Point Timer Cooling Water 20050 Error (IN09) Gun Cooling Water 24VDC 20051 Error (IN10) 8mA max.
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13.6 User I/O Signal Assignment System Input List NIO01 (Spot Welding) Logical Logical Input Name / Function Input Name / Function Number Number 20010 EXTERNAL START 20023 WELDING PAUSE (From sequencer) Functions the same as the [START] button in This signal is used to move the manipulator to the programming pendant.
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13.6 User I/O Signal Assignment System Input List NIO01 (Spot Welding) Logical Logical Input Name / Function Input Name / Function Number Number 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.
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START command. This sig- ulators and positioners. nal turns OFF when the servo power supply turns OFF. It can be used for NX100 status diagnosis for an external start. 30012 TOP OF MASTER JOB...
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13.6 User I/O Signal Assignment System Output List NIO01 (Spot Welding) Logical Logical Output Name / Function Output Name / Function Number Number 30057 TIP REPLACE REQUEST This signal is output when the stored number of welding reaches the number of welding set for the tip replacement.
13.6.5 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 Number Pin No. CN03-1...
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........control circuit boards 13-9 ..........control group 11-7 ........control power supply 13-9 ..........absolute data ....control power supply (CPS-420F) 13-10 absolute data allowable range alarm occurs 8-12 ........controller for positioner ........... absolute encoder ..........converter 13-34 .........
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............group output allocation (4-bit/8-bit) 8-88 learning function 8-81 ............GUN COOLING WATER ERROR 13-60 lifting the NX100 ..............GUN FULL OPEN DETECTION 13-61 limit switch 8-77 ........GUN PRESSURE DETECTION 13-61 LOW AIR PRESSURE 13-48 , 13-60 ....
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........setting station axis 11-16 ......setting the controller clock 8-84 .... setting the tool load information 8-22 , 8-64 ......... path confirmation 12-3 ....... setting user coordinates 8-70 ........PINION DIAMETER 11-12 ......setting work home position 8-47 ........positioning system 12-2 ........
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