Motoman NX100 User manual

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: [phone]
FAX: [phone]
24-Hour Service Hotline: [phone]
Motoman NX100 Controller
Search Function
User’s Manual
Part Number: 150010-1CD
Revision 0

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,
Inc.
©2007 by MOTOMAN
All Rights Reserved
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.
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Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you
received with your Motoman robotic solution.
To participate, go to the following website:
http://www.motoman.com/forms/techpubs.asp

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This manual provides instructions for the Search Function and contains the following
sections:
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Provides general information about the structure of this manual, a list of reference documents,
and customer service information.
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This section provides information regarding the safe use and operation of Motoman products.
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For additional information refer to the following:
• NX100 Controller Manual (P/N 149201-1)
• Concurrent I/O Manual (P/N 149230-1)
• Motoman Manipulator Manual
• Operator’s Manual for your application
• Vendor manuals for system components not manufactured by Motoman

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If you are in need of technical assistance, contact the Motoman service staff at [phone].
Please have the following information ready before you call:
• Robot Type (Search Function)
• Application Type (arcwelding, spot welding, handling)
• Robot Serial Number (located on back side of robot arm)
• Robot Sales Order Number (located on back of controller)

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YASKAWA
YASKAWA MANUAL NO. HW0482008 1
NX100 OPTIONS
INSTRUCTIONS
FOR SEARCH 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.

ii
HW0482008
• This manual explains the search function of the NX100. Read this man-
ual 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 rep-
resentative 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 prod-
uct’s warranty.
MANDATORY
CAUTION

iii
HW0482008
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 dam-
age 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

iv
HW0482008
• 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 program-
ming 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 dur-
ing operation. Always press an emergency stop button immediately if there are prob-
lems.The emergency stop buttons are located on the right of the front door of the NX100
and the programming pendant.
WARNING
TURN

v
HW0482008
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 manip-
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 cabi-
net 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

vi
HW0482008
Descriptions of the programming pendant keys, buttons, and displays 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]
Displays The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
PAGE
GO BACK

vii
HW0482008
1Search Function
2Wiring
2.1 Direct IN Signal Connection to NX100 . . . . . . . . . . . . . .2-1
2.2 Direct IN Signal Connection of More than One
Manipulator to NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.3 Confirmation of Direct IN Signal Status . . . . . . . . . . . . .2-4
2.3.1 RIN INPUT Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
3Instructions
3.1 SRCH (Search Instruction) . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.2 GETS (System Variable Fetch Instruction) . . . . . . . . . .3-1
3.2.1 System Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3 CNVRT (Position Type Variable Conversion
Instruction). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3.1 PX Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
4Registration of Instructions
4.1 SRCH Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.2 GETS Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.3 CNVRT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
5Alarm List
6Instruction List

1-1
HW0482008
1Search Function
The search function moves the manipulator to a specified position and stops it when a speci-
fied direct input signal comes ON.
Position data at the point the manipulator stops can be taken-in. This information can be used
with other instructions, for instance, to obtain the distance from a goal position and modify
operation accordingly.
<Example> A manipulator performs a handling operation of panels.
1. The manipulator moves to the search starting position.
2. The manipulator moves to the goal position in the search operation at low-speed.
When the manipulator comes to the position to take the panel, a input signal (Direct-IN
signal) from the sensor comes ON, then the manipulator stops. At this moment, the
difference between the search starting position and the detected position is calculated.
Panel
Search
starting
position
Stocker
Direct IN signal

1-2
HW0482008
3. On the base of the calculated difference, the program is modified to proceed the oper-
ation.

2.1 Direct IN Signal Connection to NX100
2-1
HW0482008
2Wiring
The output signal of the sensor is connected to the direct-input signal input port of NX100.
The signal input from this port is called a direct IN signal.
The output signal of the sensor can be connected via a sequencer to the direct-input signal
input port. However, in this case, variation due to the scanning timing of the sequencer may
be caused. Therefore, it is recommended to connect the output signal of the sensor directly to
the port of NX100.
2.1 Direct IN Signal Connection to NX100
Connect the direct IN signal to the NX100 in the following manner.
1. Turn the breaker handle of NX100 to the OFF position to turn OFF the main power sup-
ply.
2. Open the door of the NX100 and connect the direct IN signals to the robot system input
terminal block (MXT) which is located at the bottom as shown in "Fig. 1 Configuration
of the NX100".
For connection of the direct IN signals, refer to "Fig. 2 Direct IN Signals Connection
Diagram".
Fig. 1 Configuration of the NX100
Major axes control circuit board
SGDR-AXA01A
Control power supply
CPS-420F
Robot I/F unit
JZNC-NIF01
CPU unit
JZNC-NRK01
SERVOPACK
Breaker
Robot system input
terminal block (MXT)
Power supply
contactor unit