Motoman NX 100 Function Manual
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
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,
©2006 by 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.
All Rights Reserved
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)
Final page 1
Function Manual
Chapter 1 Introduction
Notes
page 2 Final
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.
Final page 3
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.
page 4 Final
Data Transmission
152388-1
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.
Final page 5
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.
page 6 Final
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).
Final page 7
Function Manual
Chapter 2 Safety
Notes
page 8 Final
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
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.
ii
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.
iii
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.
iv
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
v
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.
vi
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
vii
" 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
viii
" 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
ix
. . . . . . . . . . . . . . . . . . . .5-35
7 Comparison of Data Transmission Functions
8 Remote Function Setting
x
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
1.1 DCI Function
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
1.2 Stand-alone Function
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
1.3 Host Control Function
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
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
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
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
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
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
0
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
REMOTE
IO and Command mode
CURR
PREV
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
×דRemote 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
2
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
1
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
07
01
02
181920
13141516
17
11
SOURCE
+5VSB
PON
+5V
+24V
OTHER
FAN
OHT
CN05
(+24V1)
CN04
(+24V2)
(REMOTE)
12
282930
23242526
27
21
22
GFEDC
BA
KJH
SRQPN
ML
VUT
CN03
(TU)
CN02
200-240V AC
CN01
(AC IN)
INPUT
50/60Hz
3A
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
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