YASKAWA NX100 INSTRUCTIONS FOR INDEPENDENT/COORDINATED CONTROL FUNCTION
NX100 OPTIONS
1/210
INSTRUCTIONS
FOR INDEPENDENT/COORDINATED CONTROL 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.
Part Number: 149648-1CD
Revision: 4
MANUAL NO. RE-CKI-A443
4
MANDATORY
CAUTION
2/210
• This manual explains the independent/coordinated control function of
the NX100 system and general operations. Read this manual carefully
and be sure to understand its contents before handling the NX100.
• General items related to safety are listed in Chapter 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
• 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.
• Y ASKAWA 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.
• YASK A WA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
ii
Notes for Safe Operation
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
3/210
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,
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.
Always be sure to follow explicitly the items listed under this
heading.
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING.”
iii
WARNING
TURN
4/210
• Before operating the manipulator, check tha t 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.
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 oper ating 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 persons are 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 are problems.The emergency stop buttons are located on the right of the front door of the NX100
and the programming pendant.
iv
• Perform the following inspection procedures prior to conducting manip-
CAUTION
5/210
ulator 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 P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the NX100
Instructions before operating the manipulator.
Definition of Terms Used Often in Th is 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
v
PAGE
GO BACK
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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.
ex. page key
The cursor key is an exception, and a picture is not
shown.
Axis Keys
Numeric Keys
Keys pressed
simultaneously
Displays The menu displayed in the programming pendant is
“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]
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, or that the item is directly
selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered
trademarks, or brand names for each company or corporation. The indications of (R) and TM
are omitted.
vi
1 Independent/Coordinated Control Function
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1.1 Coordinated Control
1.2 Independent Control
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
2 Coordinated Positioner System
2.1 Outline
2.2 Function Keys
2.2.1 Arc Welding Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2.2 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.3 Example of Job Teaching
2.4 System Setup
2.4.1 Registering Group Combination . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.4.2 Calibration between Manipulator and Station . . . . . . . . . . . . .2-10
2.5 JOB CONTENT Window
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
Calibration Tool Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
Teaching Positions for Calibration. . . . . . . . . . . . . . . . . . . .2-11
Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-14
. . . . . . . . . . . . . . . . . . . . . . . . . . .2-17
. . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
2.6 Synchronized/Single
2.6.1 Synchronized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-18
2.6.2 Single. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-19
2.7 Selecting Axis to be Handled
2.7.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .2-20
2.7.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .2-20
2.8 Registering Job
2.9 Registering Move Instruction (S)MOV+MOVJ
2.9.1 Operating Master Side (Station) . . . . . . . . . . . . . . . . . . . . . . .2-22
2.9.2 Operating Slave Side (Manipulator) . . . . . . . . . . . . . . . . . . . .2-23
2.10 Registering Reference Point Instruction
(SREFP)
3 Jigless System
3.1 Outline
3.2 Specific Keys
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-18
. . . . . . . . . . . . . . . . . . . . . .2-20
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-21
. . . .2-22
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-24
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3 Opening and Closing Handling Tool
3.4 Example of Teaching Job
3.5 System Setup
3.5.1 Registering Group Combination . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.5.2 Calibration between Manipulators . . . . . . . . . . . . . . . . . . . . . . .3-8
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
vii
. . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
. . . . . . . . . . . . . . . .3-4
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Calibration Tool Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
Teaching Position for Calibration . . . . . . . . . . . . . . . . . . . . . 3-9
Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.6 Job Content Display
3.7 Synchronized/Single
3.7.1 Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.7.2 Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.8 Selecting Axis to be Handled
3.8.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.8.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.9 Registering Job
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
. . . . . . . . . . . . . . . . . . . . . 3-16
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.10 Registering Move Instruction (S)MOV+MOV
3.10.1 Operating Master Side (Workpiece) . . . . . . . . . . . . . . . . . . . 3-18
3.10.2 Operating Slave Side (Torch) . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.11 Registering Reference Point Instruction
(SREFP)
3.12 Registering Handling Instructions
3.13 Other Convenient Features
3.13.1 Example of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.13.2 Operation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.13.3 Manipulator Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
Basic axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
Wrist axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
Synchronized/Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
. . . . . . . . . . . . . . . . 3-21
. . . . . . . . . . . . . . . . . . . . . . 3-22
.3-18
4 Twin Synchronous System
4.1 Outline
4.2 Function Keys
4.2.1 Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.2 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3 Job Configuration
4.4 Leader and Follower
4.5 Synchronizing with TSYNC
4.6 Job Example
4.7 JOB CONTENT Window
4.8 Synchronized/Single
4.8.1 Synchronized/Single Movement Between Station
4.8.2 Job Synchronized Mode for Subtask 1 and 2 . . . . . . . . . . . . . 4-15
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
and Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
. . . . . . . . . . . . . . . . . . . . . . . . . 4-8
. . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
viii
9/210
4.9 Selecting Axis to be Handled
4.9.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
4.9.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
4.10 Registering Job
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-18
. . . . . . . . . . . . . . . . . . . . . .4-17
4.11 Registering Move Instruction (S)MOV+MOVJ
4.11.1 Operating Master Side (Station) . . . . . . . . . . . . . . . . . . . . . .4-19
4.11.2 Operating Slave Side (Manipulator) . . . . . . . . . . . . . . . . . . .4-20
4.12 Registering Reference Point Instruction
(SREFP)
4.13 Switching Tasks
4.14 Creating a Job in a Subtask - Method 1 and 2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-21
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-22
. . . .4-23
4.15 Method 1: Copy One Subtask Job and
Create Another Job
4.15.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-24
4.15.2 Teaching and Mirror Shift . . . . . . . . . . . . . . . . . . . . . . . . . . .4-25
Converting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-25
Jobs Not to be Converted . . . . . . . . . . . . . . . . . . . . . . . . . .4-27
Group Axes for Conversion . . . . . . . . . . . . . . . . . . . . . . . . .4-27
Position Type Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . .4-27
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-27
4.15.3 Correcting Positional Dislocation . . . . . . . . . . . . . . . . . . . . .4-28
Setting the Items for Conversion . . . . . . . . . . . . . . . . . . . . .4-28
Setting the Shift Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-29
Executing Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-32
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-24
. .4-19
4.16 Method 2: Perform Teaching for
Each Manipulator
4.16.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-33
4.16.2 Teaching using Master Task . . . . . . . . . . . . . . . . . . . . . . . . .4-34
4.16.3 Teaching using SUPERVISORY Window. . . . . . . . . . . . . . .4-36
4.17 Job in Master Task
4.18 Confirming Operation
4.18.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
4.18.2 Precautions for Confirming Operation. . . . . . . . . . . . . . . . . .4-42
Stops during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-42
When “Multi-job operation mode” is Set
in the TEACHING CONDITION Window . . . . . . . . . . . . . . .4-43
4.19 Playback
4.19.1 Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-44
4.19.2 Automatic Correction of Shift Value . . . . . . . . . . . . . . . . . . .4-45
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-44
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-33
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-39
. . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
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5 Triple Synchronous System
5.1 Outline
5.2 Function Keys
5.2.1 Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.2 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3 Job Configuration
5.4 Leader and Follower
5.5 Synchronizing with TSYNC
5.6 Job Example
5.7 JOB CONTENT Window
5.8 Synchronized/Single
5.8.1 Synchronized/Single Movement Between Station and
5.8.2 Job Synchronized Mode for Subtask 1, 2, and 3 . . . . . . . . . . 5-16
5.9 Selecting Axis to be Handled
5.9.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.9.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
. . . . . . . . . . . . . . . . . . . . . . . . . 5-8
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
. . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
. . . . . . . . . . . . . . . . . . . . . 5-18
5.10 Registering Job
5.11 Registering Move Instruction (S)MOV+MOVJ
5.11.1 Operating Master Side (Station). . . . . . . . . . . . . . . . . . . . . . 5-20
5.11.2 Operating Slave Side (Manipulator) . . . . . . . . . . . . . . . . . . . 5-21
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
. . 5-20
5.12 Registering Reference Point Instruction
(SREFP)
5.13 Changing Tasks
5.14 Creating a Job in a Subtask - Method 1 and 2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
. . . . 5-23
5.15 Method 1: Copy One Subtask Job and
Create Other Two Jobs
5.15.1 Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.15.2 Teaching and Mirror Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
Converting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
Jobs Not to be Converted . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Group Axes for Conversion . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Position Type Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.15.3 Correcting Positional Dislocation . . . . . . . . . . . . . . . . . . . . . 5-29
Setting the Items for Conversion . . . . . . . . . . . . . . . . . . . . 5-29
Setting the Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
Executing Conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
. . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.16 Method 2: Perform Teaching for
Each Manipulator
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
x
5.16.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34
11/210
5.16.2 Teaching using Master Task . . . . . . . . . . . . . . . . . . . . . . . . .5-34
5.16.3 Teaching using SUPERVISORY Window. . . . . . . . . . . . . . .5-37
5.17 Job in Master Task
5.18 Confirming Operation
5.18.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-42
5.18.2 Precautions for Confirming Operation. . . . . . . . . . . . . . . . . .5-43
Stops during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-43
When “Multi-job operation mode” is Set in the
TEACHING CONDITION Window. . . . . . . . . . . . . . . . . . . .5-44
5.19 Playback
5.19.1 Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-45
5.19.2 Automatic Correction of Shift Value . . . . . . . . . . . . . . . . . . .5-46
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-45
6 Coordinated Control
6.1 Outline
6.2 Group Combination
6.3 Coordinated and Individual Interpolations
6.3.1 Coordinated Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.3.2 Individual Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.3.3 Changing Interpolation Mode . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-40
. . . . . . . . . . . . . . . . . . . . . . . . . . . .5-42
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
. . . . . . . . . . .6-2
6.4 Restriction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
7 Independent Control
7.1 Independent Control
7.2 Startup Method
7.2.1 Starting a Job always Fixed (Master Job) . . . . . . . . . . . . . . . . .7-3
7.2.2 Starting Various Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5
7.3 Switching Task Window
7.4 Registering Instructions
7.4.1 PSTART Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7
7.4.2 PWAIT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-10
7.4.3 TSYNC Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11
7.5 Registering Job
7.5.1 Robot Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14
7.5.2 Concurrent Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-15
7.6 Job Examples
7.6.1 Non-Synchronous Operation . . . . . . . . . . . . . . . . . . . . . . . . . .7-16
7.6.2 Synchronous Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-17
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-16
7.7 Confirming Operation
xi
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-18
12/210
7.7.1 FWD/BWD Operation and Test Run . . . . . . . . . . . . . . . . . . . . 7-18
Confirming the Operation of the Task being Displayed . . . 7-18
Confirming the Operation of All Tasks . . . . . . . . . . . . . . . . 7-18
7.7.2 Switching Operating Method. . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
Switching by [SHIFT]+[SMOV] . . . . . . . . . . . . . . . . . . . . . . 7-18
Switching on TEACHING CONDITION Window . . . . . . . . . 7-19
7.7.3 BWD Operation of Concurrent Job . . . . . . . . . . . . . . . . . . . . . 7-19
7.8 Playback
7.8.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
7.8.2 Registering Master Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
Registering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
Cancelling Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
7.8.3 Calling Master Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
When the Master Job in the Master Task is Called . . . . . . 7-24
When the Master Job in a Subtask 1/2/3 is Called . . . . . . . 7-25
7.8.4 Registration of Root (startup) Job. . . . . . . . . . . . . . . . . . . . . . 7-26
Registrering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
Cancelling Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
7.8.5 Confirming Operating Status (SUPERVISORY
Window) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
7.8.6 Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Restarting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
Stopping and Restarting a Subtask Alone . . . . . . . . . . . . . 7-31
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
8 Servo Power Supply Individual Control Function
8.1 Outline
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Connection of Signals for Servo Power Supply
Individual Control
8.3 Confirming Connection
8.4 Application Examples
8.4.1 Turning ON Only the Servo Power Supply for
the Selected Control Group at Teaching . . . . . . . . . . . . . . . . . 8-4
8.4.2 Turning OFF Only the Servo Power Supply for
the Selected Control Group at Playback . . . . . . . . . . . . . . . . . 8-4
8.5 System Output Signals
8.5.1 Servo Power ON Status Signal for Each Control Group. . . . . . 8-6
8.5.2 “During Servo ON” Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.6 Operation of Job Without Control Group
Specification
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
xii
9 Robot Language (INFORM II) Instructions
13/210
9.1 Coordinated Motion Instructions
9.2 Independent Control Instructions
. . . . . . . . . . . . . . . . . . . .9-1
. . . . . . . . . . . . . . . . . . .9-5
10 CONVSFT Instruction ( Coordinate System
Conversion Instruction of the Shift Value)
10.1 Outline
10.2 CONVSFT Instruction
10.2.1 Explanation of CONVSFT . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
Instructed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
Converted Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
Base Point Shift Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
Master Robot (Station) Position . . . . . . . . . . . . . . . . . . . . .10-3
Coordinate System to be Converted . . . . . . . . . . . . . . . . . .10-3
10.3 Example of Conversion
10.4 Alarm
4499 UNDEFINED POSITION VARIABLE . . . . . . . . . . . . .10-6
4495 UNDEFINED ROBOT CARIBRATION . . . . . . . . . . . .10-6
4500 UNDEFINED USER FRAME . . . . . . . . . . . . . . . . . . .10-6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1
. . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
. . . . . . . . . . . . . . . . . . . . . . . . . .10-4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-6
10.5 Supplementary Note
About the need to make parallel shift on the master tool
coordinate system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-7
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-7
xiii
1.1 Coordinated Control
NOP
SMOVL
+MOVL
Job
14/210
1 Independent/Coordinated Control
Function
With the NX100, a system can be configured to control multiple manipulators or stations
simultaneously with a single controller.
With the independent / coordinated control function, manipulators and/or stations can be operated together or individually. Operation can be optimized for the jobs.
1.1 Coordinated Control
With this function, manipulators or stations execute jobs in a coordinated motion.
<Example>
Using two coordinated manipulators to execute a job.
1-1
1.2 Independent Control
NOP
Job
(Work job)
NOP
SMOVL
+MOVJ
MOVJ
Job
(Home position return job)
15/210
1.2 Independent Control
With this function, manipulators and/or stations execute jobs independently without synchronization.
<Example>
While executing a work job at one station, the other station executes a job to return to the
home position for the next job.
1-2
2.1 Outline
Manipulator
Station
Slave
MOVL
+MOVJ
SMOVL
+MOVJ
Master
16/210
2 Coordinated Positioner System
2.1 Outline
The coordinated positioner system is a system which coordinates a job where a positioner
(hereinafter called “station”) holds a workpiece while a manipulator holds a tool.
In order to operate a station and a manipulator simultaneously, a coordinated job is needed.
In the coordinated job, there are two operations: a coordinated interpolation where a station
and a manipulator perform a reciprocal movement as master and slave, and an individual
interpolation where a station and a manipulator move individually.
The move instruction in a coordinated job displays two lines: The first line is for the slave side
(manipulator), and the second line is for the master side (station).
2-1
2.2 Function Keys
89
56
13
0-
REFP
CUR/VOL
RETRACT
FEED
CUR/VOL
ARCON
ARCOFF
TIMER
GAS
7
SYNCRO
SINGLE
4
SMOV
HOLDSTART
PLAY
TEACH
REMOTE
!?
2
.
1
TIMER
0
REFP
17/210
2.2 Function Keys
The function keys for the coordinated positioner system are assigned to the Numeric keys as
shown in the figures below.
2.2.1 Arc Welding Application
Registers a timer instruction “TIMER” in a job.
Registers a reference point “REFP” in a job, or modifies the registered reference point.
[REFP] + [FWD]
Moves the manipulator to the registered reference point.
2-2
2.2 Function Keys
8
ARCON
5
ARCOFF
GAS
INTER
LOCK
+
5
ARCOFF
GAS
9
FEED
6
RETRACT
3
CUR/VOL
-
CUR/VOL
7
SYNCRO
SINGLE
4
SMOV
SUPPLE-
MENT
NO TE
18/210
Registers a welding start instruction “ARCON.”
Registers a welding end instruction “ARCOF.”
(These keys are for future use and disabled in the current version.)
Used for the gas flow control.
Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20
seconds, and then the valve automatically closes.
Pressing [INTERLOCK] + [GAS ARCOFF] again within the 20 seconds,
the gas valve can be manually closed.
Used for wire inching. Press [FEED] to feed the wire, and press
[RETRACT] to retract the wire.
While these keys are pressed, the wire feed motor operates.
When the following are pressed simultaneously, wire inching is performed
in the high speed mode.
[HIGH SPEED] + [FEED]
[HIGH SPEED] + [RETRACT]
Modifies the welding current/voltage while welding during the play mode.
Press [3/CUR/VOL] to increase the current/voltage value, and press
[/CUR/VOL] to decrease the current/voltage value.
(Refer to “11.6 Changing Welding Conditions During Playback” in the
Operator’s Manual.)
Changes the type of movement for the manipulator when teaching a coordinated job. Each time this key is pressed, the movement type changes.
SYNCRO: The mark for “synchronized” appears in the status display area.
When the master side is moved, the slave side will follow the
movement of the master.
SINGLE: Only the selected group axis moves.
Selects either a coordinated or an individual interpolation when teaching a
coordinated job. Each time this key is pressed, the operation type
changes.
Coordinated: All the move instructions that are registered in this mode
become coordinated instructions.
Individual: The master-slave relationship is cancelled. Each manipulator
and station moves independently.
Wire retraction, high-speed inching, or high-speed retraction cannot be performed depending on the Power Source.
[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.
2-3
2.2.2 General Application
789
456
123
0.-
TOOLON
TOOLON
JOB
SYNCRO
SINGLE
SMOV
TOOLOF
TOOLOF
JOB
HOLDSTART
PLAY
TEACH
REMOTE
!?
2
TOOLON
.
TOOLOF
3
TOOLON
JOB
-
TOOLOF
JOB
19/210
2.2 Function Keys
Registers the TOOLON instruction.
If [INTERLOCK] is pressed simultaneously, the TOOLON operation is executed.
Registers the TOOLOF instruction.
If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is executed.
Registers the CALL instruction for the reserved job TOOLONxx.
Registers the CALL instruction for the reserved job TOOLOFxx.
2-4
2.2 Function Keys
7
SYNCRO
SINGLE
4
SMOV
NO TE
20/210
[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.
Changes the type of movement for the manipulator when teaching a coordinated job. Each time this key is pressed, the movement type changes.
SYNCRO: The mark for “synchronized” appears in the status display area.
When the master side is moved, the slave side will follow the
movement of the master.
SINGLE: Only the selected group axis moves.
Selects either a coordinated or an individual interpolation when teaching a
coordinated job. Each time this key is pressed, the operation type changes.
Coordinated: All the move instructions that are registered in this mode
become coordinated instructions.
Individual: The master-slave relationship is cancelled. Each manipulator and
station moves independently.
2-5
2.3 Example of Job Teaching
Stand-by
Starting
Ending
Separate from the workpiece
Step Instruction
001 MOVJ VJ=50.00
+MOVJ
002 SMOVL V=200
+MOVJ
SWVON WEV#(1)
ARCON ASF#(1)
003 SMOVL V=200
+MOVJ
004 SMOVL V=200
+MOVJ
005 SMOVL V=200
+MOVJ
ARCOF AEF#(1)
SWVOF
006 MOVJ VJ=50.00
+MOVJ
007 MOVJ VJ=50.00
+MOVJ
The torch moves to the cleaner. The workpiece is unloaded.
Coordinated operation
21/210
2.3 Example of Job Teaching
2-6
2.4 System Setup
EDIT
DISPLAY UTILITY
DATA
Short Cut
Main Menu
GROUP COMBINATION
GROUP AXIS MASTER
R1
S1
ADD GROUP
MODIFY GROUP
DELETE GROUP
EDIT
DISPLAY UTILITYDATA
Short Cut
Main Menu
GROUP COMBINATION
GROUP AXIS MASTER
22/210
2.4 System Setup
2.4.1 Registering Group Combination
Register a combination of a station and a manipulator.
Operation Explanation
1 Select {SETUP} under the
main menu.
2 Select {GRP COMBINATION}. The GROUP COMBINATION window appears.
3 Press [SELECT]. The selection dialog box appears.
2-7
Operation Explanation
GROUP COMBI SET
NO.1 CONTROL GROUP
NO.2 CONTROL GROUP
MASTER
CANCEL
EXECUTE
EDIT
DISPLAY UTILITY
DATA
Short Cut
Main Menu
GROUP COMBI SET
NO.1 CONTROL GROUP
NO.2 CONTROL GROUP
MASTER
R1: ROBOT1
S1: STATION1
CANCELEXECUTE
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
R1
S1
S1
GROUP COMBI SET
NO.1 CONTROL GROUP
NO.2 CONTROL GROUP
MASTER
CANCELEXECUTE
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
23/210
4 Select “ADD GROUP.” The GROUP COMBI SET window appears.
5 Press [SELECT]. The selection dialog box appears.
2.4 System Setup
6 Select a group axis to be set. Set a station as “MASTER.”
2-8
2.4 System Setup
GROUP COMBINATION
GROUP AXIS MASTER
R1
S1
R1+R2 R2
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
24/210
Operation Explanation
7 Select “EXECUTE.” The GROUP COMBINATION window reappears.
2-9
2.4 System Setup
TOOL
TOOL NO. : 0 / 1
NAME
X
Y
Z
W
Xg
Yg
Zg
0.000
0.000
0.000
STANDARD TOOL
mm
mm
mm
0.000 kg
0.000
0.000
0.000
mm
mm
mm
Rx
Ry
Rz
Ix
Iy
Iz
0.000
0.000
deg.
deg.
deg.
0.000
0.000
0.000
kg m2
0.000
kg m2
kg m2
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
25/210
2.4.2 Calibration between Manipulator and Station
For a coordinated motion between a manipulator and a station, prior registration of the settings for mutual positioning is required. This relationship is set by calibration between the
manipulator and the station.
Calibration Tool Setting
Operation Explanation
1 Mount a tool for calibration on
Use a tool whose exact dimensions are known.
the manipulator.
2 Select {ROBOT} under the
main menu.
3 Select {TOOL}. The TOOL window appears.
4 Enter the tool dimensions.
5 Press [ENTER].
2-10
2.4 System Setup
C1
Point P
C2
Turn
C3
Turn
NOTE
26/210
Teaching Positions for Calibration
For a station with one rotating axis
1. Determine an arbitrary point (point P) on the turntable of the station axis. Point P
should be as far as possible from the turntable rotation center. Align the TCP of the
manipulator with point P, and register it as C1.
2. Turn the station axis. The amount of turning is not limited but should be 30or more. It
does not matter if the rotational direction is positive or negative. Then, align the TCP of
the manipulator to point P, and register it as C2.
3. Turn the station axis further in the same direction as in step 2. Then, align the TCP of
the manipulator to point P, and register it as C3.
• To minimize teaching error, attach a tool with a pointed end tool on the station axis as
shown in the figure above, and use this pointed end as an arbitrary point (point P) when
teaching.
• When registering C2 and C3, the manipulator tool should keep as much as possible the
same orientation as when C1 was registered.
• The manipulator at teaching should have its L-axis at a 90 angle to the ground and its Uaxis parallel to the ground.
• Do not teach with the L-axis and U-axis fully extended or tightly contracted. Otherwise,
inaccurate calibration will result.
2-11
2.4 System Setup
C1
Point P
C2
Turn
C3
Turn
C4
Turn
27/210
For a station with two rotating axes
1. Determine an arbitrary point (point P) on the turntable. Point P should be as far as
possible from the rotation center of the turntable. With the 1st station axis parallel to
the ground, align the TCP of the manipulator to point P, and register it as C1.
2. Turn the 2nd station axis about 30. Align the TCP of the manipulator to point P, and
register it as C2.
3. Turn the 2nd station axis again for about 30. Align the TCP of the manipulator to point
P, and register it as C3.
4. Turn the 1st station axis about 30. Align the TCP of the manipulator to point P, and
register it as C4.
2-12
2.4 System Setup
C5
Turn
NOTE
28/210
5. Turn the 1st station axis again for about 30. Align the TCP of the manipulator to point
P, and register it as C5.
• To minimize teaching error, attach a tool with a pointed end tool on the station axis as
shown in the figure above, and use this pointed end as an arbitrary point (point P) when
teaching.
• When registering C2 to C5, the manipulator tool should keep as much as possible the
same orientation as when C1 was registered.
• The manipulator at teaching should have its L-axis at a 90 angle to the ground and its Uaxis parallel to the ground.
• Do not teach with the L-axis and U-axis fully extended or tightly contracted. Otherwise,
inaccurate calibration will result.
• For C1, C2, and C3, the position of the 1st station axis must be the same.
• The position of the 2nd station axis for C4 and C5 must be the same as that for C3.
2-13
Calibration
ROBOT CALIBRATION
NO. SET ROBOT
01
02
03
04
05
06
07
08
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
ROBOT CALIBRATION
NO. :01 ROBOT
C1:
C2:
C3:
POSITION
C1
<STATUS>
CANCELCOMPLETE
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
ROBOT CALIBRAION
NO. :01 ROBOT
C1:
C2:
C3:
POSITION
C1
<STATUS>
R1+S1
CANCELCOMPLETE
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
29/210
Operation Explanation
1 Select {ROBOT} under the
main menu.
2 Select {ROBOT CALIB}. The ROBOT CALIBRATION list window appears.
2.4 System Setup
3 Select a robot calibration No. The ROBOT CALIBRATION window for teaching appears.
4 Select “ROBOT.” The selection dialog box appears.
2-14
2.4 System Setup
ROBOT CALIBRATION
NO. :01 ROBOT
C1:
C2:
C3:
POSITION
C1
<STATUS>
R1:S
L
U
R
B
T
R1+S1
TOOL:00
CANCELCOMPLETE PAGE
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
C1:
C2:
C3:
C1
R1:S
L
U
R
B
T
R1+S1
C1
C2
C3
ROBOT CALIBRATION
NO. :01 ROBOT
POSITION
<STATUS>
TOOL:00
CANCELCOMPLETE PAGE
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
PAGE
GO BACK
C1:
C2:
C3:
C1
R1:S
L
U
R
B
T
R1+S1
12345
1025
10230
1010
521
2340
ROBOT CALIBRATION
NO. :01 ROBOT
POSITION
<STATUS>
TOOL:00
CANCELCOMPLETE PAGE
EDIT
DISPLAY
UTILITY
DATA
Short Cut
Main Menu
30/210
Operation Explanation
5 Select a group axis combina-
The teaching positions are displayed.
tion for calibration.
6 Select “POSITION.” The selection dialog box appears.
7 Press the axis key to move the
manipulator to the desired
position.
8 Press [MODIFY] and
[ENTER].
The positions for calibration are registered.
Repeat Operations 7 and 8 to teach set positions C1 to C3.
On the window, “” indicates that the teaching is completed while
“” indicates that the teaching is not completed.
The calibration positions appear according to the selected group
axis. Press the page key to change the window.
2-15
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