Motoman NX 100 Function Manual

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Motoman NX 100 Controller

Data Transmission Function Manual

Part Number: 152388-1CD Revision: 0

Motoman, Incorporated 805 Liberty Lane West Carrollton, OH 45449 TEL: (937) 847-6200 FAX: (937) 847-6277 24-Hour Service Hotline: (937) 847-3200

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The information contained within this document is the proprietary property of Motoman, Inc., and may not be

copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,

Because we are constantly improving our products, we reserve the right to change specifications without

notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

Inc.

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Data Transmission

152388-1

Chapter 1

Introduction

1.1 About This Document

This manual provides information for the Data Transmission function and contains the following sections:

CHAPTER 1 - INTRODUCTION

Provides general information about the structure of this manual, a list of reference documents, and customer service information.

CHAPTER 2 - SAFETY

This section provides information regarding the safe use and operation of Motoman products.

CHAPTER 3 - DATA TRANSMISSION INSTRUCTIONS

Provides detailed information for the Data Transmission function.

1.2 Reference to Other Documentation

For additional information refer to the following:

• NX100 Controller Manual (P/N 149201-1)

• Concurrent I/O Manual (P/N 149230-1)

• Operator’s Manual for your application

• Vendor manuals for system components not manufactured by Motoman

1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call:

• Robot Type (IA20)

• Application Type (welding, handling, etc.)

• Robot Serial Number (located on back side of robot arm)

• Robot Sales Order Number (located on back of controller)

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Function Manual Chapter 1 Introduction

Notes

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Data Transmission

152388-1

Chapter 2

Safety

2.1 Introduction

It is the purchaser’s responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries Association by requesting ANSI/RIA R15.06-1999. The address is as follows:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: (734) 994-6088 FAX: (734) 994-3338

INTERNET: www.roboticsonline.com

Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel who are adequately trained to operate, program, and maintain the robot cell. The robot must not be

operated by personnel who have not been trained!

We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system.

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Function Manual Chapter 2 Safety

This safety section addresses the following:

• Standard Conventions (Section 2.2)

• General Safeguarding Tips (Section 2.3)

• Mechanical Safety Devices (Section 2.4)

• Installation Safety (Section 2.5)

• Programming, Operation, and Maintenance Safety (Section 2.6)

2.2 Standard Conventions

This manual includes the following alerts – in descending order of severity – that are essential to the

safety of personnel and equipment. As you read this manual, pay close attention to these alerts to insure safety when installing, operating, programming, and maintaining this equipment.

DANGER!

Information appearing in a DANGER concerns the protection of personnel from the immediate and imminent hazards that, if not avoided, will result in immediate, serious personal injury or loss of life in addition to equipment damage.

WARNING!

Information appearing in a WARNING concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage.

CAUTION!

Information appearing in a CAUTION concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage.

Note: Information appearing in a Note provides additional information which is helpful in understanding the item being explained.

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Data Transmission

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2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this robot system.

• Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the robot cell.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06-1999, section 4.2.5, Sources of Energy, use lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA).

2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-1999 safety standards, and other local codes that may pertain to the installation and use of industrial equipment. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety equipment is provided as standard:

• Safety fences and barriers

• Light curtains and/or safety mats

• Door interlocks

• Emergency stop palm buttons located on operator station, robot controller, and programming pendant

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

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Function Manual Chapter 2 Safety

2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. Installation tips are as follows:

• Be sure that only qualified personnel familiar with national codes, local codes, and ANSI/RIA R15.06-1999 safety standards are permitted to install the equipment.

• Identify the work envelope of each robot with floor markings, signs, and barriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorized entry into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robot and other equipment (pinch points).

• Provide sufficient room inside the workcell to permit safe teaching and maintenance procedures.

2.6 Programming, Operation, and Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to program, operate, and maintain the system. All personnel involved with the operation of the equipment must understand potential dangers of operation.

• Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment for proper operation. Repair or replace any non-functioning safety equipment immediately.

• Do not enter the robot cell while it is in automatic operation. Be sure that only the person holding the programming pendant enters the workcell.

• Check the E-STOP button on the programming pendant for proper operation before programming. The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.

• Back up all programs and jobs onto suitable media before program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

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Data Transmission

152388-1

• Any modifications to PART 1, System Section, of the robot controller concurrent I/O program can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1, System Section. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY!

• Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords.

• The robot controller allows modifications of PART 2, User Section, of the concurrent I/O program and modifications to controller parameters for maximum robot performance. Great care must be taken when making these modifications. All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot and other parts of the system. Double-check all modifications under every mode of robot operation to ensure that you have not created hazards or dangerous situations.

• Check and test any new or modified program at low speed for at least one full cycle.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

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Function Manual Chapter 2 Safety

Notes

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YASKAWA

NX100 OPTIONS

INSTRUCTIONS

FOR DATA TRANSMISSION FUNCTION

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.

YASKAWA

MANUAL NO. RE-CKI-A445

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MANDATORY

• This manual explains the data transmission function of the NX100 system. Read this manual carefully and be sure to understand its contents before handling the NX100.

• General items related to safety are listed in the Section 1: Safety of the NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual.

CAUTION

• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.

• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. 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 representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty.

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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

CAUTION

could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.

MANDATORY

PROHIBITED

Even items described as “CAUTION” may result in a serious accident in some situations. At

any rate, be sure to follow these important items.

NOTE

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”.

Always be sure to follow explicitly the items listed under this heading.

Must never be performed.

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WARNING

• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON

Injury may result from unintentional or unexpected manipulator motion.

TURN

Release of Emergency Stop

• Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator:

- View the manipulator from the front whenever possible.

- Always follow the predetermined operating procedure.

- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before:

- Turning ON the NX100 power

- Moving the manipulator with the programming pendant

- Running the system in the check mode

- Performing automatic operations

Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.

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CAUTION

• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.

-Check for problems in manipulator movement.

-Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the NX100 cabinet after use.

The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures.

• Read and understand the Explanation of the Warning Labels in the NX100 Instructions before operating the manipulator.

Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the programming pendant, and supply cables. In this manual, the equipment is designated as follows.

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

Cable between the manipulator and the controller Manipulator Cable

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Descriptions of the programming pendant keys, buttons, and displays are shown as follows:

Equipment Manual Designation

Programming Pendant

Character Keys The keys which have characters printed on them are

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.

GO BACK

ex. page key

PAGE

The cursor key is an exception, and a picture is not shown.

Axis Keys Numeric Keys

Keys pressed simultaneously

“Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and number input.

When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming pendant is

denoted with { }. ex. {JOB}

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and the SELECT key is pressed.

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1 Outline

1.1 DCI Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

1.2 Stand-alone Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3

1.3 Host Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4

2 For Using Data Transmission Function

2.1 Remote Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1.1 Remote Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1.2 Command Remote Valid/Invalid . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.1.3 Display in Command Remote Mode . . . . . . . . . . . . . . . . . . . . .2-3

2.2 Serial I/F Port Assignment . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

2.3 Parallel Operation of NX100 . . . . . . . . . . . . . . . . . . . . . . . .2-6

2.3.1 No Multiple-operation of DCI, Stand-alone, and Host Control

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6

2.3.2 File Access and Editing for a Single Target. . . . . . . . . . . . . . . .2-6

2.4 Differences from MRC/XRC . . . . . . . . . . . . . . . . . . . . . . . .2-7

2.4.1 Multiport Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7

2.4.2 Group Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7

2.4.3 Coordinated Operation and Independent Operation . . . . . . . . .2-7

2.4.4 Condition Data and System Data . . . . . . . . . . . . . . . . . . . . . . .2-7

2.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . .2-8

2.5.1 Basic Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8

2.5.2 Transmission Control Characters . . . . . . . . . . . . . . . . . . . . . . .2-8

2.5.3 Transmission Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9

2.5.4 Error Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10

2.5.5 Character Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10

2.5.6 Data Link Establishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10

2.5.7 Configuration of Heading and Text . . . . . . . . . . . . . . . . . . . . .2-11

2.5.8 Transmission Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11

" Transmission Control Monitoring Timer. . . . . . . . . . . . . . . .2-11

" Transmission Control Resending Sequence . . . . . . . . . . . .2-12

2.5.9 Connection of D-SUB Connector Pins. . . . . . . . . . . . . . . . . . .2-13

2.5.10 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-13

3 DCI Function

3.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.2 Commands for Job Transmission . . . . . . . . . . . . . . . . . . .3-1

3.2.1 LOADJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

" Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2

3.2.2 SAVEJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

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" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.3 DELETEJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.4 SWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.3 Commands for Variable Transmission . . . . . . . . . . . . . . 3-4

3.3.1 LOADV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.3.2 SAVEV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.4 Registering DCI Instruction . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.5 Concurrent Tasks from Multiple Jobs . . . . . . . . . . . . . . . 3-7

3.6 DCI Parallel Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

" Parallel Execution Using NWAIT . . . . . . . . . . . . . . . . . . . . . 3-8

" Parallel Execution Using PSTART (Optional). . . . . . . . . . . . 3-9

3.7 Transmission Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.7.1 Job Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

" Saving Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

" Loading Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.7.2 Variable Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

" Saving Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

" Loading Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3.8 Axis Data Transmission Format . . . . . . . . . . . . . . . . . . . 3-14

3.9 Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15

4 Stand-alone Function

4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.2 Operation Flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.3 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.3.1 Selecting External Memory Unit . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.3.2 Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

" Saving Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

" Saving File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.3.3 Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

" Loading Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

" Loading File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.3.4 Job Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

" Single Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

" Related Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

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" Switching Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . .4-11

4.3.5 Selecting Job and Data File. . . . . . . . . . . . . . . . . . . . . . . . . . .4-12

" EACH Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12

" BATCH Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12

4.4 Transmission Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . .4-12

5 Host Control Function

5.1 File Data Transmission Function. . . . . . . . . . . . . . . . . . . .5-1

5.1.1 Transmission Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

" Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

" Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2

5.1.2 Data Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3

5.2 Robot Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.2.1 Command Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.2.2 List of Interlock for Commands of Host Control Function . . . . .5-5

5.2.3 Command that Handle Axis Data . . . . . . . . . . . . . . . . . . . . . . .5-7

5.2.4 Response to MOV-type Command . . . . . . . . . . . . . . . . . . . . . .5-7

5.2.5 Status Read Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

" Read/Monitor Command . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8

" Read/Data Access System Commands . . . . . . . . . . . . . . .5-13

5.2.6 System Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17

" Operation System Commands . . . . . . . . . . . . . . . . . . . . . .5-17

" Start-up System Commands . . . . . . . . . . . . . . . . . . . . . . . .5-22

" Editing System Commands . . . . . . . . . . . . . . . . . . . . . . . .5-26

" Job Selection System Commands . . . . . . . . . . . . . . . . . . .5-30

5.2.7 I/O Read/Write Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31

" Transmission Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32

" Read-out of I/O Signal Status . . . . . . . . . . . . . . . . . . . . . . .5-32

" Write-in of I/O Signal Status . . . . . . . . . . . . . . . . . . . . . . . .5-33

5.3 Commands for Multi-control Group and

5.4 Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-37

5.5 Interpreter Message List . . . . . . . . . . . . . . . . . . . . . . . . . . .5-38

6 Data List

6.1 Header Number List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.2 Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4

Independent Control Functions

5.3.1 Commands for Multi-control Group . . . . . . . . . . . . . . . . . . . . .5-35

5.3.2 Commands for Independent Control Function. . . . . . . . . . . . .5-36

. . . . . . . . . . . . . . . . . . . .5-35

Page 20

7 Comparison of Data Transmission Functions

8 Remote Function Setting

Page 21

1 Outline

The data transmission function is for communication with a host computer such as a personal computer in BSC complying protocol.

The data transmission function adopts a serial transmission line and standard protocol, making easy connection to a host computer. The data transmission function is not only for transmission of job but also for controlling robot system by a host computer using a set of commands. The robot commands in the ASCII code command format are easy to use and helpful for a quick development of necessary software to be run on the host computer.

The data transmission function is divided into the following three functions.

• DCI (Data Communication by Instruction)

• Stand-alone function

• Host control function

NX100

Host computer

(personal computer, etc.)

Data transmission

1-1

Page 22

1.1 DCI Function

The DCI function executes instructions described in a job to perform data transmission with a host computer. This function loads and saves jobs and variables.

NX100

Host computer

(personal computer, etc.)

Job

Execute

Job

Transmission

Variab le

Transmission

Load

Save

Delete

Load

Save

DCI Function

Job can be transmitted in either mode.

• Single job

• Related job

• Byte type global variables

• Integer type global variables

• Double precision type global variables

• Real number type global variables

• Position type global variables

(Robot axes, base axes, station axes)

1-2

Page 23

1.2 Stand-alone Function

The stand-alone function is for data transmission with host computer by operation on the programming pendant. This function loads and saves jobs and condition data.

NX100

Operation

Job Transmission

Condition Data/

General Data Transmission

Stand-alone Function

Load

Save

Verify

Load

Save

Job can be transmitted in either mode.

• Single job

• Related job

• Tool data

• Weaving data

• User coordinate data

• Welding data

• Variable data

Host computer

(personal computer, etc.)

System Information

Transmission

Verify

Save

• System information

• Alarm history

1-3

Page 24

1.3 Host Control Function

The host control function is for loading and saving jobs, reading robot status, and controlling the system by sending a command from a host computer.

NX100

Host computer

(personal computer, etc.)

Operation

File Data

Transmission

Function

Host Control Function

Job

Transmission

Condition Data/

General Data Transmission

System

Information

Transmission

Load

Save

Load

Save

Jobs can be transmitted in either mode :

• Single job

• Related job

• Tool data

• Weaving data

• User coordinate data

• Welding data

• Variable data

• System information

• Alarm history

1-4

Page 25

Host Control Function

Status Reading

1.3 Host Control Function

• Read of error and alarm codes

• Read of current position in a joint coordinate

system

• Read of current position in a specified Carte-

sian coordinate system

• Read of mode, cycle, motion, alarm error

and servo status

• Read of current job name, line No. and step

No.

• Read of all job names or related job names

• Monitoring completion of manipulator opera-

tion

• Read of specified user coordinate data

• Read of control group and task selected sta-

tus

• Read of variable data

Robot Control

Function

System Control

• Start, hold

• Reset, cancel

• Job deletion

• Master job setup

• Job, line No. and step No. setup

• Mode and cycle selection

• Servo power supply ON/OFF

• Programming pendant interlock setup/

release

• Message display

• Joint motion and linear motion to a specified

Cartesian coordinate system

• Linear motion by increments in a specified

coordinate system

• Joint motion and linear motion to a specified

joint coordinate system

• Conversion/reverse conversion of related

job of a specified job (Relative job function is

necessary)

• Write of specified user coordinate data

• Change of control group

• Change of task to be controlled

• Write of variable data

1-5

Page 26

2.1 Remote Mode

2 For Using Data Transmission Function

2.1 Remote Mode

The data transmission function can be used with NX100 in remote mode.

2.1.1 Remote Mode

To use the data transmission function, set NX100 to remote mode.

In remote mode, the operation is ordered from a host computer ; whereas in local mode, teach mode, and play mode, the programming pendant is used for operating the system. To switch to the remote mode or the local mode, either

• Set the mode key on the programming pendant to [REMOTE] .

REMOTE

PLAY

TEACH

The remote mode has two sub-modes ; “I/O remote enable” and “Command remote enable”. Which sub-mode takes effect in remote mode is set in the pseudo input display. Refer to Section 8 “Remote Function Setting”.

Teach mode

Local mode

Remote mode

Play mode

!I/O remote enable !Command remote enable

2-1

Page 27

2.1 Remote Mode

Operation-site Mode Operation-site Condition to Enable the Operation

Local Mode Programming pendant The remote lamp is OFF, or “INHIBIT PP/

PANEL” in the pseudo input display is set to invalid.

Remote Mode I/O remote enable

External I/O control board

The remote lamp is ON, and “INHBIT IO” in the pseudo input display is set invalid.

Command remote enable

In remote mode, usually operations of the programming pendant or the playback panel is

NOTE

disabled, but they can be also enabled. To enable all operations, refer to Section 8 “Remote Function Setting”. To selectively enable some of the operations, set the parameter S2C182. For details, refer to Section 6.2 “Parameter List”.

External computer

The remote lamp is ON, and “CMD REMOTE SEL” in the pseudo input display is set valid.

In remote mode, operations on the programming pendant are valid except the operationrelated entries. This holds true in “I/O remote enable” and “Command remote enable” submodes. The concept is based on the conventional I/O control introduced to command control. Note that the edit-related operations cannot be entered from more than one operating device.

In “Command remote enable” submode, to enable command remote controls only, issue the HLOCK command. When the HLOCK command is ON, operations on the programming pendant are valid only hold and emergency stop. Also the following I/O operations are disabled : selection between remote mode and local mode, external start, external servo ON, cycle selection, I/O prohibit, P.P/PANEL prohibit, and master job call. Other I/O operations are valid.

2-2

Page 28

2.1 Remote Mode

2.1.2 Command Remote Valid/Invalid

Availability of each function of data transmission differs depending on the command remote setting (Enabled / Disabled). When the command remote is set invalid, the read/monitor system commands (hereinafter called read-only function) in the host control function in addition to the DCI function and standalone function can be used. For the details of read/monitor system commands, refer to Section 5.2.2 “List of Interlock for Commands of Host Control Function”..

Command Remote Setting Function Availability

Invalid DCI function available

Stand-alone function available Host control function (only read-only function) available

Valid Host control function (all commands) available

To validate the read-only function in the above host control function, set the parameter RS005 to “1”. When the command remote is validated by pressing [REMOTE] with the read-only function valid, the command remote status is entered so that all commands can be used. When the command remote is invalidated by pressing [REMOTE] again, the read-only function becomes validated again.

Parameter Contents and Set Value

BSC port function specification when the command

RS005

remote is invalidated 0 : DCI or stand-alone function 1 : Read-only function in host control

Initial

Value

2.1.3 Display in Command Remote Mode

Even in command remote enabled submode, it is not necessary to call the command remote display because operations from NX100 is available. To call the command remote display, select “REMOTE” from “I/O” under the top menu. This display is used in common with the I/O remote mode display.

The message in the remote display changes according to the remote function selection. (Refer to Chapter 8 “Remote Function Setting”.)

2-3

Page 29

REMOTE

IO and Command mode

CURR

DISP

2.2 Serial I/F Port Assignment

EDIT DISPLAY UTILITYDATA

A message shown in the table below is displayed.

Main Menu

ShortCut

Remote Select Status

I/O

Remote

Command

Remote

Message Remarks

××“Remote mode not specified” Same when the remote lamp

is OFF.

# × “I/O mode” Only when the remote lamp

is ON.

× # “Command mode”

# # “I/O and Command mode”

Read-only Function Valid

“Remote mode not specified” “CURR” and “PREV” are dis-

played.

# : Valid, × : Invalid

2.2 Serial I/F Port Assignment

The NX100 has one serial interface port. The FC1 protocol and the BSC complying protocol (for data transmission function : option) can be assigned to the port to communicate with external devices.

A change in assignment can be made only in local mode.

Parameter Contents and Set Value

Standard port protocol specification

0 : NON

RS000

1 : System reserved 2 : BSC LIKE (Data transmission

function

3 : FC1

2-4

Initial

Value

Page 30

2.2 Serial I/F Port Assignment

TYPE JANCD-NCP01

Robot I/F Unit JZNC-NIF01

CNBAT

Control Circuit Board JANCD-NCP01

CPU

TYPE JANCD-NCP01

TYPE JANCD-NCP01 DATE REV

LED 0

CNSP1

CNTU

CNRI

CNM

CNRO

CNFAN

ATX

VIDEO

IDE

USB1(L) USB1(R)

PS2

Front View (without the cover)

Major Axes Control Circuit Board SGDR-AXA01A

SUPPLY

POWER CPS-NX1

No. DATE Fuji

Co.,Ltd.

JAPAN

Electric

080910

03040506

181920

13141516

SOURCE

+5VSB

PON

+5V

+24V

OTHER

FAN

OHT

CN05

(+24V1)

CN04

(+24V2)

(REMOTE)

282930

23242526

GFEDC

KJH

SRQPN

VUT

CN03 (TU)

CN02

200-240V AC

CN01

(AC IN)

INPUT

50/60Hz

Serial port interface (RS-232C I/F)

(LAN2)

Ethernet function

(LAN1)

Programming Pendant

Control Circuit Board CPS-420F

Cover

Front View

(with the cover supplied)

Bottom View

CPU Unit Configuration (JZNC-NRK 01!-!)

2-5

Page 31

2.3 Parallel Operation of NX100

The NX100 is capable of parallel processing. For instance, it can check signals with programming pendant while saving files to YASNAC FC2, or can edit files with the programming pendant while monitoring operation status by the host control function. The parallel operation has the following restrictions. When an operation against these restrictions is made, a warning message is displayed.

Operation Warning

YASNAC FC2 Stand-alone Programming pendant

DCI Alarm

Host control Interpreter message

Error message for 3 seconds

(or error message)

2.3.1 No Multiple-operation of DCI, Stand-alone, and Host Control Functions

All DCI, stand-alone, and host control use BSC LIKE protocol and the same port, therefore these functions cannot be performed by parallel processing.

Warning message : Serial port not defined Warning message : Serial port being used Warning message : Protocol being used

2.3.2 File Access and Editing for a Single Target

Access to a single target file is available. Parallel processing of reads from two or more sources is impossible. During access to a file for other function, the HLOCK command of the host control function cannot be issued. Key operations are ignored while the HLOCK command is ON.

Warning message : Data accessed with other functions

2-6

Page 32

2.4 Differences from MRC/XRC

The data transmission function in NX100 is intended to reuse basically the user applications with succession to the data transmission of MRC/XRC. There are some differences resulted from functional differences between the MRC/XRC and the NX100.

2.4.1 Multiport Processing

The XRC is not applicable for multiport processing.

2.4.2 Group Axes

The control group information used for the CGROUP and RGROUP commands in the host control function differs depending on the number of manipulators.

2.4.3 Coordinated Operation and Independent Operation

Up to 8 tasks (6 tasks for XRC) can be changed by the CTASK command. No command related to coordinated operation is available.

2.4.4 Condition Data and System Data

Condition data and system data have different file name in option function, accordingly their communication header differ.

2-7

Page 33

2.5 Transmission Specifications

This section explains the transmission specifications for the data transmission.

2.5.1 Basic Specifications

Interface Complies to RS-232C (RS/CS method)

Transmission Speed

Transmission Mode

Synchronization

system

Protocol

Transmission Code

Error Check

Response Method

9600 bps

Half-duplex transmission system (point-topoint)

Asynchronous (stop bit 1 *

BSC LIKE

ASCII, shift JIS

8-bit data length *

Even parity * Nontransparent

BCC

ACK alternating response

*1 Can be changed by transmission parameter setting

2.5.2 Transmission Control Characters

)

The transmission control characters are shown in the table below.

Transmission Control Characters and Codes

Control

Character

DLE

SOH

STX ETX EOT

ENQ

NAK

ETB ACK0 ACK1

Code

(hexadecimal)

10 01 02 03 04 05 15 17 10, 30 10, 31

Meanings of Control Character

Data Link Escape Start of Heading Start of Text End of Text End of Transmission Enquiry Negative Acknowledgment End of Text Block Even Affirmative Acknowledgment Odd Affirmative Acknowledgment

2-8

Page 34

2.5 Transmission Specifications

2.5.3 Transmission Format

The transmission format is as follows.

HEADING

O H

S O

HEADING

S T X

E N Q

E O T

TEXT

S T X

TEXT

E T B

E T X

BCC

T B

E T

BCC

N A K

ACK0

ACK1

2-9

Page 35

2.5 Transmission Specifications

2.5.4 Error Control System

The error control is performed by a check sum of all the characters from SOH or STX to ETB or ETX. The check sum is calculated as shown below.

BCC

T X

0000 0001 1101 1011

0000 0101 0000 0000 0011 0110 1010 1100 1111 0001 0000 0011

TEXT

T X

• Start of calculation : Calculation is started when SOH or STX used as the block start sequence appears. These block start sequence are not included in the sum. As for a STX led by a SOH, STX is included in the sum.

• End of calculation : Calculation is ended when ETB or ETX used as the block end

sequence appears, with the ETB or ETX included in the sum.

2.5.5 Character Configuration

The character configuration is as follows.

Start bit

b1 b2 b3 b4 b5 b6 b7 b8 bp

2.5.6 Data Link Establishment

A data link is established by responding ACK0 to ENQ.

Stop bit

Parity bit

2-10

Page 36

2.5 Transmission Specifications

2.5.7 Configuration of Heading and Text

The configuration of heading and text is as follows.

Heading 6 characters fixed Max. 256 characters

S O H

S T X

Subcode No.

, (comma)

Header No.

TEXT BCC

E T B

2.5.8 Transmission Parameters

" Transmission Control Monitoring Timer

Two timers are provided for transmission control monitoring. Both are transmission parameters so that their settings can be changed for each system.

Timer A : Sequence monitoring timer. Serves as protection against invalid or no response.

Recommended value is 3 sec.

Timer B : Text reception monitoring timer. Serves as protection against no response of text

end character. Recommended value is 20 sec.

Timer B

NX100

ACK0

ACK1

ENQ

Data

EOT

Host

computer

Timer A

NX100

ENQ

Data

EOT

Host

computer

ACK0

ACK1

2-11

Page 37

2.5 Transmission Specifications

" Transmission Control Resending Sequence

Two constants below are related to the transmission control resending sequence. Both are transmission parameters like the transmission control monitoring timers, whose settings can

be changed for each system.

Retry 1 : Number of resendings of a sequence character at an invalid or no response

at all. Recommended value is 10 times.

Retry 2 : Number of resendings of a text at a block check error (reception of NAK).

Recommended value is 3 times.

Parameter Contents and Set Value

RS030 Number of data bits 7 : 7 (bit)

8 : 8 (bit)

RS031 Number of stop bits 0 : 1 (bit)

1 : 1.5 2 : 2

RS032 Parity specification 0 : No specification

1 : Odd parity 2 : Even parity

RS033 Transmission speed specification 1 : 150 (baud rate)

2 : 300 3 : 600 4 : 1200 5 : 2400 6 : 4800 7 : 9600 8 : 19200

RS034 Timer A Sequence monitoring timer

Serves as protection against invalid or no response Unit : 0.1 sec. (Setting range : 0 to 100)

Initial

Value

RS035 Timer B Text reception monitoring timer

Serves as protection against no response of text end character Unit : 0.1 sec. (Setting range : 0 to 255)

RS036 Retry 1 Number of resendings of a sequence character at an invalid or

no response (Setting range : 0 to 30)

RS037 Retry 2 Number of resendings of a text at a block check error (reception

of NAK). (Setting range : 0 to 10)

RS038 Block check method 0 : Check sum 0

2-12

200

Page 38

2.5 Transmission Specifications

2.5.9 Connection of D-SUB Connector Pins

The connection of D-SUB connector pins is shown below. NCP01 board (D-SUB9P)

NX100

Carrier detect

Data receive

Data send

Data terminal ready

Grounding for signal

Request to send

Sending enabled

Protective grounding

2.5.10 Connection

Since the system is “null-modem”, connect the pins as shown below. XCP01 board

Host Computer

NX100

• Connect “RS” of the NX100 to “CS” of a host computer. This prevents data overrun when reception processing speed of the NX100 cannot catch up with data sending from the host computer. In other words, “RS” signal from the NX100 controls start-hold of data transmission from the host computer. The sending interface controller must be capable of coping with CS input displacement in units of a single byte.

• The NX100 sends data when the “CS” signal is ON.

2-13

Page 39

3.1 Outline

3 DCI Function

3.1 Outline

The data communication by instruction (DCI) function loads, saves jobs and variables according to an instruction that executes data transmission with a host computer. The DCI function is classified as follows.

• Job load, save and delete functions

• Variable load and save functions

NX100

Host computer

(personal computer, etc.)

Job

Execute

3.2 Commands for Job Transmission

3.2.1 LOADJ

" Function

Loads specified jobs as single or related jobs, from the external memory unit to the memory of the NX100.

3-1

Page 40

3.2 Commands for Job Transmission

" Configuration

LOADJ

JOB:<Job name> IG#<Input group No.> B<Variable No.>

Unit of loading JBI, JBR

NWAIT

IF statement

• If the NX100 memory already contains a job having the same name as the job to be loaded, the existing job is deleted and the new job is loaded. However, if the job to be loaded is as follows, an alarm occurs.

• Execution starting job

• Job under execution/halting

• Job registered in job call stack

• Specify input group numbers (BCD/BIN, parity specification), and variable numbers in the same way as for the CALL command. If the pattern input value is 0, the operation is not executed. A variable number 0 is valid.

• Unit of loading : Select either a single job (JBI) or related jobs (JBR)

• When the NWAIT is specified, the next instruction is executed without waiting completion of job loading.

• While a job is being loaded by the LOADJ command for which NWAIT is specified, if an access is attempted to a job called by the CALL command or JUMP command, an alarm occurs. If a LOADJ or SAVEJ command has already been executed, a job is loaded after completion of the execution.

3-2

Page 41

3.2 Commands for Job Transmission

3.2.2 SAVEJ

" Function

Saves a specified job as single or related jobs, from the memory of the NX100 to the external memory unit.

" Configuration

SAVEJ

JOB:<Job name> IG#<Input group No.> B<Variable No.>

Unit of saving JBI, JBR

NWAIT

IF statement

• Unit of saving : Select either a single job (JBI) or related jobs (JBR).

• When the NWAIT is specified, the next command is executed without waiting completion of job saving. When a LOADJ or SAVEJ command has already been executed, a job is saved after completion of the execution.

3.2.3 DELETEJ

" Function

Deletes all jobs except its own job or specified jobs as single or related jobs, from the memory of the NX100.

" Configuration

DELETEJ

Unit of

JOB:<Job name>

deleting JBI, JBR

• Unit of deleting : Select either a single job (JBI) or related jobs (JBR).

• The following jobs cannot be deleted.

• Execution starting job

• Job under execution/halting

• Job registered in job call stack

3-3

IF statement

Page 42

3.3 Commands for Variable Transmission

3.2.4 SWAIT

" Function

Waits for completion of loading or saving jobs or variables. Use this command to recognize a completion of LOADJ, SAVEJ, LOADV, and SAVEV commands when a NWAIT is specified for these instructions.

" Configuration

SWAIT

3.3 Commands for Variable Transmission

3.3.1 LOADV

" Function

Loads the specified global variables from an external memory unit to the NX100 memory.

" Configuration

LOADV

Byte type global variable Integer type global variable Double precision type global variable Real number type global variable Position type (robot axis) global variable Position type (base axis) global variable Position type (station axis) global variable

NWAIT

3.3.2 SAVEV

" Function

Saves the specified global variables from the NX100 memory to a external memory unit.

" Configuration

SAVEV

3-4

NWAIT

Page 43

3.4 Registering DCI Instruction

CONTROL GROUP R1 TOOL 00

CO O

Operation Explanation

1 Move the cursor to the

address area.

3.4 Registering DCI Instruction

2 Move the cursor to the line

where an instruction is to be

In the job content display in teach mode, move the cursor to the line just above the place where an instruction is to be registered.

registered in the job content

0019

MOVJ

display.

Line just above the place where an instruction is to be registered

0020

0021

0022 0023 0024 0025 0026 0027

MOVL MOVL MOVJ DOUT MOVJ MOVL MOVL MOVL

VJ=50.00 V=138 V=138 VJ=100.00 OT#(1) ON VJ100.00 V=138 V=138 V=138

LOADJ

SAVEJ

LOADV

SAVEV

DELETEJ

DEVICE

MOTION

ARITH

SHIFT

OTHER

SAME

3 Press [INFORM LIST]. The instruction list dialog is displayed. The cursor moves to the

instruction list dialog while the cursor in the address area changed to an underline.

MOVJ MOVL MOVL MOVJ DOUT MOVJ MOVL MOVL MOVL

EDIT DISPLAY

TEST

VJ=50.00 V=138 V=138 VJ=100.00 OT#(1) ON VJ100.00 V=138 V=138 V=138

ShortCut

UTILITY

STEP NO. TOOL

015

IN/OUT

CONTROL

DEVICE

LOADJ

MOTION

SAVEJ

ARITH

LOADV

SHIFT

SAVEV

OTHER

DELETEJ

SAME

PRIOR

SWAIT

JOB

JOB CONTENT JOB NAME CONTROL GROUP

0019 0020 0021 0022 0023 0024 0025 0026 0027

LOADJ JOB:JOB JBI

Main Menu

4 Select an instruction to be reg-

istered.

The instruction where the cursor is positioned is displayed with the previously registered additional items in the input buffer line.

JOB CONTENT JOB NAME CONTROL GROUP

0019 0020 0021 0022 0023 0024 0025 0026 0027

MOVJ MOVL MOVL MOVJ DOUT MOVJ MOVL MOVL MOVL

LOADV B000

TEST

VJ=50.00 V=138 V=138 VJ=100.00 OT#(1) ON VJ100.00 V=138 V=138 V=138

STEP NO. TOOL

015

LOADJ

SAVEJ

LOADV

SAVEV

DELETEJ

SWAIT

IN/OUT

CONTROL

DEVICE

MOTION

ARITH

SHIFT

OTHER

SAME

PRIOR

3-5

Page 44

3.4 Registering DCI Instruction

Operation Explanation

5 Change the additional items

and variable data.

<To register items as displayed in the input buffer> Perform operation described in the step 6 below.

<To edit any additional items> With the cursor on the instruction to be registered, press [SELECT]. The cursor moves to the input buffer line.

LOADV B000

• Changing a numerical value data of additional items

Move the cursor to the additional item whose numerical value is to be changed. Pressing simultaneously [SHIFT] and the cursor key increments or decrements the value.

LOADV B000

To enter a value by pressing the number key, press [SELECT] to display the input line.

LOADV

Enter a value, then press [ENTER]. The value displayed in the input line is changed.

• Adding, changing, or deleting the additional items

To add, change or delete the additional items, select an instruction in

the input buffer line to display the detail edit display.

EDIT DISPLAY UTILITYJOB

DETAIL EDIT LOADV

VARIABLE NWAIT

To add an additional item, select “NOT USED” of an additional item selection status, then display the selection dialog to select an additional item to be added. To delete an additional item, move the cursor to an additional item to be deleted, then select “NOT USED” to delete.

LOADV B000

B000

UNUSED

ShortCutMain Menu

DETAIL EDIT

LOADV

VARIABLE NWAIT

3-6

B000

NWAIT

UNUSED

Page 45

3.5 Concurrent Tasks from Multiple Jobs

Operation Explanation

5 (cont’d) • Changing the data type

To change the data type of additional item, move the cursor to the of

the additional item and press [SELECT] to select a data type.

DISPLAY UTILITY

JOB

DETAIL EDIT LOADV

VARIABLE NWAIT

EDIT

B000 UNUSED

O R P

After having added, changed or deleted the addtional items, press [ENTER]. The detail edit display is ended and the job content display appears.

6 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

To register an instruction just before an END instruction, it is not necessary to press [INSERT].

JOB CONTENT JOB NAME CONTROL GROUP

0020 0021

0022

0023 0024 0025 0026 0027 0028

TEST

MOVL

V=138

MOVL

V=138

LOADV

I000

MOVJ

VJ=100.00

DOUT

OT#(1) ON

MOVJ

VJ100.00

MOVL

V=138

MOVL

V=138

MOVL

V=138

STEP NO. TOOL

015

IN/OUT

CONTROL

DEVICE

MOTION

ARITH

SHIFT

OTHER

SAME

PRIOR

3.5 Concurrent Tasks from Multiple Jobs

As an option, commands related to DCI function can be executed from more than one job simultaneously. The operations are explained below.

• The DCI related commands can be executed in any job regardless of distinction among the ordinary job, concurrent job (option), or job activated in series (option).

• Multiplexing of DCI transmission function is not supported. Therefore, it is impossible to manipulate files on two or more external memory units (such as personal computer) connected to the NX100.

• If two or more commands related to DCI function are issued concurrently, the execution starts after completion of processing of the currently executing command. Therefore, if a module issues a command request while another module is executing DCI function, the request has to wait until the ongoing processing completes.

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3.6 DCI Parallel Execution

By using the function described below, the DCI instruction can be executed in parallel with general instructions such as a move instruction and operating instruction. When this function is used, the robot can be moved or the calculation is executed during data transmission ; this function is effective for reduction of tact time, etc.

" Parallel Execution Using NWAIT

NOP

MOVJ VJ=50.00

LOADJ JOB:ABC JBI NWAIT

MOVJ VJ=50.00

SWAIT

CALL JOB:ABC

) ) )

END

$ % & ' (

In the above job, when the command $ is executed, loading of the host computer and the job are executed. Normally, when NWAIT is not specified, the commands of % and after are not executed until the job loading is completed. However, when NWAIT is specified, the commands % and & are executed sequentially during the job loading ; at execution of SWAIT command ', the execution of command ( is waited for the job “ABC” loading is completed. At the time of completion of job “ABC” loading, the command ( is executed to execute the job “ABC”. At this time, if SWAIT command is not specified before the command (, the command ( is executed during the loading of job “ABC”, and an alarm occurs. Therefore, be sure to verify that loading is completed before executing a job to be loaded, by using SWAIT command. To load/save variables, be sure to input a SWAIT command before using variables to be loaded/saved as shown below.

(Correct) (Wrong)

NOP

) ) )

LOADV B000 NWAIT

) ) )

SWAIT SET B001 B000

NOP

) ) )

LOADV B000 NWAIT

) ) )

SET B001 B000

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Page 47

3.7 Transmission Procedure

" Parallel Execution Using PSTART (Optional)

By using an independent control command (optional), DCI commands can be executed in parallel with general commands. For example, to execute the job “R1” for robot 1 is to be executed in parallel with the job “S1” for station 1 during job loading, the following procedure is taken :

Job “R1” : Job for robot 1 Job “S1” : Job for station 1

[JOB:R1]

NOP

MOVJ VJ=50.00

PSTART JOB:S1 SUB1

LOAD JOB:ABC

PWAIT

CALL JOB:ABC

END

When PSTART command $ is executed, the job “S1” starts execution in parallel with the job “R1”. The job “ABC” is loaded by the command % during execution of the job “S1” ; when loading is completed, the NX100 waits for the job “S1” to be completed by the command &. When the execution of job “S1” is completed, the job “ABC” is executed by the command '.

$ % & '

[JOB:S1]

NOP

MOVJ VJ=50.00

END

3.7 Transmission Procedure

3.7.1 Job Transmission

" Saving Procedure

The transmission from the NX100 to a host computer proceeds as follows.

NX100 → Host computer

1. The ENQ code is sent out to establish a data link.

2. After the data link is established, data are sent out to the host computer.

3. After the transmission completes, the NX100 waits for a response from the host com-

puter to verify the completion of transmission. Therefore, the host computer should return a response.

4. The transmission is terminated upon receipt of the response from the host computer.

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3.7 Transmission Procedure

The data type is distinguished by the header number and the subcode number. Refer to the header number list.

ENQ

ACK0

SOH 02, 001 STX File name

ETB BCC

ACK1

STX

STX ETX BCCData

NX100

EOT

ACK0

ACK1

File name : CR (File name does not include extension.)

ETB BCCData

SOH 90, 000 STX Data ETX BCC

*2 ACK0 or ACK1 *3 Normal completion : 0000CR (ASCII code)

Abnormal completion : Integer except 0000 CR (ASCII code)

ACK0

ACK

Host computer

ENQ

EOT

" Loading Procedure

The transmission from a host computer to the NX100 proceeds as follows.

Host computer → NX100

1. The ENQ code is sent out to establish a data link.

2. After the data link is established, a request to send is sent out to the host computer.

3. When the request to send is accepted, the NX100 enters receiving status, waiting for the ENQ code from the host computer. Therefore, the host computer should send data after the data link is established.

4. The transmission is terminated at completion of data reception from the host computer.

A request to send consists of a header number and a subcode number. Refer to the header number list.

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3.7 Transmission Procedure

At transmission, memory capacity is checked and if received data cannot be stored, an alarm occurs. If the transmission itself is normal, reception is continued and an alarm is displayed after the transmission is terminated. If an error occurs during reception, the job data will not be stored.

ENQ

ACK0

STX

ETX BCC

ACK1

ENQ

Host computer

ETB BCCData

SOH 02, 051 STX File name

EOT

ACK0

SOH 02, 001 STX File name ETB BCC

NX100

ACK1

STX ETX BCCData

ACK

File name : CR (File name does not include extension.)

*2 ACK0 or ACK1

EOT

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3.7 Transmission Procedure

3.7.2 Variable Transmission

The variable transmission is performed in the same way as for the data as shown below.

" Saving Procedure

ENQ

ACK0

SOH 03,001 STX

EOT

Data

ETX BCC

ACK1

NX100

ACK0

ACK1

" Loading Procedure

ENQ

SOH 03,051 STX

EOT

NX100

ACK0

SOH 90,000 STX Data

ETX BCC

SOH 03,001 STX

Data

ENQ

Host computer

ETX BCC

EOT

ACK0

ACK1

ENQ

Host computer

ETX BCC

ACK1

For headers, refer to the header number list.

EOT

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3.7 Transmission Procedure

Byte type global variable : +++ (0 to 255)

Integer type global variable : ± +++ (-32768 to +32767)

Double precision type global variable :

Real number type global variable :

Position type (robot axis) global variable :

Position type (base axis) global variable :

± ++++++++++ (-2147483648 to 2137383647)

7 significant digits (-1.70141E+38 to +1.70141E+38)

Pulse type or XYZ type depending on the internal setting status

Pulse type S, L, U, R, B, T (Unit : pulse) (-999999999 to 999999999) XYZ type X, Y, Z, TX, TY, TZ, TYPE

d0 = 0 : Flip d0 = 1 : No flip d2 = 0 : Up d2 = 1 : Back

Unit : degree (°), significant 2 decimal points

-9999.99 to 9999.99

Unit : mm, significant 3 decimal points

-999999.999 to 999999.999

Pulse type or XYZ type depending on the internal setting status

Pulse type 1, 2, 3 (Unit : pulse) (-999999999 to 999999999)

Position type (station axis) global variable :

0000 or error code

The response is as follows when an error occurs in response.

SOH 90,000 STX DATA CR ETX BCC

If a stop operation (hold and emergency stop) is done during data transmission (while jobs or variables are loaded or saved), the robot stops but the data transmission continues. In this case, the start lamp goes OFF. The restart will not be accepted until completion of the data transmission.

XYZ type X, Y, Z (Unit : mm, significant 3 decimal points) (-999999.999 to 999999.999)

Pulse type 1, 2, 3, 4, 5, 6 (Unit : pulse) (-999999999 to 999999999)

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Page 52

3.8 Axis Data Transmission Format

The NX100 data transmission function has the following restrictions on transmission of the NX100 internal data.

The robot axes are fixed to a 6-axis set. A base axis and a station axis are recognized as an external axis. Up to three base axes are available. With station axis data added after base axis data, up to six axes can be handled. For example, SAVEV BP005 is read as SAVEV BP005 + EX005. If the system lacks one of the variables, only the existing one is used. If the system has both variables but not registered, an error occurs.

The definition of the robot, base, and station axes is used as it is, free of the predetermined axis data R1, B1, and S1.

<Example> Transmission data of SAVEV in different system configurations are shown below.

• In a system having two base axes (X and Z) and no station axis

If BP005 is pulse type and 1st axis is 100 and 2nd axis is 200, then SAVEV BP005 → 03, 007 100, 200, 0, 0, 0, 0 If BP005 is XYZ type and X-axis is 123.456 and Z-axis is 234.567, then SAVEV BP005 → 03, 008 123.456, 234.567, 0,0, 0, 0

• In a system having no base axis and three station axes

If EX005 is pulse type and 1st axis is 500, 2nd axis is 600, and 3rd axis is 700 SAVES EX005 → 03, 007 500, 600, 700, 0, 0, 0

• In a system having two base axes (X and Z) and three station axes

If BP005 is pulse type, 1st axis is 100 and 2nd axis is 200, and EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is 700, then SAVEV BP005 → 03, 007 100, 200, 500, 600, 700, 0 (Same as for SAVEV EX005) If BP005 is XYZ type, X axis is 123.456, and Z axis is 234.567, and EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is 700, then SAVEV BP005 → 03, 008 123.456, 234.567, 500, 600, 700, 0 (same as for SAVEV EX005)

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3.9 Alarm Codes

Code Message Data

3.9 Alarm Codes

4104

4105

4106

Data Contents

001

002

003

004

012

Insufficient memory capacity

Job editing prohibited

Attempted to load or delete a job being executed.

No specified job

Position data destroyed

WRONG EXECUTION OF LOAD INST

WRONG EXECUTION OF SAVE INST

WRONG EXECUTION OF DELETE INST

Refer to the table below.

013

017

019

020

023

024

090

104

111

112

113

117

118

Position variable not registered

Instruction destroyed

Invalid character in job name

Invalid character in label

Invalid character in this system

Syntax error

Control command sending/receiving error (Ethernet)

Error response from host computer

Syntax error

Error in position data

No NOP or END instruction

Format error

Invalid number of data

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3.9 Alarm Codes

Data Contents

120

122

125

126

127

128

211

212

213

214

221

222

223

Data range exceeded

Destroyed file exists

No serial port setting

This serial port already used.

This protocol already used.

File accessing in other function

System block error (Receiving EOT while waiting ACK)

System block error (Receiving EOT at starting receiving)

System block error (Receiving EOT before receiving the last block)

System block error (Receiving codes other than EOT before receiving the last block)

Sending error (Retry for NAK exceeded)

Sending error (Timeup for timer A retry)

Sending error (ACK0/ACK1 order error after retry)

231

232

233

234

235

236

237

240

241

242

243

Receiving error (Timeup for timer A while waiting ACK after ENQ, timeup for timer A while waiting ENQ response)

Receiving error (Timeup for timer B while receiving a text)

Receiving error (Heading length is shorter than 6 characters)

Receiving error (Heading length is longer than 6 characters)

Receiving error (Header number error)

Receiving error (Text length exceeds 256 bytes)

Receiving error (Receiving other than ENQ while waiting ENQ, receiving other than control code while waiting control code, receiving other than STX, SOH, ENQ, EOT while waiting text)

Software error

Hardware error (Overrun)

Hardware error (Parity error)

Hardware error (Framing error)

244

245

Hardware error (Sending timeup (timer A))

Hardware error (Sending timeup (timer B))

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Page 55

4.1 Outline

4 Stand-alone Function

4.1 Outline

In stand-alone mode, the file data transmission function is available. By the operations on the NX100 programming pendant, file data can be sent from the NX100 to a host computer such as personal computer to be saved, and from a host computer to the NX100 memory to be loaded.

Load : Transmits file data from a host computer to the NX100.

Save : Transmits file data from the NX100 to a host computer.

Verify : Verifies data between the NX100 and the host computer and informs if some parts are

not matched.

NX100

Operation

The following data can be transmitted between the NX100 and a host computer. System information can be saved but not loaded.

• Job data

• Condition data/General data

• System information

Host computer

(personal computer, etc.)

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Page 56

4.2 Operation Flow

Transmission of file data is performed in the following manner.

{EXT MEM}

Sub menu

{LOAD} {SAVE} {VERIFY} {DEVICE}

Select a data group

Select a data

Press "EXECUTE"

End

Select a

device

4-2

Page 57

4.3 Operation

4.3.1 Selecting External Memory Unit

Operation Explanation

1 Select {FD/PC CARD} under

the main menu.

2 Select {DEVICE}. The device selection display is shown.

4.3 Operation

EDIT

DATA

FLOPPY DISK/CompactFlash

DEVICE

DISPLAY

CompactFlash

ShortCutMain Menu

3 Select “DEVICE”. The selection dialog is shown.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

DEVICE

FC1 FC2

CompactFlash

UTILITY

4 Select the device to be

changed.

ShortCutMain Menu

The device is changed.

EDIT

FLOPPY DISK/CompactFlash

DEVICE

Main Menu

ShortCut

4-3

DISPLAY

UTILITYDATA

Page 58

4.3 Operation

4.3.2 Save

The operation to transmit data from the NX100 to the external memory unit is explained in the following.

" Saving Job

Operation Explanation

1 Select {FD/PC CARD} under

the main menu.

2 Select {SAVE}. The external memory menu display is shown.

EDIT DISPLAY UTILITYD ATA

FLOPPY DISK/CompactFlash

SAVE

JOB

FILE/GENERAL DATA SYSTEM INFORMATION

Main Menu

ShortCut

3 Select “JOB”. The external memory job list display is shown.

DISPLAY

EDIT

FLOPPY DISK/CompactFlash

PC (SAVE) SINGLE NO. 7

TEST001

TEST002

TEST004

TEST005

TEST007

TEST003 TEST006

UTILITYDATA

PAGE

ShortCutMain Menu

4 Select the job to be saved. The select job is marked with “,“.

DISPLAY

EDIT

FLOPPY DISK/CompactFlash

PC (SAVE) SINGLE NO. 7

TEST001

TEST002

TEST004

TEST005

TEST007

TEST003 TEST006

UTILITYDATA

4-4

PAGE

ShortCutMain Menu

Page 59

4.3 Operation

Operation Explanation

5 Press [ENTER]. The confirmation dialog is shown.

DISPLAY

EDIT

FLOPPY DISK/CompactFlash

PC (SAVE) SINGLE NO. 7

TEST001

TEST002

TEST004

TEST005

TEST007

UTILITYDATA

TEST003 TEST006

Save?

YES NO

PAGE

ShortCutMain Menu

6 Select “YES”. The job starts to be saved, and the transmission display is shown.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (SAVE)

TRANSMITTED FILE

TEST0001

STOP

Main Menu

ShortCut

To interrupt the saving, press [SELECT]. When the saving is completed or interrupted, the job content display appears.

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4.3 Operation

" Saving File

Operation Explanation

1 Select {FD/PC CARD} under

the main menu.

2 Select {SAVE}. The external memory menu display is shown.

DISPLAY

EDIT

FLOPPY DISK/CompactFlash

PC (SAVE)

JOB

FILE/GENERAL DATA

SYSTEM INFORMATION

UTILITYD ATA

ShortCutMain Menu

3 Select the file group to be

saved.

The file selection display is shown.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (SAVE)

TOOL DATA

WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND. DATA POWER SOURCE USER DEF DAT SHOCK DETECTION LEVEL

ShortCutMain Menu

4 Select the file to be saved. The select file is marked with “,“.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (SAVE)

TOOL DATA

WEAVING DATA USER COORDINATE DATA VARIBLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND. DATA POWER SOURCE USER DEF DAT SHOCK DETECTION LEVLE

TOOL

WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKVL

TOOL

WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKVL

.CND

.CND .CND .DAT .CND .CND .DAT .DAT .DAT .CND

.CND

.CND .CND .DAT .CND .CND .DAT .DAT .DAT .CND

4-6

ShortCutMain Menu

Page 61

4.3 Operation

Operation Explanation

5 Press [ENTER]. The confirmation dialog is shown.

DISPLAY

EDIT

FLOPPY DISK/CompactFlash

PC (SAVE)

TOOL DATA

WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND. DATA POWER SOURCE USER DEF DAT SHOCK DETECTION LEVEL

YES

UTILITYDATA

TOOL

WEAV UFRAME VAR

Save?

ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKVL

.CND

.CND .CND .DAT .CND .CND .DAT .DAT .DAT

.CND

PAGE

Main Menu

ShortCut

6 Select “YES”. The file starts to be saved, and the transmission display is shown.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (SAVE)

TRANSMITTED FILE

TOOL.CND

STOP

ShortCutMain Menu

To interrupt the saving, press [SELECT]. When the saving is completed or interrupted, the file selection display reappears.

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4.3 Operation

4.3.3 Load

The operation to transmit data from the external memory unit to the NX100 is explained in the following.

" Loading Job

Operation Explanation

1 Select {FD/PC CARD} under

the main menu.

2 Select {LOAD}. The external memory menu display is shown.

EDIT DISPLAY UTILITYD ATA

FLOPPY DISK/CompactFlash

PC (LOAD)

JOB

FILE/GENERAL DATA SYSTEM INFORMATION

ShortCutMain Menu

3 Select “JOB”. The display to input the job name to be loaded is shown.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (LOAD)

JOB MODE JOB NAME

SING

EXEC

ShortCutMain Menu

4 Enter the job to be loaded.

5 Select “EXEC”.

4-8

Page 63

" Loading File

Operation Explanation

1 Select {FD/PC CARD} under

the main menu.

2 Select {LOAD}. The external memory menu display is shown.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (LOAD)

JOB

FILE/GENERAL DATA

SYSTEM INFORMATION

4.3 Operation

3 Select the file group to be

Main Menu

The file selection display is shown.

ShortCut

loaded.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (LOAD)

TOOL DATA

WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND. DATA POWER SOURCE USER DEF DAT SHOCK DETECTION LEVEL

Main Menu

ShortCut

TOOL

WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKVL

4 Select the file to be loaded. The selected file is marked with “,“.

DISPLAY

EDIT

FLOPPY DISK/CompactFlash

PC (LOAD)

TOOL DATA

WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND. DATA POWER SOURCE USER DEF DAT SHOCK DETECTION LEVEL

UTILITYDATA

TOOL

WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKVL

.CND

.CND .CND .DAT .CND .CND .DAT .DAT .DAT .CND

.CND

.CND .CND .DAT .CND .CND .DAT .DAT .DAT .CND

Main Menu

4-9

ShortCut

Page 64

4.3 Operation

Operation Explanation

5 Press [ENTER]. The confirmation dialog is shown.

DISPLAY

EDIT

FLOPPY DISK/CompactFlash

PC (LOAD)

TOOL DATA

WEAVING DATA USER COORDINATE DATA VARIABLE DATA ARC START COND DATA ARC END COND DATA ARC AUXILIARY COND DATA POWER SOURCE COND. DATA POWER SOURCE USER DEF DAT SHOCK DETECTION LEVEL

Save?

YES

UTILITYDATA

TOOL

WEAV UFRAME VAR ARCSRT ARCEND ARCSUP WELDER WELDUDEF SHOCKVL

.CND

.CND .CND .DAT .CND .CND .DAT .DAT .DAT .CND

Main Menu

ShortCut

6 Select “YES”. The file is starts to be loaded, and the transmission display is

shown.

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (LOAD)

TRANSMITTED FILE REST

Main Menu

TOOL.CND

ShortCut

1523

STOP

BYTE

4.3.4 Job Selection Mode

To select a job to save, load, or verify, the following selection modes are available.

" Single Selection Mode

Only the selected job is loaded, saved, or verified.

" Related Selection Mode

The selected job and the related jobs and data files are loaded, saved, or verified.

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4.3 Operation

For single selection mode

JOB

EDIT DISPLAY UTILITY

JOB CONTENT JOB NAME CONTROL GROUP

Main Menu

0000

NOP

0001

MOVJ

0002

MOVL

0003

WVON

0004

ARCON

0005

MOVL

0006

MOVL

MOVJ VJ=100.00

TEST

VJ=50.00 V=276 WEV#(1) ASF#(1) V=138 V=138

STEP NO. TOOL

ShortCut

Only the selected jobe is loaded, saved, and collated.

For related selection mode

JOB

EDIT DISPLAY UTILITY

JOB CONTENT JOB NAME

000

JOB-1

CONTROL GROUP

CALL JOB:JOB-11

0006

MOVJ

VJ=50.00

0007

MOVJ

VJ=50.00

0008

MOVJ

VJ=50.00

0009

MOVL

V=276

0010

MOVL

V=276

0011

WVON

WEV#(1)

0012

TIMER

T=0.5

0013

ShortCutMain Menu

JOB

EDIT DISPLAY

JOB CONTENT JOB NAME

JOB-11

JOB

EDIT

WEAVING CONDITION WEAVING COND. NO.

MODE

SPEED TYPE FREQUENCY <PATTERN> VERTICAL HORIZONTAL ANGLE TRAVEL ANGLE <TIMER MODE> POINT

ShortCutMain Menu

CONTROL GROUP

0000

0001 0002 0003 0004 0005 0006

DISPLAY

: SINGLE : SMOOTH : FREQ : 3.5 Hz

Main Menu

: 1234.567 mm : 1234.567 mm : 123.40 deg : 0.00 deg

1: WEAV STOP 2: WEAV STOP 3: WEAV STOP 3: WEAV STOP 1: 0.1 sec 2: 0.1 sec 3: 0.1 sec 3: 0.1 sec

NOP 'CHILD JOB MOVJ MOVJ MOVL TIMER DOUT

MOVJ VJ=100.00

VJ=50.00 VJ=12.50 V=276 T=1.00 OT#(1) ON

ShortCut

The selected job and the data file and related job are loaded, saved and collated.

STEP NO. TOOL

UTILITY

STEP NO. TOOL

JOB

TOOL

TOOL NO.

NAME dhhh

-12345.678

50.000

9999.000

0.000

0.000

0.000

000

EDIT



ShortCutMain Menu

UTILITY

DISPLAY

deg.

-123.45

deg.

0.000

deg.

0.000



kg.m2

0.000

kg.m2

0.000

kg.m2

0.000

" Switching Selection Mode

Operation Explanation

1 Press the page key in the

external memory job list display.

Each time the page key is pressed, the displays in “single selection mode” and in “related selection mode” appears alternately.

GO BACK

PAGE

EDIT DISPLAY UTILITYDATA

FLOPPY DISK/CompactFlash

PC (SAVE) SINGLE NO. 7

TEST001

TEST002 TEST005

TEST003 TEST006

TEST004 TEST007

ShortCutMain Menu

PAGE

4-11

Page 66

4.4 Transmission Procedure

4.3.5 Selecting Job and Data File

There are two ways to select a job and various data files to be loaded, saved, verified, or deleted.

" EACH Selection

Selects job and data file one by one.

" BATCH Selection

Selects all the jobs and data files at once.

For BATCH selection, proceeds the following operation.

Operation Explanation

1 Select {EDIT} of the menu in

The pull down menu is displayed. the external memory job list display or the file selection display.

FLOPPY DISK/CompactFlash

PC (SAVE)

2 Select {SELECT ALL}.

4.4 Transmission Procedure

DISPLAY

EDIT

SELECT ALL

SLECT MARKER (*)

TEST002 TEST005

CANCEL SELECT

ShortCutMain Menu

UTILITYDATA

NO. 7

PAGE

The transmission procedure is the same as for DCI function. Refer to Section 3.7 “Transmission Procedure”.

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5.1 File Data Transmission Function

5 Host Control Function

The NX100 supports the host control function which carries out the following file data transfer or robot control according to the commands given by the host computer.

• File data transfer function

• Robot control function

To use the host control function, the following settings should be made.

• The “COMMAND REMOTE” described in Chapter 8 “Remote Function Setting”, should be set valid (marked with “-”).

• The parameter RS000 should be set to “2”.

• The host control function should be validated. Whether the host control function is validated, can be verified in the “remote display” described in Section 2.1.3 “Display in Command Remote Mode”.

5.1 File Data Transmission Function

According to commands from a host computer, the host control function sends the stored data of user memory of the NX100 to the host computer or receives data from the host computer. The following data can be transmitted between the NX100 and a host computer. The system information can be sent only to a host computer.

• Job data

• Condition file/General data

• System information

5.1.1 Transmission Procedure

" Load

The transmission from a host computer to the NX100 proceeds as follows.

Host computer → NX100

1. The ENQ code is sent from the host computer to establish a data link.

2. After the data link is established, the data is sent from the host computer.

3. After the transmission is completed, the host computer should get ready to receive.

4. After the data link is established, a response to the data sent from the host computer is

returned from the NX100 to terminate the transmission.

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5.1 File Data Transmission Function

The data type is distinguished by the header number and the subcode number. Refer to the header number list.

ENQ

ACK0

SOH 02, 001 STX File name

ETB BCC

ACK1

STX

STX ETX BCCData

Host computer

EOT

ACK0

ACK1

Loading File Data (Host Control Function)

ETB BCCData

SOH 90, 000 STX Data ETX BCC

*1 ACK0 or ACK1 *2 Normal completion : 0000CR (ASCII code)

Abnormal completion : “Integer except 0000”CR (ASCII code)

*3 File name : CR (File name does not include extension)

ACK0

ACK

ENQ

EOT

NX100

" Save

The transmission from the NX100 to a host computer proceeds as follows.

NX100 → Host computer

1. The ENQ is sent from the host computer to establish a data link.

2. After the data link is established, a request to send is sent from the host computer.

3. The request to send consists of a header number and a subcode number. Refer to the header number list.

4. After the request to send is accepted, the host computer should get ready to receive data. The NX100 sends the ENQ code to establish a data link

5. After the data link is established, receive the data sent from the NX100. The transmission terminates at completion of reception. If the data requested to send are not found, or the header of the request to send has an error, the NX100 sends the following response message instead of data. Check the header and take an appropriate action.

SOH 90,000 STX DATA CR ETX BCC

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5.1 File Data Transmission Function

ENQ

ACK0

STX

ETX BCC

ETB BCCData

ACK1

ENQ

NX100

Host computer

SOH 02, 051 STX File name

EOT

ACK0

SOH 02, 001 STX File name ETB BCC

ACK1

STX ETX BCCData

ACK

EOT

Saving File Data (Host Control Function)

*1 ACK0 or ACK1 *2 File name : CR (File name does not include extension)

5.1.2 Data Management

The jobs for the NX100 may refer to another job or condition data according to instructions. When saving a single job or condition data to the host computer, the correspondence between job and files should be controlled. To reduce this labor, the related jobs and condition data can be transmitted in a batch as the related job data. When specification of “related job data” is made, the master job, the related job, and the related condition data are transmitted sequentially. The header number and the subcode number indicate that the related job data are added. Refer to the header number list.

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5.2 Robot Control Function

To control manipulators by a host computer, the host control function can executes the commands listed in the outline.

5.2.1 Command Transmission

The command transmission proceeds as follows.

1. The ENQ code is sent from the host computer to establish a data link.

2. After the data link is established, commands are sent. Commands and file data are distinguished by the header number. Refer to the header number list. The transmission of a command should be completed in a single block. The NX100 cannot receive divided single command, nor receive to execute more than one command in a single block.

3. After the sending is completed, the host computer should get ready to receive. The NX100 sends the ENQ code to establish a data link.

4. After the data link is established, the NX100 sends the response for the command and terminates the transmission. The command format and the response format are explained in the following.

For the command that requires returning data as a response, the response format at normal completion of transmission is as shown in (2).

Command Format

SOH 01,000 STX COMMAND Data1, Data2, Data3 CR ETX BCC

Response Format

(1)

SOH 90,000 STX {0000 or Error code} CR ETX BCC

0000 : Normal completion Error code : Number with 4 digits other than 0000. In case of smaller than 1000, 0

is added before the number.

(2)

SOH 90,001 STX Data1, Data2, DataN CR ETX BCC

If the NX100 cannot execute the sent command, the NX100 returns an interpreter message. An example of DELETE command (delete a job) is shown.

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ACK0

5.2 Robot Control Function

ENQ

DELETE WORK-A

ETX BCC

EOT

ACK0

ACK1

Host computer

5.2.2

SOH 01,000 STX

ACK1

NX100

ENQ

SOH 90,000 STX 000

EOT

Sending Command from Host Computer

List of Interlock for Commands of Host Control Function

The executability of each command differs depending on the status of the NX100 as shown in the following table.

Command Name

Read or

Monitor

Read or

Data

Access

RALARM

RPOSC

RPOSJ

RSTATS

RJSEQ

JWAIT

RGROUP

RJDIR

RUFRAME

UPLOAD

SAVEV

Read/Write Enabled

Non-alarm/Non-error

Teach Mode Play Mode

Stop

. . . . . . .

. . . .

Operat-

ing

. . . . . . .

. . . .

Stop

. . . . . . .

. . . .

Operat-

ing

. . . . . . .

. . . .

Alarm/

Error

. . . . .

. . . .

Only Read

Enabled

Non-

alarm/

Nonerror

. . . . . . .

C C C C

Alarm/

Error

. . . . .

C C C C

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5.2 Robot Control Function

Command Name

Operation

Activation

HOLD

RESET

CANCE

MODE

CYCLE

SVON 0 (OFF)

SVON 1 (ON)

HLOCK

MDSP

CGROUP

CTASK

START

MOVJ

MOVL

IMOV

PMOVJ

PMOVL

Read/Write Enabled

Non-alarm/Non-error

Teach Mode Play Mode

Stop

. . . . . . . . . . .

M M

Operat-

ing

. . . . . . . . . . .

M M

Stop

. . . . . . . . . . .

./H*

Operat-

ing

. . . . . . . . . . .

MOVE/.

Only Read

Enabled

Non-

Alarm/

Error

alarm/

Non-

Alarm/

Error

error

. . .

./A*

. . . .

A A

C C C C C C C C C C C

C C

C C C C C C C C C C C

C C

Editing

Job

selection

DELETE

CVTRJ

CVTSJ

WUFRAME

DOWNLOAD

LOADV

SETMJ

JSEQ

. . . . . .

. .

MOVE MOVE MOVE MOVE

/MOVE*

MOVE MOVE

M M M M

. .

M M M M

/MOVE*

MOVE MOVE

A A A A

A A

C C C C C C

C C

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. : Possible to execute

5.2 Robot Control Function

A : Alarm/error occurring

M : Incorrect mode

H : Hold

MOVE : Manipulator moving

C : No command remote setting

2060

2080

2020 to 2050

2010

2100

*1 “.” if not being held ; “H” if being held *2 “MOVE” if the manipulator is moving by operation other than command ; “.” if the

manipulator is moving by command since a single command can be accepted.

*3 “.” during an alarm ; “A” during error

5.2.3 Command that Handle Axis Data

The data transmission function of the NX100 has restrictions on handling control axis data. Since the manipulator axes are fixed to a six-axis set, any manipulator having more than seven axes cannot use the following commands. A base axis and a station axis are recognized as an external axis. Up to three base axes can be used. With station axis data added to the base axis data, up to six axes can be handled.

This applies to the following commands. RPOSJ, RPOSC, RUFRAME MOVJ, MOVL, IMOV, PMOVJ, PMOVL, WUFRAME

5.2.4 Response to MOV-type Command

The responses to MOV-type command are as follows.

• If the manipulator is moving by operations other than commands, the interpreter message 2010 (manipulator moving) is returned and the manipulator does not move.

• If the

• If the manipulator is moving according to the previous commands, only a single command

This applied to the following commands. MOVJ, MOVL, IMOV, PMOVJ, PMOVL

manipulator is in stop status, it turns ON the start lamp and moves according to the

command, and returns a response immediately.

is accepted and the response is held up. After completing execution of the preceding commands, when starting execution of the suspended command, the manipulator returns a response.

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5.2 Robot Control Function

5.2.5 Status Read Function

The details of each command are described.

" Read/Monitor Command

RALARM

Reads the error alarm code. Although the NX100 has the subcode to error code, it cannot read by RALARM because the command has no argument of the subcode.

Command format : RALARM Response format : Data-1, Data-2, )))), Data-10 or Error code

Data-1 = Error code (0 to 9999) Data-2 = Error data (0 to 256) Data-3 = Alarm code (0 to 9999) Data-4 = Alarm data (0 to 256) Data-5 = Alarm code (0 to 9999) Data-6 = Alarm data (0 to 256) Data-7 = Alarm code (0 to 9999) Data-8 = Alarm data (0 to 256) Data-9 = Alarm code (0 to 9999) Data-10 = Alarm data (0 to 256)

<Example> Command RALARM Response 0, 1234, 12, 0, 0, 0, 0, 0, 0

RPOSJ

Reads the current position in joint coordinate system.

Command format : RPOSJ Response format : Data-1, Data-2, )))), Data-12 or Error code

Data-1 = Number of S-axis pulses Data-2 = Number of L-axis pulses Data-3 = Number of U-axis pulses Data-4 = Number of R-axis pulses Data-5 = Number of B-axis pulses Data-6 = Number of T-axis pulses Data-7 = Number of 7th axis pulses Data-8 = Number of 8th axis pulses Data-9 = Number of 9th axis pulses Data-10 = Number of 10th axis pulses Data-11 = Number of 11th axis pulses Data-12 = Number of 12th axis pulses

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5.2 Robot Control Function

<Example> Command RPOSJ Response 500, 2600, 1250, 10789, 624, 36, 0, 0, 0, 0, 0, 0

RPOSC

Reads the current position in a specified coordinate system. Whether there is an external axis or not can be specified.

Command format : RPOSC Data-1, Data-2

Data-1 = Specification of coordinate system 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1

25 : User coordinate 24

Data-2 = With or Without external axis 0 : Without external axis 1 : With external axis

Response format : Data-1, Data-2, )))), Data-14

Data-1 = X coordinate value (unit : mm, significant 3 decimal points) Data-2 = Y coordinate value (unit : mm, significant 3 decimal points) Data-3 = Z coordinate value (unit : mm, significant 3 decimal points) Data-4 = Wrist angle TX (unit : degree (°), significant 2 decimal points) Data-5 = Wrist angle TY (unit : degree (°), significant 2 decimal points) Data-6 = Wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-7 = Type Data-8 = Tool number (0 to 23) Data-9 = Number of 7th axis pulses (for travel axis, mm) Data-10 = Number of 8th axis pulses (for travel axis, mm) Data-11 = Number of 9th axis pulses (for travel axis, mm Data-12 = Number of 10th axis pulses Data-13 = Number of 11th axis pulses Data-14 = Number of 12th axis pulses

• Data-9 to Data-14 are added only when “With external axis” is specified.

• If the specified user coordinate system is undefined, an error occurs.

• The data of type is represented by the following bit data coded into a decimal number.

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5.2 Robot Control Function

D4 D3 D2 D1 D0

0 : Flip 1 : No flip

0 : Upper arm 1 : Lower arm

0 : Front 1 : Back

0 : R<180 1 : R>=180

0 : T<180 1 : T>=180

0 : S<180 1 : S>=180

<Example> Command RPOSC 2, 0 Response 100.0, 50, 34, 12.34, 180.0, 0, 0, 0, 0, 0, 0

RSTATS

Reads the status of mode, cycle, operation, alarm error, and servo.

Command format : RSTATS

Response format : Data-1, Data-2 or Error code

Data-1

MSB

Data-2

MSB

LSB

Step

1 cycle

Auto

Running

Safety speed operation

Teach

Play

Command remote

<Example> Command RSTATS Response 1, 0

Hold (parogramming pendant)

Hold (external)

Hold (command)

Alarm occuring

Error occuring

Servo ON

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5.2 Robot Control Function

RJSEQ

Reads the current job name, line No. and step No.

Command format : RJSEQ

Response format : Data-1, Data-2, Data-3 or Error code

Data-1 = Read job name (8 characters which can be processed in MS-DOS) Data-2 = Read line No. (0 to 9999) Data-3 = Read step No. (0 to 999)

<Example> Command RJSEQ Response WORK-A, 10, 5

JWAIT

JWAIT is for checking operations (job) of the manipulator. If a response is returned immediately after the job is started, in such a case with START command, completion of the job cannot be known. Specify a waiting time as an operand for JWAIT command. No response is sent out until the operation of manipulator is completed or the specified waiting time has elapsed. JWAIT returns as a response, the information whether the operation has completed or not.

Command format : JWAIT Time

Time = Waiting time (-1.0 to 32767 sec.)

-1.0 indicates infinite time.

Response format : Data or Error code

Data = Operation status (0 : completed, -1 : not completed)

Waits for stop of job execution. The response varies depending on the following status.

END or PAUSE execution during waiting time Completed

Step execution during waiting time Completed

Stopped by hold, alarm, emergency stop, servo OFF during waiting time

Stopped by changing mode during waiting time Not completed

Test run is interrupted during waiting time Not completed

Not completed

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5.2 Robot Control Function

Waiting timeup Not completed

Stopped (including when the control power ON) Completed

Stopped (hold) Interpreter message 2020 to 2050

Stopped (Elmer/error occurring) Interpreter message 2060

Stopped (servo OFF) Interpreter message 2070

<Example> Command JWAIT 10 Response 0000

RGROUP

Reads the current control group set by CGROUP command or CTASK command, and the task selection status.

Command format : RGOUP

Response format : Data-1, Data-2, Data-3 or Error code

Data-1 = Robot control group information. The control group information differs depending

on the number of manipulators in the system.

D00

D01D02D03D04D05D06D15 d07D08D09D10D11D12D13D14 D06

R1: Robot 1

R2: Robot 2

R3: Robot 3

R4: Robot 4

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5.2 Robot Control Function

Data-2 = Station control group information. The control group information differs depending on the number of manipulators in the system.

D00

D01D02D03D04D05D06D15 d07D08D09D10D11D12D13D14 D06

S1: Station 1

S2: Station 2

S3: Station 3

S4: Station 4

S5: Station 5

S6: Station 6

S7: Station 7

S8: Station 8

S9: Station 9

S10: Station 10

S11: Station 11

S12: Station 12

Data-3 = Task information 0 : Master task 1 : Sub 1 task 2 : Sub 2 task 3 : Sub 3 task 4 : Sub 4 task 5 : Sub 5 task In a system where independent control is not allowed, “0” is returned.

<Example> Command RGROUP Response 2, 1, 0

The above example shows that the current control group is robot1, robot 2 and station 1, and the task selection status is master task.

" Read/Data Access System Commands

RJDIR

Reads all job names, or the names of jobs related to the parent job.

Command format : RJDIR Job-Name

Job-Name = All the job names currently registered = Parent job name (8 characters which can be processed in MS-DOS)

If a parent job name is specified, RJDIR reads the name of related jobs excluding the parent job. If there is no related child job, the command returns the null list. If the parent job has related child jobs but they are not registered in the system, an error occurs.

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5.2 Robot Control Function

Response format : Name-1, Name-2, )))), Name-N or Error code

Name-1 = Job name-1 (8 characters) Name-2 = Job name-2 (8 characters)

Name-N = Job name-N (8 characters)

<Example> Command RJDIR MASTER-1 Response WORK-A, WORK-B, SAMPLE-1

RUFRAME

Reads a specified user coordinate data.

Command format : RUFRAME Data-1

Data-1 = User coordinate No. 0 : Reserved 1 : Reserved 2 : User coordinate 1

25 : User coordinate 24

Response format : Data-1, Data-2, )))) Data-28

Data-1 = ORG X coordinate value (unit : mm, significant 3 decimal points) Data-2 = ORG Y coordinate value (unit : mm, significant 3 decimal points) Data-3 = ORG Z coordinate value (unit : mm, significant 3 decimal points) Data-4 = ORG wrist angle TX (unit : degree (°), significant 2 decimal points) Data-5 = ORG wrist angle TY (unit : degree (°), significant 2 decimal points) Data-6 = ORG wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-7 = ORG type Data-8 = XX X coordinate value (unit : mm, significant 3 decimal points) Data-9 = XX Y coordinate value (unit : mm, significant 3 decimal points) Data-10 = XX Z coordinate value (unit : mm, significant 3 decimal points) Data-11 = XX wrist angle TX (unit : degree (°), significant 2 decimal points) Data-12 = XX wrist angle TY (unit : degree (°), significant 2 decimal points) Data-13 = XX wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-14 = XX type Data-15 = XY X coordinate value (unit : mm, significant 3 decimal points) Data-16 = XY Y coordinate value (unit : mm, significant 3 decimal points) Data-17 = XY Z coordinate value (unit : mm, significant 3 decimal points) Data-18 = XY wrist angle TX (unit : degree (°), significant 2 decimal points) Data-19 = XY wrist angle TY (unit : degree (°), significant 2 decimal points) Data-20 = XY wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-21 = XY type Data-22 = Tool No. (0 to 23)

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5.2 Robot Control Function

Data-23 = Number of 7th axis pulses (for travel axis, mm) Data-24 = Number of 8th axis pulses (for travel axis, mm) Data-25 = Number of 9th axis pulses (for travel axis, mm) Data-26 = Number of 10th axis pulses Data-27 = Number of 11th axis pulses Data-28 = Number of 12th axis pulses

• ORG, XX, XY coordinates are read in the base coordinate system.

• In a system having no external axis, Data-23 to Data-28 are “0”.

• If the specified user coordinate system is not registered, an error occurs.

• If the group axis of the specified user coordinate system is not R1, an error occurs.

• If ORG, XX, and XY have different base axis data, an error occurs.

<Example> Command RUFRAME 2 Response 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, )))), 0

SAVEV

Sends variable data to a host computer.

Command format : SAVEV Data-1, Data-2

Data-1 : Type of variables 0 : Byte type variables 1 : Integer type variables 2 : Double precision type variables 3 : Real number type variables 4 : Robot axis position type variables 5 : Base axis position type variables 6 : Station axis position type variables (only pulse type) Data-2 : Variable No.

Response format : Data-1, Data-2, Data-3, )))), Data-10 or Error code

Data-1 = Byte value / Integer value / Double precision integer value / Real number value /

Position data type Position data type = 0 : Pulse type 1 : Cartesian type

(When the position data type is “0”) Data-2 = Number of S-axis pulses / Number of base 1st axis pulses / Number of station 1st

axis pulses Data-3 = Number of L-axis pulses / Number of base 2nd axis pulses / Number of station 2nd

axis pulses Data-4 = Number of U-axis pulses / Number of base 3rd axis pulses / Number of station 3rd

axis pulses

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5.2 Robot Control Function

Data-5 = Number of R-axis pulses / Number of base 4th axis pulses / Number of station 4th

axis pulses

Data-6 = Number of B-axis pulses / Number of base 5th axis pulses / Number of station 5th

axis pulses

Data-7 = Number of T-axis pulses / Number of base 6th axis pulses / Number of station 6th

axis pulses

Data-8 = Tool No.

(When the position data type is “1”) Data-2 = Coordinate data 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1 3 : User coordinate 2

25 : User coordinate 24 26 : Tool coordinate 27 : Master tool coordinate

Data-3 = X coordinate value / Base 1st Cartesian value (unit : mm, significant 3 decimal

points)

Data-4 = Y coordinate value / Base 2nd Cartesian value (unit : mm, significant 3 decimal

points)

Data-5 = Z coordinate value / Base 3rd Cartesian value (unit : mm, significant 3 decimal

points) Data-6 = Wrist angle RX coordinate value (unit : degree (°), significant 2 decimal points) Data-7 = Wrist angle RY coordinate value (unit : degree (°), significant 2 decimal points) Data-8 = Wrist angle RZ coordinate value (unit : degree (°), significant 2 decimal points) Data-9 = Form

Data of the form is a value obtained by converting the following bit data to decimal notation.

D4 D3 D2 D1 D0

0 : Flip 1 : No flip

0 : Upper arm 1 : Lower arm

0 : Front 1 : Back

0 : R<180 1 : R>=180

0 : T<180 1 : T>=180

0 : S<180 1 : S>=180

Data-10 = Tool No.

<Example> Command SAVEV 0, 0 Response 123

In the above example, 123, the value of byte type variable B000, is sent to the host computer.

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5.2.6 System Control Function

" Operation System Commands

HOLD

Turns HOLD ON/OFF

Command format : HOLD [Data]

Data = Specification of HOLD ON/OFF status (0 : OFF, 1 : ON)

Response format : 0000 or Error code

<Example> Command HOLD 1 Response 0000

5.2 Robot Control Function

RESET

Resets an alarm of manipulator. The transmission alarms can be reset only by the programming pendant.

Command format : RESET

Response format : 0000 or Error code

<Example> Command RESET Response 0000

CANCEL

Cancels an error.

Command format : CANCEL

Response format : 0000 or Error code

<Example> Command CANCEL Response 0000

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5.2 Robot Control Function

MODE

Selects a mode.

Command format : MODE Mode-No

Mode-No.=1 or 2

1 : Teach mode

2 : Play mode

Response format : 0000 or Error code

<Example> Command MODE 2 Response 0000

NOTE

This function can be used when the external mode switch is permitted on the OPERATING CONDITION window.

CYCLE

Selects cycle.

Command format : CYCLE Cycle-No

Cycle-No = Cycle specification (1 to 3)

1 : Step 2 : 1 cycle 3 : Auto

Response format : 0000 or Error code

<Example> Command CYCLE 2 Response 0000

SVON

Turns servo power supply ON/OFF. To turn the servo ON/OFF by this command, connect the external servo ON (EXSVON) signal 29 of the input terminal block for the manipulator, to 30.

Command format : SVON Data

Data = Specification of servo power supply ON/OFF status (0 : OFF, 1 : ON)

Response format : 0000 or Error code

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5.2 Robot Control Function

<Example> Command SVON 1 Response 0000

HLOCK

Sets an interlock between the programming pendant and I/O operation signals. While the interlock is ON, all operations except the followings are prohibited.

• Emergency stop from the programming pendant

• Hold and emergency stop from the playback panel

• Input signals except I/O mode change, external start, external servo ON, cycle change, I/ O prohibited, P.P/PANEL prohibited, and master call

HLOCK is invalid while the programming pendant is in edit mode or accessing to a file for other function.

Command format : HLOCK Data

Data = Interlock status setting (0 : OFF, 1 : ON)

Response format : 0000 or Error code

<Example> Command HLOCK 1 Response 0000

MDSP

Receives message data and displays the message in the remote display of the programming pendant. If the currently shown display is not the remote display, it is changed forcibly to the remote display to display the MDSP command message.

Command format : MDSP Data

Data = Message to be displayed (Max. 30 characters)

Response format : 0000 or Error code <Example> Command MDSP auto running

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5.2 Robot Control Function

Response 0000

EDIT DISPLAY UTILITYDATA

REMOTE

IO and Command mode

CURR

DISP

EXEC

CANCEL

ShortCutMain Menu

CGROUP

Changes an objective control group of various commands used in the host control function. The NX100 can support multiple number of manipulators and stations. In this case, CGROUP is used when any control group for commands such as RPOSC is to be changed. When the power supply is started up, robot 1, base 1, and station 1 (when a base and a stations exist) are specified.

Command format : CGROUP Data-1, Data-2

Data-1 = Robot control group specification. A control group can be specified according to

the following data. However, the following settings cannot be made.

• Selection of control axis which does not exist

• Specification of multiple number of manipulators

In a system with a base axis (such as travel axis), when the manipulator with this base axis is specified, this base axis is automatically specified.

D00

D01D02D03D04D05D06D15 d07D08D09D10D11D12D13D14 D06

R1: Robot 1

R2: Robot 2

R3: Robot 3

R4: Robot 4

Data-2 = Station control group specification. A control group can be specified according to

the following data. However, the following settings cannot be made.

• Selection of control axis which does not exist

• Specification of multiple number of manipulators

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Response format : 0000 or Error code <Example> Command CGROUP 2, 1 Response 0000

5.2 Robot Control Function

D00

D01D02D03D04D05D06D15 d07D08D09D10D11D12D13D14 D06

S1: Station 1

S2: Station 2

S3: Station 3

S4: Station 4

S5: Station 5

S6: Station 6

S7: Station 7

S8: Station 8

S9: Station 9

S10: Station 10

S11: Station 11

S12: Station 12

In the above example with two manipulators, robot 2 and station 1 are validated. By issuing RPOS after this command is issued, the current positions of robot 2 and station 1 can be read.

CTASK (Optional)

Changes the task for control in the host control function. When the power supply is started up or in a system where an independent control is not allowed, this command is to be used as follows. For details, refer to Section 5.3 “Commands for Multi-control Group and Independent Control Functions”.

• When the power supply is started up, a master task is selected as an task to be controlled.

• CTASK cannot be used in a system where an independent control is not allowed.

Command format : CTASK Data-1

Data-1 = Specified task 0 : Master task 1 : Sub 1 task 2 : Sub 2 task 3 : Sub 3 task 4 : Sub 4 task 5 : Sub 5 task 6 : Sub 6 task 7 : Sub 7 task

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5.2 Robot Control Function

Response format : 0000 or Error code

<Example> Command CTASK 1 Response 0000

" Start-up System Commands

START

Starts a job. If a job name is specified for an operand, the relation between the job and the master job is checked and the execution is started from the beginning of the job. If no job name is specified, the execution is started from the current line number of the set execution job.

Command format : START [Job-Name]

Job-Name = Starting job name (8 characters) Can be omitted.

Response format : 0000 or Error code

<Example> Command : START WORK-A Response : 0000

MOVJ

Moves a manipulator to a specified coordinate position in joint motion.

Command format : MOVJ Data-1, Data-2, )))), Data-16

Data-1 = Motion speed (0.01 to 100.0%) Data-2 = Coordinate specification 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1

25 : User coordinate 24

Data-3 = X coordinate value (unit : mm, significant 3 decimal points) Data- 4 = Y coordinate value (unit : mm, significant 3 decimal points) Data-5 = Z coordinate value (unit : mm, significant 3 decimal points) Data-6 = Wrist angle TX (unit : degree (°), significant 2 decimal points) Data-7 = Wrist angle TY (unit : degree (°), significant 2 decimal points) Data-8 = Wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-9 = Type Data-10 = Tool No. (0 to 23) Data-11 = Number of 7th axis pulses (for travel axis, mm)

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5.2 Robot Control Function

Data-12 = Number of 8th axis pulses (for travel axis, mm) Data-13 = Number of 9th axis pulses (for travel axis, mm) Data-14 = Number of 10th axis pulses Data-15 = Number of 11th axis pulses Data-16 = Number of 12th axis pulses

• In a system without external axis, Data-11 to Data-16 should be set to “0”.

• If a specified user coordinate is not defined, an error occurs.

Response format : 0000 or Error code

<Example> Command MOVJ 50.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 Response 0000

MOVL

Moves a manipulator to a specified coordinate position in linear motion.

Command format : MOVL Data-1, Data-2, )))), Data-17

Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture speed)) Data-2 = Motion speed (0.1 to +++.++ mm/s, 0.1 to +++.+° /s) Data-3 = Coordinate specification 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1

25 : User coordinate 24

Data-4 = X coordinate value (unit : mm, significant 3 decimal points) Data-5 = Y coordinate value (unit : mm, significant 3 decimal points) Data-6 = Z coordinate value (unit : mm, significant 3 decimal points) Data-7 = Wrist angle TX (unit : degree (°), significant 2 decimal points) Data-8 = Wrist angle TY (unit : degree (°), significant 2 decimal points) Data-9 = Wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-10 = Type Data-11 = Tool No. (0 to 23) Data-12 = Number of 7th axis pulses (for travel axis, mm) Data-13 = Number of 8th axis pulses (for travel axis, mm) Data-14 = Number of 9th axis pulses (for travel axis, mm) Data-15 = Number of 10th axis pulses Data-16 = Number of 11th axis pulses Data-17 = Number of 12th axis pulses

• In a system without external axis, Data-12 to Data-17 should be set to “0”.

• If a specified user coordinate is not defined, an error occurs.

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Response format : 0000 or Error code

<Example> Command MOVL 0, 500.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 Response 0000

IMOV

Moves a manipulator from the current position for a specified coordinate incremental value in linear motion.

Command format : IMOV Data-1, Data-2, )))), Data-17

25 : User coordinate 24 26 : Tool coordinate

Data-4 = X coordinate incremental value (unit : mm, significant 3 decimal points) Data-5 = Y coordinate incremental value (unit : mm, significant 3 decimal points) Data-6 = Z coordinate incremental value (unit : mm, significant 3 decimal points) Data-7 = Wrist angle TX incremental value (unit : degree (°), significant 2 decimal points) Data-8 = Wrist angle TY incremental value (unit : degree (°), significant 2 decimal points) Data-9 = Wrist angle TZ incremental value (unit : degree (°), significant 2 decimal points) Data-10 = Reserved Data-11 = Tool No. (0 to 23) Data-12 = Number of 7th axis pulses (for travel axis, mm) Data-13 = Number of 8th axis pulses (for travel axis, mm) Data-14 = Number of 9th axis pulses (for travel axis, mm) Data-15 = Number of 10th axis pulses Data-16 = Number of 11th axis pulses Data-17 = Number of 12th axis pulses

• In a system without external axis, Data-12 to Data-17 should be set to “0”.

• If a specified user coordinate is not defined, an error occurs.

Response format : 0000 or Error code

<Example> Command IMOV 0, 100.0, 2, 10.0, 10.0, 10.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 Response 0000

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5.2 Robot Control Function

PMOVJ

Moves a manipulator to a specified pulse position in joint motion.

Command format : PMOVJ Data-1, Data-2, )))), Data-14

Data-1 = Motion speed (0.01 to 100.0 %) Data-2 = Number of S-axis pulses Data-3 = Number of L-axis pulses Data-4 = Number of U-axis pulses Data-5 = Number of R-axis pulses Data-6 = Number of B-axis pulses Data-7 = Number of T-axis pulses Data-8 = Tool No. (0 to 23) Data-9 = Number of 7th axis pulses Data-10 = Number of 8th axis pulses Data-11 = Number of 9th axis pulses Data-12 = Number of 10th axis pulses Data-13 = Number of 11th axis pulses Data-14 = Number of 12th axis pulses

• In a system without external axis, Data-9 to Data-14 should be set to “0”.

Response format : 0000 or Error code

<Example> Command PMOVJ 20.0, 100, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0 Response 0000

PMOVL

Moves a manipulator to a specified pulse position in linear motion.

Command format : PMOVL Data-1, Data-2, )))), Data-15

Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture speed)) Data-2 = Motion speed (0.1 to +++.++ mm/s, 0.1 to +++.+° /s) Data-3 = Number of S-axis pulses Data-4 = Number of L-axis pulses Data-5 = Number of U-axis pulses Data-6 = Number of R-axis pulses Data-7 = Number of B-axis pulses Data-8 = Number of T-axis pulses Data-9 = Tool No. (0 to 23) Data-10 = Number of 7th axis pulses Data-11 = Number of 8th axis pulses Data-12 = Number of 9th axis pulses Data-13 = Number of 10th axis pulses

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Data-14 = Number of 11th axis pulses Data-15 = Number of 12th axis pulses

• In a system without external axis, Data-10 to Data-15 should be set to “0”.

Response format : 0000 or Error code

<Example> Command PMOVL 0, 123.0, 10, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0 Response 0000

" Editing System Commands

DELETE

Deletes a specified job.

Command format : DELETE Job-Name

Job-Name = Job name to be deleted (8 characters which can be processed in MS-DOS) = * : Delete all jobs

Response format : 0000 or Error code

<Example> Command DELETE WORK-B Response 0000

CVTRJ (Optional)

Converts a specified job to a relative job of a specified coordinate.

Command format : CVTRJ Data-1, Data-2

Data-1 = Name of job to be converted Data-2 = Conversion coordinate system specification 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1

25 : User coordinate 24 26 : Reserved

• If the specified user coordinate is not defined, an error occurs.

Response format : 0000 or Error code

<Example> Command CVTRJ TESTJOB, 2 Response 0000

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NOTE

This function requires the relative job function of the NX100.

CVTSJ (Optional)

Converts a specified job to a standard job (pulse job) in a specified converting method.

Command format : CVTSJ Data-1, Data-2, Data-3

Data-1 = Name of job to be converted Data-2 = Converting method specification 0 : Previous step regarded (B-axis sign same) 1 : Form regarded 2 : Previous step regarded (R-axis travel amount minimum) Data-3 = Reference position variable. Position variable No. indicating the first step conver-

sion reference position when the previous step is regarded.

Response format : 0000 or Error code

<Example> Command CVTSJ SAMPLE01, 1, 0 Response 0000

In the above example, P000 is to be the reference point and the job “SAMPLE01” is converted to a standard job with the form regarded.

NOTE

This function required the relative job function of the NX100.

WUFRAME

Writes a user coordinate data to a specified user coordinate system.

Command format : WUFRAME Data-1, Data-2, )))), Data-29

Data-1 = User coordinate No. 0 : Reserved 1 : Reserved 2 : User coordinate 1

25 : User coordinate 24

Data-2 = ORG X coordinate value (unit : mm, significant 3 decimal points) Data-3 = ORG Y coordinate value (unit : mm, significant 3 decimal points)

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Data-4 = ORG Z coordinate value (unit : mm, significant 3 decimal points) Data-5 = ORG wrist angle TX (unit : degree (°), significant 2 decimal points) Data-6 = ORG wrist angle TY (unit : degree (°), significant 2 decimal points) Data-7 = ORG wrist angle TZ (uunit : degree (°), significant 2 decimal points) Data-8 = ORG type Data-9 = XX X coordinate value (unit : mm, significant 3 decimal points) Data-10 = XX Y coordinate value (unit : mm, significant 3 decimal points) Data-11 = XX Z coordinate value (unit : mm, significant 3 decimal points) Data-12 = XX wrist angle TX (unit : degree (°), significant 2 decimal points) Data-13 = XX wrist angle TY (unit : degree (°), significant 2 decimal points) Data-14 = XX wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-15 = XX type Data-16 = XY X coordinate value (unit : mm, significant 3 decimal points) Data-17 = XY Y coordinate value (unit : mm, significant 3 decimal points) Data-18 = XY Z coordinate value (unit : mm, significant 3 decimal points) Data-19 = XY wrist angle TX (unit : degree (°), significant 2 decimal points) Data-20 = XY wrist angle TY (unit : degree (°), significant 2 decimal points) Data-21 = XY wrist angle TZ (unit : degree (°), significant 2 decimal points) Data-22 = XY type Data-23 = Tool No. (0 to 23) Data-24 = Number of 7th axis pulses (for travel axis, mm) Data-25 = Number of 8th axis pulses (for travel axis, mm) Data-26 = Number of 9th axis pulses (for travel axis, mm) Data-27 = Number of 10th axis pulses Data-28 = Number of 11th axis pulses Data-29 = Number of 12th axis pulses

Response format : 0000 or Error code

• ORG, XX, and XY coordinate are written in the base coordinate system.

• In a system without external axis, Data-24 to Data-29 should be set to “0”.

• It the group axis of the specified user coordinate system is not R1, an error occurs.

• For base axis data of ORG, XX, and XY, the same data should be used.

<Example> Command WUFRAME 2, 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, )))), 0 Response 0000

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5.2 Robot Control Function

LOADV

Receives variable data from a host computer and write it in a specified variable.

Command format : LOADV Data-1, Data-2, )))), Data-12

Data-1 = Type of variables 0 : Byte type variables 1 : Integer type variables 2 : Double precision type variables 3 : Real number type variables 4 : Robot axis position type variables 5 : Base axis position type variables 6 : Station axis position type variables (only pulse type)

Data-2 = Variable No. Data-3 = Byte value / Integer value / Double precision type integer value / Real number value / Position data type Position data type = 0 : Pulse type 1 : Cartesian type

(When the position data type is 0) Data-4 = Number of S-axis pulses / Number of base 1st axis pulses / Number of station 1st

axis pulses

Data-5 = Number of L-axis pulses / Number of base 2nd axis pulses / Number of station 2nd

axis pulses

Data-6 = Number of U-axis pulses / Number of base 3rd axis pulses / Number of station 3rd

axis pulses

Data-7 = Number of R-axis pulses / Number of base 4th axis pulses / Number of station 4th

axis pulses

Data-8 = Number of B-axis pulses / Number of base 5th axis pulses / Number of station 5th

axis pulses

Data-9 = Number of T axis pulses / Number of base 6th axis pulses / Number of station 6th

axis pulses

Data-10 = Tool No.

(When the position data type is 1) Data-4 = Coordinate data Coordinate data = 0 : Base coordinate 1 : Robot coordinate 2 : User coordinate 1 3 : User coordinate 2

25 : User coordinate 24 26 : Tool coordinate 27 : Master tool coordinate

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Data-5 = X coordinate value / Base 1st axis Cartesian value (unit : mm, significant 3 decimal

points)

Data-6 = Y coordinate value / Base 2nd axis Cartesian value (unit : mm, significant 3 decimal

points)

Data-7 = Z coordinate value / Base 3rd axis Cartesian value (unit : mm, significant 3 decimal

points) Data-8 = Wrist angle RX coordinate value (unit : degree (°), significant 2 decimal points) Data-9 = Wrist angle RY coordinate value (unit : degree (°), significant 2 decimal points) Data-10 = Wrist angle RZ coordinate value (unit : degree (°), significant 2 decimal points) Data-11 = Form Data of the form is a value obtained by converting the following bit data to decimal notation.

D4 D3 D2 D1 D0

0 : Flip 1 : No flip

0 : Upper arm 1 : Lower arm

0 : Front 1 : Back

0 : R<180 1 : R>=180

0 : T<180 1 : T>=180

0 : S<180 1 : S>=180

Data-12 = Tool No.

Response format : 0000 or Error code

<Example> Command LOADV 0, 0, 123 Response 0000

In the above example, 123 is stored in the NX100 byte type variable B000.

" Job Selection System Commands

SETMJ

Sets a specified job as a master job. At the same time, the specified job is set as a execution job.

Command format : SETMJ Job-Name

Job-Name = Job name to be set (8 characters which can be processed in MS-DOS)

Response format : 0000 or Error code

<Example> Command SETMJ WORK-C Response 0000

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JSEQ

Sets a job name and a line No.

Command format : JSEQ Data-1, Data-2

Data-1 = Job name to be set (8 characters which can be processed in MS-DOS) Data-2 = Line No. to be set (0 to 9999)

Response format : 0000 or Error code

<Example> Command JSEQ WORK-A, 10 Response 0000

5.2.7 I/O Read/Write Function

The host control function can read out or write in (change) I/O signal status using the host computer.

The following table shows the number of signals and the types of signals to be sent or received by the host control function.

# : Possible to execute

Signal Signal Range (Qty) Classification Read-out Write-in

0xxxx

1xxxx

2xxxx

3xxxx

4xxxx

5xxxx

00010 to 01287 (1024) General input signal #

10010 to 11287 (1024) General output signal #

20010 to 21287 (1024) External input signal #

30010 to 31287 (1024) External output signal #

40010 to 40807 (640) Specific input signal #

50010 to 51007 (800) Specific output signal #

7xxxx

8xxxx

82xxx

22xxx

70010 to 79997 (7992) Auxiliary relay #

80010 to 80647 (512) Control status signal #

82010 to 82127 (96) Pseudo input signal #

22010 to 23287 (1024) Network input ##

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" Transmission Procedure

The transmission from the host computer proceeds as follows.

1. The ENQ code is sent from the host computer to establish a data link.

2. After the data link is established, the data is sent from the host computer. The data transmission should be completed in a single block.

3. After the request to send is accepted, the host computer should be ready to receive. The NX100 sends the ENQ code to establish the data link.

4. After the data link is established, the data sent from the NX100 is received to terminate the transmission at completion of receipt.

The read/write function can be distinguished by the header number. Refer to the header number list.

" Read-out of I/O Signal Status

ENQ

SOH 04,051 STX DATA-1

EOT

Host computer

ACK0

SOH 90,001 STX DATA-2

ACK1

DATA-1 Command format : Data-1, Data-2 Data-1 = Start No. Data-2 = Number of data points

ACK0

ETX BCC

ACK1

ENQ

ETX BCC

EOT

NX100

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DATA-2 Response format (at normal completion) : Data-1, Data-2, )))), Data-256 Data-1 = First 8 points of data Data-2 = Second 8 points of data

Data-256 = Last (up to 256th) 8 points of data

Response format (at abnormal completion) :

SOH 90,000 STX Error code CR ETX BCC

Error code Number with 4 digits other than 0000 Number smaller than 1000, 0 is added before the number.

<Example> When 3 points are read out from 70010 Command 70010, 3 Response 2, 0, 5

" Write-in of I/O Signal Status

ENQ

ACK0

ETX BCC

ACK1

ENQ

Host computer

SOH 04,001 STX DATA-3

EOT

ACK0

NX100

SOH 90,000 STX DATA-4

ACK1

ETX BCC

EOT

DATA-3 Command format : Data-1, Data-2, Data-3, Data-4, )))), Data-258 Data-1 = Start No. Data-2 = Number of data points Data-3 = First 8 points of data Data-4 = Second 8 points of data

Data-258 = Last (up to 256th) 8 points of data

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DATA-4 Response format (at normal completion) : 0000 Response format (at abnormal completion) : Number with 4 digits other than 0000

Number smaller than 1000, 0 is added before the number.

<Example> When status of 3 points is changed from 22010 Command 22010, 3, 4, 3, 12 Response 0000

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Motoman NX 100 Function Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1.1 About This Document

1.2 Reference to Other Documentation

1.3 Customer Service Information

2.1 Introduction

2.2 Standard Conventions

2.3 General Safeguarding Tips

2.4 Mechanical Safety Devices

2.5 Installation Safety

2.6 Programming, Operation, and Maintenance Safety

1 Outline

1.1 DCI Function

1.2 Stand-alone Function

1.3 Host Control Function

2.1 Remote Mode

2 For Using Data Transmission Function

2.1.1 Remote Mode

2.1.2 Command Remote Valid/Invalid

2.1.3 Display in Command Remote Mode

2.2 Serial I/F Port Assignment

2.3 Parallel Operation of NX100

2.3.1 No Multiple-operation of DCI, Stand-alone, and Host Control Functions

2.3.2 File Access and Editing for a Single Target

2.4 Differences from MRC/XRC

2.4.1 Multiport Processing

2.4.2 Group Axes

2.4.3 Coordinated Operation and Independent Operation

2.4.4 Condition Data and System Data

2.5 Transmission Specifications

2.5.1 Basic Specifications

2.5.2 Transmission Control Characters

2.5.3 Transmission Format

2.5.4 Error Control System

2.5.5 Character Configuration

2.5.6 Data Link Establishment

2.5.7 Configuration of Heading and Text

2.5.8 Transmission Parameters

" Transmission Control Monitoring Timer

" Transmission Control Resending Sequence

2.5.9 Connection of D-SUB Connector Pins

2.5.10 Connection

3.1 Outline

3 DCI Function

3.2 Commands for Job Transmission

3.2.1 LOADJ

" Function

" Configuration

3.2.2 SAVEJ

" Function

" Configuration

3.2.3 DELETEJ

" Function

" Configuration

3.3 Commands for Variable Transmission

3.2.4 SWAIT

" Function

" Configuration

3.3.1 LOADV

" Function

" Configuration

3.3.2 SAVEV

" Function

" Configuration

3.4 Registering DCI Instruction

3.5 Concurrent Tasks from Multiple Jobs

3.6 DCI Parallel Execution

" Parallel Execution Using NWAIT

3.7 Transmission Procedure

" Parallel Execution Using PSTART (Optional)

3.7.1 Job Transmission

" Saving Procedure

" Loading Procedure

3.7.2 Variable Transmission

" Saving Procedure

" Loading Procedure

3.8 Axis Data Transmission Format

3.9 Alarm Codes