YASKAWA Motoman NX100 Manual de usuario

Part Number: 174074-1CD

Revision: 0

MANUAL NO.

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NX100 OPTIONS

INSTRUCTIONS

FOR CONVEYOR SYNCHRONIZED 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 manual above corresponds to specific usage.

Be sure to use the appropriate manual.

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operation of Motoman robots, related equipment and software This manual is copyrighted property of

Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to

your computer or mobile device for easy access but you may not copy the PDF files to another website,

blog, cloud storage site or any other means of storing or distributing online content.

Printed in the United States of America

First Printing, 2015

Yaskawa America, Inc.

Motoman Robotics Division

100 Automation Way

Miamisburg, OH 45342

Phone: 937-847-6200

www.motoman.com

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• This manual explains the search function of the NX100. Read this manual carefully and be sure to

understand its contents before handling the NX100.

• General items related to safety are listed in Section 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.

• 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.

MANDATORY

CAUTION

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We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial

Robots and Robot Systems (ANSI/RIA R15.06-2012). You can obtain this document from the Robotic

Industries Association (RIA) at the following address:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: (734) 994-6088

FAX: (734) 994-3338

www.roboticsonline.com

Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result

from improper operation of the equipment. The customer is responsible for providing adequately

trained personnel to operate, program, and maintain the equipment. NEVER ALLOW UNTRAINED

PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT!

We recommend approved Yaskawa training courses for all personnel involved with the operation,

programming, or repair of the equipment.

This equipment has been tested and found to comply with the limits for a Class A digital device,

pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection

against harmful interference when the equipment is operated in a commercial environment. This

equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in

accordance with the instruction manual, may cause harmful interference to radio communications.

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Notes for Safe Operation

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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.”

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

be sure to follow these important items.

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.

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if

not designated as “CAUTION” and “WARNING”.

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

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Notes for Safe Operation

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• 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.

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 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 is a problem. The

emergency stop buttons are located on the right of the front door of the NX100 and the

programming pendant.

WARNING

TURN

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Definition of Terms Used Often in This Manual

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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.

• 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 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.

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

CAUTION

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Description of the Operation Procedure

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

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.

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 “Axis Keys” and “Numeric Keys” are generic names

for the keys for axis operation and number input.

Keys pressed

simultaneously When two keys are to be pressed simultaneously,

the keys are shown with a “+” sign between them,

ex. [SHIFT]+[COORD]

Windows The menu displayed in the programming pendant is

denoted with { }.

ex. {JOB}

GO BACK

PAGE

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Customer Support Information

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Customer Support Information

If you need assistance with any aspect of your Conveyor Synchronized system, please contact

Motoman Customer Support at the following

24-hour telephone number:

For routine technical inquiries, you can also contact Motoman Customer Support at the following e-

mail address:

When using e-mail to contact Motoman Customer Support, please provide a detailed description of

your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a

response to your inquiry.

Please have the following information ready before you call:

techsupport@motoman.com

Please use e-mail for routine inquiries only. If you have an urgent or emergency need for

service, replacement parts, or information, you must contact Motoman Customer Support

at the telephone number shown above.

• System Conveyor Synchronized

• Controller DX200

• Software Version Access this information on the

Programming Pendant’s LCD

display screen by selecting {MAIN

MENU} - {SYSTEM INFO} -

{VERSION}

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX200 controller

data plate

(937) 847-3200

NOTE

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Table of Contents

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Table of Contents

1Conveyor Synchronized Function

1.1 System Configuration Example. . . . . . . . . . . . . . . . . . . . . 1-1

1.2 Conveyor Synchronized Operation . . . . . . . . . . . . . . . . . 1-2

1.2.1 Conveyor Home-position Limit Switch . . . . . . . . . . . . . . . . . . . 1-3

1.2.2 Conveyor Home-position Input Signal . . . . . . . . . . . . . . . . . . . 1-3

1.2.3 SYSTART Instruction and Manipulator Motion. . . . . . . . . . . . . 1-3

1.3 Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.3.1 Conveyor Form. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1.3.2 Definition of Conveyor Moving Direction. . . . . . . . . . . . . . . . . . 1-6

1.3.3 Conveyor Distance for Follow-up . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.3.4 Measurement of Conveyor Moving Amount . . . . . . . . . . . . . . . 1-6

2Hardware Specifications

2.1 Required Boards and Setup. . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Connecting NCP02 and NSL01 Boards to NX100 . . 2-1

2.3 Connecting Conveyor Home-Position Signals

to NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.4 Applicable Encoder and Connection Specification . . 2-4

2.5 Connection Example of One Conveyor . . . . . . . . . . . . . 2-5

2.6 Detecting Encoder Cable Disconnection. . . . . . . . . . . . 2-5

3Connector Connection

3.1 Opening the Front Door . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.2 Sensor Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.3 Closing the Front Door . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

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