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Robostar N2M Series Installation And Handling Manual

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Robostar Robot Controller
N2M Series
Installation and handling Manual
Version: N2M-IM-E01
Issued Data: August 21, 2020

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  • Page 1 Robostar Robot Controller N2M Series Installation and handling Manual Version: N2M-IM-E01 Issued Data: August 21, 2020...
  • Page 2 Copyright 2020, ROBOSTAR Co., Ltd. All right reserved. Copyright of this instruction manual is reserved to Robostar Co., Ltd. Any part of this manual cannot be used as other forms or other means without permission of Robostar. The specifications are subject to change without notice in advance.
  • Page 3 (2) Failures arising due to improper repair, alteration, redeployment, or other mishandling, under the instruction of you or any third party (3) Failures as a result of using parts, grease, etc. which have not been designated by Robostar (4) Failures caused by accidents, such as fire, disaster, earthquake, storms, or other natural disasters...

  • Page 4: Safety For Robot(Generals)

    This sign shows the matter that is to be prohibited for normal use of the product. PROHIBITION E.g.) Never use a fire. This sign shows the matter that must be performed for normal use of the product. Required E.g.) Compulsory ground is required. Robostar Co., Ltd. 4 / 87...
  • Page 5 All of the load and power must be used within the range of rated load and power spec. In particular, make sure before use that the input power is AC 220V. WARNING When installed, the robot must be securely fixed so as not to be shaken. CAUTION Robostar Co., Ltd. 5 / 87...
  • Page 6 Make sure to check the wirings of a controller before powering on it.Due to the incorrect wirings, the machine may not work properly. To prevent electrical shock, be sure to install FG (Frame Ground). Robostar Co., Ltd. 6 / 87...
  • Page 7 ON/OFF and driving a motor manually, be sure to check the mutual safety before starting the work. DANGER When in maintenance of the robot, be sure to unplug a power cord of the controller CAUTION Robostar Co., Ltd. 7 / 87...

  • Page 8: Safety For Robots(Details)

    If you are installing a safety net having a door, install a detector or other sensors so that the robot is stopped immediately after the door is opened. ⑤ The safety net must be distanced by 40 cm or farther from robot motion area and the robot body. Robostar Co., Ltd. 8 / 87...
  • Page 9 - Class 3 Ground (Ground resistance is not more than 100Ω.) (11) Lamp indicating the robot power supplying status - Install a lamp which indicates whether the power source is being supplied to the robot Robostar Co., Ltd. 9 / 87...

  • Page 10: Safety Function

    If any one of the double switches of the safety circuit is shorted, the motor contact is cut off and the brake is activated to stop the robot. Make sure that safety circuits are never ignored, modified or altered in any way.  Robostar Co., Ltd. 10 / 87...

  • Page 11: Install

    Since there is a risk of collision between the robot and the operator during the operation of  the robot, provide a safety net so that the operator does not come close to the robot. Robostar Co., Ltd. 11 / 87...
  • Page 12 Do not design a system that carries your hand inside the safety net to carry in or take out work. There is a risk of crushing or cutting accidents. Be sure to place the robot and peripheral devices in the same way as above.  Robostar Co., Ltd. 12 / 87...

  • Page 13: Table Of Contents

    5.1 I/O assignment ......................52 5.2 I/O specification ......................52 5.3 USER I/O interface ......................53 5.4 USER I/O circuit diagram ....................56 5.5 USER I/O Terminal Block ....................58 5.6 Extension user I/O interface (Option) ................59 Robostar Co., Ltd. 13 / 87...
  • Page 14 2.1 Check and replace the cooling fan ................78 2.2 Check and replace the RTC battery ................82 3. To do after replacing parts ....................84 3.1 Setting Home Position ....................84 Chapter 7 Revision ........................85 Literature Reference ......................... 86 Robostar Co., Ltd. 14 / 87...

  • Page 15: Chapter 1 Controller Overview

    Controller Overview Chapter 1 Controller Overview 1. Features N2M Series Controller is a high-performance robot controller for a wide variety of applications, and has the following features. 6 axis Vertical articulated robot  Controls 2 to 6 axis Cartesian coordinate robot and SCARA robot ...

  • Page 16: Name Plate

    For identification of the model name, refer to a code table below. 2.1 Position of name plate  6 Axis Controller(Standard) ① ② <Front View> ③ ④ <Side View> Robostar Co., Ltd. 16 / 87...

  • Page 17: Name Plate

    KCS, CE Certified ② Specification name plate ① Standard Name plate Robostar N2M CONTROLLER MODEL : N2M-RA012-RD SPEC. : N2M-DR361S-DD -G-CS-X-C-X-X-X-S0 SER. NO. : Robostar Co., Ltd. ④ Safety name plate ③ electric shock name plate Robostar Co., Ltd. 17 / 87...

  • Page 18: Code Table For Specification

    Controller Overview 3. Code table for specification Robostar Co., Ltd. 18 / 87...

  • Page 19: Software Version

    8. GPNT 9.INFO A. REMOTE ITEM # 2.CONT Select <INFO> 1. ROBOT 2.CONT 3. LOG 4.USB 5. COMM 6.E_STATE ITEM # Check Software Version <INFO:CONT(1/3)> N2-SERIES MAIN B/D VER. 01.00.02-C3 (AR 200423_STD) PRE NEXT EXIT Robostar Co., Ltd. 19 / 87...

  • Page 20: Name Of Parts

    AC Power ramp ⑦ Ethernet port ⑧ Teach pendant connector ⑨ I/O and Fieldbus cable entrance ⑩ Robot encoder connector ⑪ Robot power connector ⑫ External axis power connector ⑬ Intake fan ⑭ Exhaust vent Robostar Co., Ltd. 20 / 87...
  • Page 21 Controller Overview 8 axis Controller(Extension)  <Front View> <Rear View> Description ③ Door lock ⑬ Intake fan ⑭ Exhaust vent Robostar Co., Ltd. 21 / 87...

  • Page 22: Inside View

    Circuit protector(CP1, CP2, CP3, CP4) ④ Terminal block ⑤ SMPS(SMPS1,SMPS2,SMPS3) ⑥ SAFETY UNIT ⑦ Internal circulation fan ⑧ Servo Drive ⑨ PC Box module ⑩ Safety terminal board ⑪ Space for User I/O terminal board(OPTION) Robostar Co., Ltd. 22 / 87...
  • Page 23 Controller Overview  8 axis Controller(Extension) <Inside view> 번호 설명 ③ Circuit protector(CP1, CP2, CP3, CP4) ④ Terminal block ⑤ SMPS(SMPS1,SMPS2,SMPS3) ⑧ Servo drive ⑫ 7Axis, 8Axis brake control relay Robostar Co., Ltd. 23 / 87...

  • Page 24: Pc Box Module

    RS-232C connector Field Bus(EtherCAT) connector(interface) Teach Pendant connector USER I/O connector(input 20/output 20) LED1 MAIN12V, IO24V, SAFETY 24V power LED LED2 MAIN board power LED Interface board status LED LED3 (Green: EtherCAT, Red: I/F alarm) Robostar Co., Ltd. 24 / 87...

  • Page 25: Specifications

    AC servo motor drive (Sine wave PWM current control) ref. 1) Additional shaft specifications are in accordance with the maximum installation specification and are rated for 5 kW servo capacity and maximum current (A). Robostar Co., Ltd. 25 / 87...
  • Page 26 Option Ext. User In/Out (32pts./32pts.), Maximum (64pts./64pts.) Jog Teaching (Teach Pendant) Teaching Type MDI Teaching (Teach Pendant) On-Line Teaching (Uni-Host) Robot Language RRL 2.0 (ROBOSTAR Robot Language Version 2) Maximum 250 EA Robot Program Step Maximum 10,000 step Support Standard...

  • Page 27: Product Dimension

    Controller Overview 6.2 Product dimension  6 axis controller(standard) [Unit: mm] Item Size Box only 550 (W) x 440 (D) x 480 (H) With components 575 (W) x 556 (D) x 537 (H) Robostar Co., Ltd. 27 / 87...
  • Page 28 Controller Overview  8 axis controller(extension) [Unit: mm] Item Size Box only 550 (W) x 440 (D) x 800 (H) With components 575 (W) x 556 (D) x 857 (H) Robostar Co., Ltd. 28 / 87...

  • Page 29: Chapter 2 Installation Of Controller

    If the installation environment is not proper, the function and performance may not be fully accomplished, as well as the life of the device may be shortened and unexpected failures may be caused. Robostar Co., Ltd. 29 / 87...

  • Page 30: Installation Space

    The minimum clearances  Install at least 400mm above the ground. Install at least 500mm away from walls. (1) N2M Controller [Unit : mm] <Top> <Front> <Side> Robostar Co., Ltd. 30 / 87...

  • Page 31: Ventilation Direction

    Intake Fan Exhaust vent <Rear> <Side> 8 axis controller(extension)  Intake Fan Exhaust vent Intake Fan Exhaust vent <Side> <Rear>  The cooling method of the controller is a forced blowing method using fans. Robostar Co., Ltd. 31 / 87...

  • Page 32: Chapter 3 Robot Connection And External Interface

    Robot Connection and External Interface Chapter 3 Robot Connection and External Interface 1. Construction of robot system N2M Series Robot System is constructed as follows. For the interface of each part, see the next chapter.  Construction of robot system Machine...

  • Page 33: Controller Connection

    3 phase AC220V <Inside view> <Main switch>  In case the connector of the power cable to robot is wrongly connected, a circuit breaker shuts off or the inside of the controller may be damaged. Robostar Co., Ltd. 33 / 87...

  • Page 34: Teach Pendant Connection

    <Teach Pendant> <N2M 6 axis Controller> Teach Pendant connector  Controller connector JR25PK-24SC(HIROSE) Teach Pendant connector JR25PK-24PC(HIROSE)  Be sure screw-lock with connection. If the connector is disconnected, controller status will be emergency stop. Robostar Co., Ltd. 34 / 87...
  • Page 35 G T/P Connection open input TP OPEN T/P connection open input TP MODE COM T/P mode common contact TP MODE T/P mode status input TP DM Deadman status Input TP EMG T/P Emergency status Input Robostar Co., Ltd. 35 / 87...

  • Page 36: Machine Safety Circuit Interface

    This indicates how to connect machine safety input/output interfaces. It is possible to construct safety circuit(more than 3 of Safety Category) through machine safety input/output interfaces Path of cable  Machine Safety <Side> <Rear> Machine Safety Terminal Cable mount <Path of Cable> Robostar Co., Ltd. 36 / 87...
  • Page 37 EXT. AUTO MODE NC1 External Operation Mode NC contact 2 EXT. AUTO MODE NC2 External Operation Mode NO contact 1 EXT. MANUAL MODE NO1 External Operation Mode NO contact 2 EXT. MANUAL MODE NO2 Robostar Co., Ltd. 37 / 87...
  • Page 38 It is an emergency stop signal in automatic(system) mode. The customer have to input NC when normal state. If an alarm occurs, the customer has to input NO. If the signal is NO, Interlock Auto alarm turns on and motor will be shut off. Robostar Co., Ltd. 38 / 87...
  • Page 39 NC 11 ↔ NC 12, NC 21 ↔ NC 22  The contacts must be ON-OFF simultaneously. (2B / 2B-1A contact applied)  Normal state : Normal Close signal input Alarm state : Normal Open signal input Robostar Co., Ltd. 39 / 87...
  • Page 40 Controller (T/P) mode External operation mode Controller active mode MANUAL MANUAL MANUAL AUTO(SYSTEM) MANUAL MANUAL MANUAL AUTO MANUAL AUTO(SYSTEM) AUTO AUTO(SYSTEM)  For index mode input contact, NC and NO signals must be entered simultaneously. Robostar Co., Ltd. 40 / 87...
  • Page 41 EXT. SAFETY 0V External safety power input 0V DEADMAN NC11 Manufacturer DEADMAN NC contact 11 DEADMAN NC12 Manufacturer DEADMAN NC contact 12 DEADMAN NC21 Manufacturer DEADMAN NC contact 21 DEADMAN NC21 Manufacturer DEADMAN NC contact 22 Robostar Co., Ltd. 41 / 87...
  • Page 42 NC contact is an abbreviation of Normally Close, which means that the contact is closed when it is in the default condition.  NO contact is an abbreviation of Normally Open, which means that the contact is opened when it is in the default condition. Robostar Co., Ltd. 42 / 87...
  • Page 43  Safety level is no recognized when used as an interface used in the robot manufacturing process.  The user must use the contact with open. Robostar Co., Ltd. 43 / 87...

  • Page 44: Controller Safety Circuit Block Diagram

    The contacts of SYS EMG NC 11 ↔ SYS EMG NC 12, SYS EMG NC 21 ↔ SYS EMG NC 22 N.C must be ON/-OFF.. (Use 2B or 2B-1A contact)  Use after connecting teach pendant, as, if not, ‘T/P Emergency Alarm’ is generated. Robostar Co., Ltd. 44 / 87...

  • Page 45: Online Connection

    Before using the host mode, after setting the parameters of the controller using the teach pendant, Set the same baud rate for the controller and computer. Cabling path  Host PC <Side> <Rear> Cable mount <Cabling patch> Robostar Co., Ltd. 45 / 87...
  • Page 46 Computer. (Using a wire 2 mm or more, connect the FG terminal of the controller with the FG terminal of the host computer. ■ Use a serial cable not longer than 10m. ■ Connector Spec.: D-Sub 9s (Socket Type) Robostar Co., Ltd. 46 / 87...

  • Page 47: Robot Connection

     After connecting the robot cable, make sure that housing locks (a connector locking device) of the controller-side connector are completely engaged with each other.  Controller label can be changed according to robot. Robostar Co., Ltd. 47 / 87...

  • Page 48: Manipulator Interface

    P5V(4) GND(1) GND(4) SL(7) P5V(8) /SL(7) GND(8) Data+(2) Data+(5) Data-(2) Data-(5) P5V(2) P5V(5) GND(2) GND(5) P5V(7) GND(7) Data+(3) Data+(6) Data-(3) Data-(6) P5V(3) P5V(6) GND(3) GND(6) SL(8) /SL(8)  ‘-’ sign means the unused pin. Robostar Co., Ltd. 48 / 87...
  • Page 49 P5V(1) P5V(4) GND(1) GND(4) SL(7) P5V(8) /SL(7) GND(8) Data+(2) Data+(5) Data-(2) Data-(5) P5V(2) P5V(5) GND(2) GND(5) P5V(7) GND(7) Data+(3) Data+(6) Data-(3) Data-(6) P5V(3) P5V(6) GND(3) GND(6) SL(8)  ‘-’ sign means the unused pin. Robostar Co., Ltd. 49 / 87...
  • Page 50 HDC-10B-ABU-N/ HDC-10B-DC (Weidmuller) Insert HDC-HEEE-18-FC(Weidmuller) Crimp contact HDC-C-HE-BM4.0AG(Weidmuller) Extension axis power connector pin out Signal Signal U(7) W(7) U(7) W(7) FG(7 W(8) U(8) W(8) U(8) BK+(7) V(7) BK-(7) V(7) FG(8) V(8) BK+(8) V(8) BK-(8) Robostar Co., Ltd. 50 / 87...

  • Page 51: Input/Output Connection

    I/O. Cabling path  Sensor <Side> <Rear> USER I/O Terminal Block(Option) Cable Mount <Cabling path>  Pay particular attention that incorrect connection could damage the controller, as well as the peripherals. Robostar Co., Ltd. 51 / 87...

  • Page 52: I/O Assignment

    Input Resistance 4.7kΩ I/O Contacts 20pts 20pts Controller Connector MDR 10250-52A2PL, 3M External Connector MDR 10250-3000PE, 3M  N2M-Series does not provide internal power source for I/O. Be sure to use the external power source. Robostar Co., Ltd. 52 / 87...

  • Page 53: User I/O Interface

    N type : Input → Positive Common (24V+), Output → Negative Common (24V-) P type : Input → Negative Common (24V-), Output → Positive Common (24V+)  Connect the power supply N • P type distinctly. Incorrect wiring may cause damage to the controller. Robostar Co., Ltd. 53 / 87...
  • Page 54 User Input Contact 17 USER IN 18 User Input Contact 18 USER IN 19 User Input Contact 19 ‘-’ sign means the unused pin.  Ref. 1) refer to 5.4 User I/O circuit diagram Robostar Co., Ltd. 54 / 87...
  • Page 55 User Output Contact 17 USER OUT 18 User Output Contact 18 USER OUT 19 User Output Contact 19  ‘-’ sign means the unused pin. Ref. 1) refer to 5.4 User I/O circuit diagram Robostar Co., Ltd. 55 / 87...

  • Page 56: User I/O Circuit Diagram

    Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts.  The external supply voltage has to be DC 24V±10%  When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. Robostar Co., Ltd. 56 / 87...
  • Page 57 Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts.  The external supply voltage has to be DC 24V±10%  When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. Robostar Co., Ltd. 57 / 87...

  • Page 58: User I/O Terminal Block

    USER OUT 19 USER OUT 4 USER OUT 12 USER OUT 5 USER OUT 13 USER OUT 6 USER OUT 14 USER OUT 7 USER OUT 15  ‘-’ sign means the unused pin. Robostar Co., Ltd. 58 / 87...

  • Page 59: Extension User I/O Interface (Option)

    Extended User Input Contact 51(83) ‘-’ sign means the unused pin.   The numbers in ‘( )’ apply with secondary Ext. user I/O board. Ref. 2) refer to 5.7 User I/O circuit diagram Robostar Co., Ltd. 59 / 87...
  • Page 60 P type : VCC Common (Ref. 2)  ‘-’ sign means the unused pin.  The numbers in ‘( )’ apply with secondary Ext. user I/O board. Ref. 2) refer to 5.7 User I/O circuit diagram Robostar Co., Ltd. 60 / 87...

  • Page 61: Extension User I/O Circuit Diagram

    Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts.  The external supply voltage has to be DC 24V±10%  When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. Robostar Co., Ltd. 61 / 87...
  • Page 62 Mis-wiring may cause the internal parts to be destroyed. Pay special attention to the polarity of the common contacts.  The external supply voltage has to be DC 24V±10%  When soldering connector pins, provide pins with tubes to prevent short-circuit of pins. Robostar Co., Ltd. 62 / 87...

  • Page 63: Board Id Setting About Extension User I/O Board

    Board ID 1 USER IN 20~51, USER OUT 20~51 IO No. assignment Board ID 2 USER IN 52~83, USER OUT 52~83  When using two extension boards, be sure to set different board IDs. Robostar Co., Ltd. 63 / 87...

  • Page 64: Chapter 4 About Teach Pendant

    After connector connection, be sure to engage a screw-lock of the connector. ▶ If the connector is unexpectedly separated, the controller will fall into the emergency state. ▶ If the connector is separated, the controller doesn’t apply to KCs certification. Robostar Co., Ltd. 64 / 87...

  • Page 65: Appearance And Operation

    About Teach Pendant 2. Appearance and operation 2.1 Full size Model Size TPN-9000 110 (W) x 258.2 (D) x 38 (H) Robostar Co., Ltd. 65 / 87...

  • Page 66: Operation Keys

    2.2 Operation keys ① : Emergency stop switch ② : Mode select switch ③ : LCD display ④ : Model name of teach pendant ⑤ : LED indicator ⑥ : Function key ⑦ : Deadman switch Robostar Co., Ltd. 66 / 87...

  • Page 67: Operation Keys Description

    Ex.) When to write a robot program in JOB mode ▶ Only four commands can be displayed on 1 screen and so, if the direction key is used when more than 4 commands are necessary, other commands can be shown. Robostar Co., Ltd. 67 / 87...
  • Page 68 Used to input the desired data. ▶ Usage is dependent on a mode. ex.) Parameter mode→ The sign changes when this key is pressed. JOB mode→ This key is used to input the command when writing a program. Robostar Co., Ltd. 68 / 87...
  • Page 69 JOG movement and INCH movement can be performed. (12) Character Key ▶ Used to enter the characters. ▶ Used to type JOB name, or to enter variable name, label name, sub-execution sentence name in commands Robostar Co., Ltd. 69 / 87...
  • Page 70 On a point teaching (CURR) screen, the brake of each axis can be turned on/off. ▶ While in operation (RUN mode), robot moving velocity is increased. ▶ While in operation (RUN mode), robot moving velocity is decreased. Robostar Co., Ltd. 70 / 87...

  • Page 71: Deadman Switch

    When the moderate pressure is loaded on the switch When too strong pressure is loaded on the switch If the Deadman Switch is turned OFF, the robot does not operate or stops while in operation. Robostar Co., Ltd. 71 / 87...

  • Page 72: Chapter 5 Alarm Code

    It occurs when the status of servo doesn’t match. 1434 Over Trq error It occurs when the defined torque limit value was exceeded. 2101 T/P emergency It occurs when the T/P stops by an emergency stop switch. Robostar Co., Ltd. 72 / 87...
  • Page 73 Abnormal value in factory setting 4501 Ethercat stop In case of complete loss in EtherCAT communication 4502 Ethercat Comm fail In case of error during EtherCAT communication 5010-0 General overcurrent General overcurrent 5010-1 Hardware overcurrent Hardware overcurrent detected Robostar Co., Ltd. 73 / 87...
  • Page 74 Rectifier overload Supply unit: Rectifier Overload 5024-29 DC link balance err Supply unit: DC link voltage balance out of range 5024-30 Short circuit detect Supply unit: Brake transistor or DC link short circuit detected Robostar Co., Ltd. 74 / 87...
  • Page 75 Error in motor parameters/ synchronous motor Encoder #1: Battery low, multiturn position is lost (Encoder error 5036-220 Multiturn pos lost#1 while switched off) Encoder #1: SmartAbs encoder error (Encoder error while switched 5036-230 SmartAbs encoder err off) Robostar Co., Ltd. 75 / 87...

  • Page 76: How To Clear Alarms And Warnings

    If the alarm is not released, the alarm message is occurred again. ⑥ When the alarm release is completed, the alarm message window disappears and the alarm LED is turned off, and the controller and the robot can be driven normally. Robostar Co., Ltd. 76 / 87...

  • Page 77: Chapter 6 Maintenance

    Refer to the robot manual for robot encoder battery installation position and how to replace it. (The normal exchange cycle is 3 years under the condition of operating 8 hours a day.)  Make sure to turn the power off when replacing parts. Robostar Co., Ltd. 77 / 87...

  • Page 78: Check And Replace The Cooling Fan

    Remove the [Screw1] for fixing with a PC Box. ③ Separate the Inside fan1 with [separation direction]. ④ Disconnect the connector to the fan. ⑤ Remove the [Screw2] and separate the fan. ⑥ Install new fan in order from ⑤ to ② Robostar Co., Ltd. 78 / 87...
  • Page 79  How to replace ① Turn off the power. ② Disconnect the connector to the fan. ③ Remove the [Screw2] and separate the fan. ④ Install new fan in order from ③ to ② Robostar Co., Ltd. 79 / 87...
  • Page 80 Disconnect the connector to the fan. ⑤ Remove the [Screw2] and separate the fan. ⑥ Install new fan in order from ⑤ to ②  When removing the rear cover, be careful not to pull the connected cable. Robostar Co., Ltd. 80 / 87...
  • Page 81 Remove the rear cover fixing screw. ⑨ Remove the rear cover. ⑩ Disconnect the connector to the fan. ⑪ Remove the [Screw2] and separate the fan. ⑫ Install new fan in order from ⑤ to ② Robostar Co., Ltd. 81 / 87...

  • Page 82: Check And Replace The Rtc Battery

    Check the main board battery position of the main module. ④ With the battery mounted on the board, measure the DC voltage by contacting the ground of the board and the + pole of the battery with the multimeter probe. [Picture] Measurement example Robostar Co., Ltd. 82 / 87...
  • Page 83 + Pole - Pole Pole  When replacing the battery, be careful of terminal shorting and ESD inflow.  Batteries should be stored within the manufacturer's recommended temperature and humidity, otherwise life may be reduced. Robostar Co., Ltd. 83 / 87...

  • Page 84: To Do After Replacing Parts

    PARA(1) – BODY – OFFS – ZCAL - MDI  Origin position and posture are different according to robot capacity and model. Please refer to the corresponding robot manual.  For detailed operation, refer to N2 Controller Operating Manual. Robostar Co., Ltd. 84 / 87...

  • Page 85: Chapter 7 Revision

    Revision Chapter 7 Revision Revision Date Revised Detail 2020-08-21 Initial Distribution Robostar Co., Ltd. 85 / 87...

  • Page 86: Literature Reference

    This explains the method to use the controller and teach pendant, parameter setting, JOB program editing and additional functions. Programming manual N2-PM-E□□ This explains the method to create RRL (Robostar robot language) that is the Robostar robot program and describes the commands. Unihost manual N2-HM-E□□...
  • Page 87 N2M Series Controller Installation and handling Manual First edition, August 21, 2020 ROBOSTAR CO., LTD. ROBOT R&D CENTER...

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