Nachi EZ-CFDL Series User manual

CFD/CFDL CONTROLLERCFD/CFDL CONTROLLER
INSTRUCTION MANUALINSTRUCTION MANUAL
SETUP MANUALSETUP MANUAL
・・
Before attempting to operate the robot, please read through this operating manualBefore attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the textcarefully, and comply with all the safety-related items and instructions in the text
..
・・
The installation, operation and maintenance of this robot should be undertaken onlyThe installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot courseby those individuals who have attended one of our robot course
..
・・
When using this robot, observe the low related with industrial robot and withWhen using this robot, observe the low related with industrial robot and with
safety issues in each country.safety issues in each country.
・・
This operating manual must be given without fail to the individual who will be actuallyThis operating manual must be given without fail to the individual who will be actually
operating the robotoperating the robot
..
・・
Please direct any queries about parts of this operating manual which may not bePlease direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to anycompletely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.of the service centers listed on the back cover.
6th edition6th edition
1612, TCFEN-159-006, 0011612, TCFEN-159-006, 001

Table of ContentsTable of Contents
Table of ContentsTable of Contents
IMPORTANTIMPORTANT
For EZ-CFDL seriesFor EZ-CFDL series
In case of the In case of the
EZ-CFDL serEZ-CFDL ser
ies, please read the chapter 8 ies, please read the chapter 8
first.first.
Some setup procedures are not the same with other robot Some setup procedures are not the same with other robot
series.series.
Chapter 1Chapter 1
Point on SafetyPoint on Safety
1.11.1
For safely use the roboFor safely use the robo
t systemt system
....................................................................................................................................................................................
..........................
1-11-1
1.1.11.1.1
Symbols used in all instruction manuals....................................................................................1-1Symbols used in all instruction manuals....................................................................................1-1
1.1.21.1.2
General precauGeneral precau
tions for safely use the robot systemtions for safely use the robot system
................................................................1-2................................................................1-2
1.1.31.1.3
Safety Measures on manipulator...............................................................................................1-4Safety Measures on manipulator...............................................................................................1-4
1.1.41.1.4
Safety measures in teaching and inspectioSafety measures in teaching and inspectio
nn
......................................................................................................................................................
....
1-51-5
1.1.51.1.5
Safety measures in test run.......................................................................................................1-8Safety measures in test run.......................................................................................................1-8
1.1.61.1.6
Safety measures in auto operatioSafety measures in auto operatio
nn
....................................................................................................................................................
....................................
1-81-8
1.1.71.1.7
Brake Positive Release.........................................................................................................Brake Positive Release.........................................................................................................
......
1-101-10
1.1.81.1.8
Movement, alienatioMovement, alienatio
n and selling of n and selling of
robot system ..................................................................1-10robot system ..................................................................1-10
1.1.91.1.9
StoraStora
ge of ge of
robot system...........................................................................................................1-10robot system...........................................................................................................1-10
1.1.101.1.10
Disposition of Disposition of
Robot systemRobot system
......................................................................................................................................................................
..................................
1-101-10
1.1.111.1.11
Labels and marks on Labels and marks on
manipulatomanipulato
r and controller ....................................................................1-12r and controller ....................................................................1-12
1.21.2
Precautions for undertakinPrecautions for undertakin
g work inside the g work inside the
manipulatomanipulato
r’s work r’s work
area ..........................................1-14area ..........................................1-14
Chapter 2Chapter 2
Transportation and InstallationTransportation and Installation
2.12.1
From the installation work to the teaching work...............................................................................2-1From the installation work to the teaching work...............................................................................2-1
2.22.2
Installation of this controller.........................................................................................Installation of this controller.........................................................................................
..........................................
2-22-2
2.2.12.2.1
Environment...............................................................................................................................2-2Environment...............................................................................................................................2-2
2.2.22.2.2
Install dimensionInstall dimension
s of robot controlles of robot controlle
rr
.........................................................................................2-2.........................................................................................2-2
2.32.3
Robot installation.............................................................................................................Robot installation.............................................................................................................
..................................
2-32-3
2.42.4
Robot connection ...............................................................................................................Robot connection ...............................................................................................................
............................
2-42-4
2.4.12.4.1
Connection of CNR01 and CNR04............................................................................................2-4Connection of CNR01 and CNR04............................................................................................2-4
2.4.22.4.2
Connection of CNR10 Connection of CNR10
(option) .....................................(option) .....................................
.............................................................2-5.............................................................2-5
2.52.5
TT
each pendant (TP) connectioneach pendant (TP) connection
................................................................................................................................................................................
..............................
2-62-6
2.62.6
External equipment connection..................................................................................................External equipment connection..................................................................................................
............
2-72-7
2.6.12.6.1
Cable connCable conn
ectionection
....................................................................................................................................................................
.....................................2-7.....................................2-7
2.6.22.6.2
TT
o start the program using the external PLC etc.o start the program using the external PLC etc.
......................................................................2-7......................................................................2-7
2.72.7
Primary power and the Primary power and the
grounding connectiogrounding connectio
n .................................................................................2-8n .................................................................................2-8
2.7.12.7.1
Prior to Primary powePrior to Primary powe
r supply connectionr supply connection
ss
...............................................................................2-8...............................................................................2-8
2.7.22.7.2
Assembling the Assembling the
Primary power Primary power
supply cable..........................................................supply cable..........................................................
......................................
2-92-9
2.7.32.7.3
Connecting the PrimConnecting the Prim
ary power supply cablary power supply cabl
ee
...........................................................................2-10...........................................................................2-10
2.7.42.7.4
GroundingGrounding
..................................................................................................................................................................
...............................................2-10...............................................2-10
2.82.8
Safety-related siSafety-related si
gnal connectiongnal connection
ss
....................................................................................................................................................................
................................
2-12-1
11
2.8.12.8.1
Sequence board .................................................................................................................Sequence board .................................................................................................................
..........
2-12-1
11
2.8.22.8.2
TT
erminal block TBEX1 and TBEX2erminal block TBEX1 and TBEX2
..............................................................................................................................................................
......................
2-122-12
2.8.32.8.3
Pin layout of the terminal block TBEX1 and TBEPin layout of the terminal block TBEX1 and TBE
X2X2
................................................................2-13................................................................2-13
2.8.42.8.4
Electrical specification oElectrical specification o
f input terminal blockf input terminal block
.........................................................................2-16.........................................................................2-16

Table of ContentsTable of Contents
2.8.72.8.7
Emergency stop output conneEmergency stop output conne
ction (TBEX2 : 1-2, 3-4)...........................................................ction (TBEX2 : 1-2, 3-4)...........................................................
2-202-20
Chapter 3Chapter 3
SetupSetup
3.13.1
How to read “ChHow to read “Ch
apter 3 Seapter 3 Se
tup”tup”
......................................................................................................................................................................
..........................................
3-13-1
3.23.2
ConfiguratioConfiguratio
nn
............................................................................................................................................................
......................................................3-2......................................................3-2
3.2.13.2.1
Setting of the installation angle of the robot ..............................................................................Setting of the installation angle of the robot ..............................................................................
3-23-2
3.33.3
Mounting a tool................................................................................................................Mounting a tool................................................................................................................
..................................
3-63-6
3.3.13.3.1
Mounting Mounting
a tooa too
ll
..............................................................................................................................................................
...........................................3-6...........................................3-6
3.43.4
Encoder reset and encoder correction...........................................................................................Encoder reset and encoder correction...........................................................................................
....
3-83-8
3.4.13.4.1
Encoder Reset procedure........................................................................................................3-10Encoder Reset procedure........................................................................................................3-10
3.4.23.4.2
Encoder Correction procedure ................................................................................................Encoder Correction procedure ................................................................................................
3-13-1
11
3.53.5
TT
ool ool
constant settingsconstant settings
..........................................................................................................................................................
................................................................................
3-143-14
3.5.13.5.1
TT
ool ool
name ................................................................................................................................3-15name ................................................................................................................................3-15
3.5.23.5.2
TT
ool ool
length.............................................length.............................................
..............................................................................................................................................
........................
3-163-16
3.5.33.5.3
TT
ool ool
angle............................................angle............................................
..................................................................................................................................................
........................
3-243-24
3.5.43.5.4
Center of gravity (COG) and weight of Center of gravity (COG) and weight of
tool .......................................................tool .......................................................
............................................
3-263-26
3.5.53.5.5
TT
ool’s moment of ool’s moment of
inertia...........................................................................................................3-32inertia...........................................................................................................3-32
3.5.63.5.6
Max, radius of tool ...................................................................................................................3-40Max, radius of tool ...................................................................................................................3-40
3.5.73.5.7
TT
ool ool
conversion................................................................................................................conversion................................................................................................................
................
3-413-41
3.63.6
Signal attribute settingSignal attribute setting
ss
................................................................................................................................................................................
....................................................
3-433-43
3.6.13.6.1
StanStan
dard signal dard signal
attributes assignment.................................................................................attributes assignment.................................................................................
........
3-443-44
3.6.23.6.2
StanStan
dard input dard input
signals ..............................................................................................signals ..............................................................................................
..............................
3-453-45
3.6.33.6.3
Standard output signaStandard output signa
lsls
..............................................................................................................................................................
........................................................
3-453-45
3.6.43.6.4
How to copy the I/O settings between the coHow to copy the I/O settings between the co
ntrollersntrollers
.............................................................3-46.............................................................3-46
3.73.7
Concerning the qualifications of the Concerning the qualifications of the
operators......................operators......................
.........................................................3-51.........................................................3-51
3.7.13.7.1
Operation Operation
qualificationqualification
ss
..........................................................................................................................................................
............................................................
3-513-51
3.7.23.7.2
Procedure for changing the operator qualificatioProcedure for changing the operator qualificatio
ns.................................................................ns.................................................................
3-523-52
3.7.33.7.3
How to change the How to change the
passwords ............................................passwords ............................................
........................................................................................................
3-533-53
3.7.43.7.4
How to set the operator qualifications class at power-on........................................................How to set the operator qualifications class at power-on........................................................
3-543-54
3.83.8
I/O area mapping function..............................................................................................................3-55I/O area mapping function..............................................................................................................3-55
3.8.13.8.1
I/O area mapI/O area map
pingping
....................................................................................................................................................................
...................................3-55...................................3-55
3.8.23.8.2
Relation with software PLC......................................................................................................3-58Relation with software PLC......................................................................................................3-58
3.8.33.8.3
Setting method.................................................................................................................Setting method.................................................................................................................
................
3-593-59
3.8.43.8.4
Example 1 : Using only field bus as external I/O signals with PLC disconnected...................Example 1 : Using only field bus as external I/O signals with PLC disconnected...................
3-613-61
3.8.53.8.5
Example 2: Using only I/O boaExample 2: Using only I/O boa
rd 1 – field bus CH1 with PLC disconnecterd 1 – field bus CH1 with PLC disconnecte
dd
....................................................
3-623-62
3.8.63.8.6
Example 3: Forcibly inputting / outputtinExample 3: Forcibly inputting / outputtin
g signals of I/O board 1 as I1-I32 with PLC enabledg signals of I/O board 1 as I1-I32 with PLC enabled
3-633-63
3.93.9
High Speed InterfeHigh Speed Interfe
rence Detectionrence Detection
..........................................................................................................................................................
......................................
3-643-64
3.9.13.9.1
Outline of High SpeOutline of High Spe
ed Interference Detection.........................................................................ed Interference Detection.........................................................................
3-643-64
3.9.23.9.2
Applied machiApplied machi
ne types.....................................................ne types.....................................................
........................................................3-64........................................................3-64
3.9.33.9.3
Parameters that must be set in advance to use this function..................................................Parameters that must be set in advance to use this function..................................................
3-643-64
3.9.43.9.4
“Interference setting” screen..................................................................................................“Interference setting” screen..................................................................................................
....
3-653-65
3.9.53.9.5
Switching Detection Level by Function....................................................................................3-66Switching Detection Level by Function....................................................................................3-66
3.9.63.9.6
As for the mistaAs for the mista
ke in interferenke in interferen
ce detection ce detection
............................................................................3-66............................................................................3-66
3.9.73.9.7
TroubTroub
le shootingle shooting
..........................................................................................................................................................................
..................................................................
3-663-66
3.103.10
Setting the applicaSetting the applica
tion typetion type
........................................................................................................................................................................
................................................
3-673-67
3.113.11
Setting the [CLAMP / ARC] key ..................................................................................................Setting the [CLAMP / ARC] key ..................................................................................................
......
3-693-69
3.123.12
Setting the softwarSetting the softwar
e limit (operating rae limit (operating ra
nge)nge)
...................................................................................3-71...................................................................................3-71
3.12.13.12.1
Outline......................................................................................................................................3-71Outline......................................................................................................................................3-71
3.12.23.12.2
[Position record] screen settings .............................................................................................3-72[Position record] screen settings .............................................................................................3-72

Table of Contents
3.14
User coordinate system .........................................................................................................
........
3-75
3.14.1
Setting ex
ample
.............................................................................
..........................................3-75
3.14.2
Statio
nary tool
.....................................................................................
.....................................3-80
3.15
How to copy the soft-key settings between the controllers............................................................
3-83
3.15.1
Exporting the setting file ..........................................................................................................3-83
3.15.2
Importing the setting file...........................................................................................................3-85
3.16
Operation co
ndition
......................................................................................
..................................
3-86
3.16.1
Operation condition............................................................................................................
......
3-86
3.17
Setting the “Playback speed limit”..................................................................................................3-87
3.17.1
Setting......................................................................................................................................3-87
3.17.2
How to chan
ge the p
assword
............................................................................
......................
3-88
3.17.3
Playback
mode
................................................................................
........................................3-88
3.17.4
T
each mode
......................................................................................
.......................................3-88
3.18
Position resume setting........................................................................................................
..........
3-89
3.18.1
Setting......................................................................................................................................3-89
3.18.2
Position reco
very at Ser
vo ON
............................................................................................
....
3-90
3.19
Collision detection
command
........................................................................................
.................
3-91
3.19.1
Outline......................................................................................................................................3-91
3.19.2
Example of the operation.......................................................................................................
..
3-91
3.19.3
Settings for the conditions for the
Collision detection..................................................
............
3-92
3.19.4
Application comm
and “FN31 C
OLDET”
..................................................................................3-93
3.19.5
Sta
tus ICON
.......................................................................................
......................................3-93
3.19.6
Collision torque monitor.......................................................................................................
....
3-94
3.19.7
Troub
le shooting
.....................................................................................
.................................
3-94
3.20
User help
function ....................................
.........................................................................
.............
3-95
3.20.1
Outline......................................................................................................................................3-95
3.20.2
Available im
age file for
mats.....................................................................................................
3-95
3.20.3
How to register the
image file
......................................................................................
............
3-96
3.20.4
How to display the user help image..................................................................................
.......
3-97
3.20.5
Setting
file
“USERHELP
.con”...................................................................................................
3-99
3.20.6
Troub
le shooting
.....................................................................................
.................................
3-99
Chapter 4
Preparations for automatic operation
4.1
Home position registration .....................................................................................................
..........
4-1
4.1.1
Home position............................................................................................................................4-1
4.1.2
Home position reg
istration by referen
cing the program
............................................................4-2
4.1.3
Home position registratio
n by manual recording
.......................................................................4-5
4.1.4
Home position r
egistration by n
umeric input
...........................................................................
..
4-6
4.2
Registering St
art Enable Area
...........................................................................
...............................
4-7
4.2.1
Registering the start enable area ..............................................................................................4-7
4.2.2
Checking the unit if it is
in the start enable area........................................................................4-8
4.2.3
Checking which axis is out of the start ena
ble area
..................................................................4-8
4.3
READY status o
utput signal
s
......................................................................................
.....................
4-9
4.3.1
Controller READY signals....................................................................................................
......
4-9
4.3.2
Unit READY signal.....................................................................................................
................
4-9
4.3.3
Statu
s
output signals..........................................................................................................
......
4-1
1
4.4
Interference T
erritory registration
.......................................................................................
............
4-14
4.4.1
Registering the
interference T
erritory ......................................................................................4-14
4.4.2
Utilizing the
Interference T
erritory............................................................................................4-17
4.4.3
Application exa
mple of “Inter
ference rang
e” setting................................................................
4-17

Table of Contents
Chapter 5
Connection to Ethernet
5.1
Outline
......................................................................................
........................................................5-1
5.1.1
Outline........................................................................................................................................5-1
5.1.2
Network
setting
....................................................................................
......................................5-1
5.1.3
Connection
of Ethernet
cable
.................................................................................
...................
5-2
5.1.4
File tran
sfer process
...........................................................................
.......................................5-2
5.2
Ethernet
setting
............................................................................
....................................................5-3
5.2.1
TCP/IP setting.............................................................................................................
...............
5-3
5.2.2
FTP setting....................................................................................................................
.............
5-5
5.3
File transfer (FTP client).....................................................................................................
..............
5-7
5.3.1
Registrations of FTP Server (Host) ..........................................................................................
.
5-7
5.3.2
File download..............................................................................................................
...............
5-9
5.3.3
File
upload ....................................................
...........................................................................
5-1
1
5.3.4
Referent
Log
.......................................................................................
.....................................5-12
5.4
File transfer (FTP
server)
...................................................................................
............................
5-13
Chapter 6
Initial setting with Compact TP
6.1
Setup of the robot.............................................................................................................
................
6-1
6.1.1
Encoder rese
t and encode
r correction
......................................................................................6-1
6.2
Setup of the co
ntroller
............................................................................
..........................................
6-5
6.2.1
Display
language
.............................................................................
..........................................6-5
6.2.2
Ethernet
(TCP/IP)
......................................................................
................................................6-6
6.2.3
T
each pendant setting (LCD Contrast)
......................................................................................6-8
Chapter 7
Synchro-motion function setup
7.1
Outline
......................................................................................
........................................................7-1
7.2
Setting procedur
e
......................................................................
.......................................................7-3
7.2.1
How to initialize the
memory of the controller (outline)........................................................
......
7-3
7.2.2
Enabling the Synchro-motio
n function.......................................................................................
7-6
7.2.3
Setting the “Operation stan
dard” and the “S
peed standar
d”
.....................................................
7-7
7.2.4
Setting the installation position and the angle of the mechanisms............................................
7-9
7.3
Supplemen
tal items
..................................................................................
......................................
7-1
1
7.3.1
The “Distance based shortcut motion” and the “Speed Pilling Rate based shortcut motion”..
7-1
1
7.3.2
Changing the operation mode of the
Synchromotion (manu
al operation) ..............................
7-12
7.3.3
Simultaneo
us control
and Synchronization control (Synchro-motion).....................................7-13
7.3.4
What is the
“Operation stand
ard mechanism”?.......................................................................7-14
7.3.5
What is
the “Speed standar
d mechanism”? ............................................................................7-14
Chapter 8.
Setup procedure for EZ-CFDL series
8.1
Combination
s of
CFDL controller and EZ series..............................................................................8-1
8.1.1
Combination patterns...............................................................................................
..................
8-1
8.1.2
(A) “CFDL1-0
000” + O
ne Robot
......................................................................................
..........
8-2
8.1.3
(B) “CFDL2-0000” + T
wo robots
.....................................................................................
...........
8-2
8.1.4
(C) “CFDL4-0000
” + Four robots
....................................................................................
...........
8-3
8.1.5
(D) “CFDL4-0020” + Two robo
ts
.....................................................................................
...........
8-3
8.2
Installation of the CFDL
Controller
8-4

Table of Contents
8.2.2
Installation procedure and place............................................................................
....................
8-4
8.3
Installation of the Robot (EZ series)....................................................................................
.............
8-5
8.4
Connection of the robot....................................................................................................................8-6
8.4.1
(A) “CFDL1-0
000” + O
ne Robot
......................................................................................
..........
8-6
8.4.2
(B) “CFDL2-0000” + Two Robo
ts...............................................................................................
8-6
8.4.3
(C) “CFDL4-0000
” + Four robots
....................................................................................
...........
8-7
8.4.4
(D) “CFDL4-0020” + Two robo
ts
.....................................................................................
...........
8-8
8.4.5
Connections of CNR010 (Option).....................................................................................
.........
8-9
8.5
Connections of the T
each Pendant
...............................................................................................
.
8-10
8.6
Connection of the External Devices...............................................................................................
8-1
1
8.6.1
Connection of th
e cables
......................................................................................
...................
8-1
1
8.6.2
How to start up the controller from the external PLC and etc..................................................
8-1
1
8.7
Connection of the Primary power and the grounding (CFDL)........................................................8-12
8.7.1
Before connecting to the Primar
y Power
..........................................................................
.......
8-12
8.7.2
Processing of the Power cab
le
...............................................................................
.................
8-12
8.7.3
Grounding
.................................................................................
...............................................8-12
8.8
Sequence bo
ard UM396
......................................................................................
..........................
8-13
8.8.1
Sequence board UM396..........................................................................................................8-13
8.8.2
Pin layout of
TBEX1 and
TBEX2
....................................................................................
.........
8-14
8.8.3
JP1 setting (Selection of the
power source for the Emergency Stop circuit) ..........................8-14
8.8.4
Setting of the SW1 (Robot number) ........................................................................................8-15
8.8.5
Mini I/O (8 points + 8 points)....................................................................................................8-16
8.8.6
When using CC-L
ink, DeviceNet etc. (Fie
ldbus options)
........................................................8-16
8.9
CFDL memory format operation (Initialization) ........................................................................
......
8-17
8.9.1
How to register the Mechanisms (Robots) to the robot controlle
r
...........................................
8-17
8.9.2
Set the installation place (Floor / Ceiling installa
tion)
..............................................................8-18
8.9.3
Register the Unit to the contro
ller
....................................................................................
........
8-19
8.9.4
Set the correspondence of the mechan
ism and the amplifier
.................................................
8-21
8.9.5
Set the
installation posture ..............
.....................................................................................
...
8-22
8.10
Installation of the tool .....................................................................................................................8-25
8.10.1
Installation of the tool...............................................................................................................8-25
8.11
Encoder reset and encoder correction...........................................................................................8-26
8.12
Setting of the T
ool Constant
.................................................................................
..........................
8-27
8.12.1
T
ool
length.............................................
.......................................................................
............
8-27
8.12.2
T
ool
angle............................................
.........................................................................
............
8-29
8.12.3
T
ool COG/
Mass .................................................................................................................
.....
8-30
8.12.4
T
ool
inertia moment
........................................................................................
.........................
8-32
8.12.5
T
ool Maximum Rotation Radius
.............................................................................................
..
8-32

Table of Contents
NOTE

Chapter
1
Point
on
Safety
This chapter explains the safety precautions to be observed when handling
the robot
system. This section describes general precautions and procedures on safety but
does not show all of
the safety measures. Therefore, it is necessary for customers to
prepare yourself a safety control standard including your own operational regulations
in accordance with the actual working environment and to conduct safety control in
order to secure the operators'
safety.
1.1
For safely use the robot system.....................................................................
1-1
1.1.1
Symbols used in a
ll instruction manuals
................................................
1-1
1.1.2
General precautions for safely use the robot system.............................
1-2
1.1.3
Safety M
easures
on manipulator
..........................................................
.
1-4
1.1.4
Safety me
asures in t
eaching and in
spection
.........................................
1-5
1.1.5
Safety meas
ures in
test run
........................................................
...........
1-8
1.1.6
Safety m
easures in
auto operation
.......................................................
.
1-8
1.1.7
Brake Positive Release........................................................................
1-10
1.1.8
Movement, alienation and s
elling of robot system
...............................
1-10
1.1.9
Storage of robot system.......................................................................
1-10
1.1.10
Disposition
of Robot
system
.......................................................
.........
1-10
1.1.11
Labels and marks
on manipulator and controller
.................................
1-12
1.2
Precautions for undertaking work inside the manipulator’s work area.........
1-14

ぺージあわせのため白文字（白文字のため印刷されないなの
で気にしないでください。削除しないでください。
）

1.1 For safely use the robot
1.1
For
safely
use
the
robot
system
Before using a robot system, read this manual
and all other
attached documents carefully, and make sure you
understand the correct information on the equipment
and safety precautions.
1.1.1
Symbols
used
in
all
instruction
manuals
Safety information to prevent the injury to personnel and/or damage to equipment is classified
by the following symbols.
DANGER
Precaution indicating cases where there is a risk of
operator fatality or serious injury if
handling is mistaken. Always observe these precautions to safely use the robot.
WARNING
Precaution indicating cases where the operator could be
subject to fatalities or serious
injuries if handling
is mistaken. Always observe these precautions to safely use the robot.
CAUTION
Precaution indicating cases where operator could be subject to injury or physical
damage could occur if handling
is mistaken. Always observe these precautions to safely
use the robot.
The following symbols are also used for
important checkpoints:
IMPORTANT
A particularly important c
heckpoint is shown.
INFO.
Useful information is shown.
POINT
Info for deeper understanding for
the main text is shown.

3.4Encoder reset and encoder
correction
3.4.2
Encoder Correction procedure
1
Upon completion of the encoder
resetting, proceed with the encoder correction.
Press f9 <Encoder Correct>.
>>
The screen which appeared immediately after [3 Machine Constants] [4 Encoder
Correction] were selected is restored.
2
Either "Data Input" or "Position Record" can be used as the method for encoder
correction.
Correction
method
Details
Position
Record
In this screen, the mechanical position is regarded
as a reference
position for the axis when
[Enter] and [REC] keys are pressed and
then the encoder correction value is calculated and
set.
Select this method at a production
process or when a motor or
mechanism is to be replaced. Be absolutely sure to
perform the
operations with the robot placed in a posture where the all axes are
aligned to the "reference position".
The correction value is input by pressing
[Enter] followed by [REC]. (These values are
input for each axis.)
Encoder value (in hexadecimal
notation) after correction
An
gle (deg
.) of each a
xis
Data Input
Use this method when the encoder correction values are already
known.
An "encoder correc
tion value which is already k
nown" is a
post-mastering encoder correction value which is
provided inside
the controller when the robot
is shipped from the factory.
Therefore, cases where this screen is used to set
the values after
shipment are as follows;
• When the encoder battery has
been replaced
• After the controller's memory has been
formatted
When these values are input, it is acceptable for the robot to be in
any position and any posture.
The encoder correction value is
input (in decimal notation) here.
Encoder value (in decimal
notation) after correction
Angle (deg.) of
each axis

3.4Encoder reset and encoder correction
3
The "Position Record" method is described here.
Press f8 <Record Position>.
>>The screen now changes.
4
After confirming that the axis is
mechanically aligned to the
reference position, align the
cursor with the axis whose encoder is to be corrected, and press [Enter] followed by
[REC].
If the robot axes are not equipped with a brake, press [Enter] and [REC] while keeping
the servo power ON ([ENABLE SWITCH]). (If all the axes of the
robot are equipped with
a brake, this operation may be
performed with the servo power OFF
.)
*
Encoder correction ca
nnot be implemented for all the axes together so repeat thes
e
operations for each axis in turn.
5
At this stage, the encoder c
orrection values are st
ill not saved in the memory
.
To save them, first turn the motor power OFF (by pressing [EMERGENCY STOP
BUTTON]).
Then press f12 <Complete>.
INFO.
If "Reference position check program". is
not recorded in
memory
, it
is recommended to
record this "Reference pose" (a pose in which the all axes are aligned to the reference
positions) to program 9999 as a "Reference position check program". This program is
convenient to check if the all axes of the robot are correctly set to the reference position
respectively.
WARNING
This work includes some jobs that should be conducted with the motors ON.
Consequently
, be sure to
conduct the work at least by
a pair of two p
ersons. One person
must stay on guard to press an Emergency Stop button at any time, while the other
person must promptly finish the work with thorough attention paid to the robot operating
area. Furthermore, prior to starting the work, check for escape route. If this procedure is
omitted, operator may be caught or
pinched by the robot parts, possibly resulting in
death
or serious injury.
CAUTION
As for the robot using “Zeroing
pin and block”, check to be
sure that the zeroing pin
has
been removed and then operate the robot. Note that operating the robot
with the zeroing
pin inserted may bend the pin or deform the hole for this pin, thus disabling proper
positioning of the zeroing pin.

3.4Encoder reset and encoder
correction
Fig. 3.4.1
A
Pose to
insert the
zeroing pin
(An exam
ple of MZ07)
This figure indicates that all axis
in the reference position.
Axis 5 zeroing pin
Inserting position of Axis 5 zeroing pin
Inserting position of Axis 3 zeroing pin
Axis 3 zeroing pin
Axis 6 zeroing block
Axis 4 zeroing block
Axis 1 zeroing pin
Axis 2 zeroing pin
Inserting position of
Axis 2 zeroing pin
Inserting position of Axis 6 zeroing
block
Inserting position of Axis 4 zeroing
block
Inserting position of Axis 1 zeroing pin

3.5 Tool constant settings
3.5
T
ool
constant
settings
The “tool constants” refer to a set of parameters including the length, angle, center of gravity, weight and
moment of inertia of the installed tool. These parameters are extremely important for ensuring precise linear
operations and appropriate acceleration/deceleration control. Before moving the robot, read carefully through
the instructions in this section and take the
steps described without fail. Tool constants for up to 32
tools can be
stored in this controller’s memory. If an application involves the use of a multiple number of tools, perform the
settings for all the tools
concerned.
CAUTION
Continued use under the wrong settings for the center of gravity, weight and tool’s
moment of inertia may fatally damage the machine. Perform the settings set forth in this
section without fail.
The settings must be performed even for small and/or lightweight tools. The same
settings used for a large tool cannot be used for a small tool.
Table 3.5.1 Tool constants
Name
This constant is the length up to the tool tip in the TCP coordinate system (X, Y
and Z components of the tool tip). It is absolutely necessary in order to ensure
precise linear movements.
When the
tool length automatic setting function
is used, the tool length can
be ascertained automatically using the already created program.
Length
Angle
Center of gravity
(COG)
And weight
Moment of inertia
Maximum rotation
radius
This constant is for setting the inclination of the tool tip in the TCP coordinate
system using the X, Y and Z axis rotation components. It proves useful since,
when teaching, the tool can be operated manually in the direction in which it is
pointing. When the
tool angle
simple setting function
is used, the tool angle
can be s
et easily.
This constant is for setting the tool's center of gravity position in the TCP
coordinate system and its weight. It is required in order to ensure appropriate
acceleration/de
celeration
control.
The constant is set using the
tool center of gravity (COG) and weight
automatic setting
func
tion
. (The weight of a tool cannot be input manually.)
MANDATORY
MANDATORY
MANDATORY
MANDATORY
A name
can be set for ea
ch of the
tools. A
tool name may consist
of not more
than 16 alphanumerics and symbols. (Japanese characters cannot be used.)
This constant is for setting the moment of inertia around the center of gravity in
the TCP
coordinate system using the X, Y and Z components. It must be set if the
moment of inertia has exceeded the allowable value.
When the
tool moment of inertia simple setting function
is used, the
moment of inertia can be set easily by designating the tool shape.
This constant is the max. radius of the tool. It is used to check the territory, etc.
Tool constants

3.5 Tool constant settings
Common operating procedure for setting tool
constants
(With the exception of the tool weight, all of the tool constants are set on the same screen shown below.)
1
Select the teach mode.
2
Select <Constant Setting>- [3 Machine constants] -
[1 Tool constants].
>>The tool constant input screen resembling the one
shown below now appears.
3
Align the cursor with the
desired position, input a number (such as 1),
and then
press the [Enter] key.
4
To change the tool number, press the page up or down key.
5
Upon completion of the settings, press the
<Complete> key. The settings are
now saved in the constant file.
>>Operation returns to the machine constant menu screen.
3.5.1
Tool name
With an application which involves the use of a multiple number of tools, the parameters become more
comprehensible if the name or model, for
instance, is registered here first.
It is not required to set the tool name. The initial setting may be used as is. (Initial setting: TOOL*
where “*” is
the tool number)
The tool name does not
appear on the programs display screen.
A tool name may con
sist of not more than 16 alphanume
rics and symbols.
Refer to the instruction manual;
“CFD/CFDL CONTROLLER INSTRUCTION MANUAL: BASIC OPERATIONS MANUAL"
(TCFEN-160)

3.5 Tool constant settings
3.5.2
Tool length
+X
+Y
+Z
Tool length
(X component)
Tool tip
+Z
+Y
+X
Tool coordinate
system
Tool length
(Z component)
The operations involved will be facilitated if the
upward direction of the tool is set as t
he Z (up)
direction and its forward direction is set as the
X (forward) direction si
nce these are the
directions used with the robot coordinates.
Define the tool coordinate system by rotating
the wrist coordinate system in such a way that
the above
is achieved.
Wrist coordinate
system
Coordinate system
defined on tool
instal
lation
surface
Fig. 3.5.1 Illustration of tool length and angle
The tool length is the coordinates of
the X, Y and Z component of the
tool tip in the
wrist coordinate system
.
Similarly, the tool angle expresses the inclination of the tool tip in the wrist coordinate system as the angle
of rotation around the X, Y and Z axes. The coordinate system defined by these parameters is called the
tool coordinate.
In the wrist coordinate system, the center of the tool installation surface serves as the zero point, and the
direction in which this surface is pointing
serves as the Z direction as is
shown above.
Measure the tool length
which was measured in accordance with the definition given above,
and input it.
However, if the tool dimensions are not known or high-accuracy interpolation operations are required by a
material handling application, for instance, use instead the method which automatically measures the tool
length.
For the
tool length automatic setting function
described next to be used, the basic teaching and
playback check jobs must be performed. Since these jobs cannot be done if the "BASIC OPERATIONS
MANUAL" has not yet been read, do not set the
tool length but use the initia
l setting as is and continue until
the end of the setup is reached.
After reading the Basic O
perations Manual, proceed with this
setting again.

3.5 Tool constant settings
Setting the tool length manually (numerical value input)
If the tool tip coordinates based on the wrist coordinate system is known, please input the values
following this procedure.
1
Select the teach mode.
2
Open <Constant Setting> - [3
Machine Constants] [1 Tool Constants].
3
Input the tool tip position based on
the wrist coordinate system.
(Input the X,Y, and Z value)
(See the example in the next page)
4
Upon completion of the settings, press the
<Complete> key. The settings are
now saved in the constant file.
>>Operation returns to the machine constant menu screen.
(NOTE) The “Complete” operation (=writing operation to the
internal memory) cannot
be executed if the
Motor Power Source Circuit is ON. Turn the Motor power source
circuit OFF by pressing the
[EMERGENC
Y STOP BUTTON] before pressing the
<Complete> key.

3.5 Tool constant settings
T
ool length setting example (1)
In this example, the center point
of the gripper is
used as the TCP (T
ool Center Point).
FRONT VIEW
SIDE VIEW
Based on the “Wrist coordinate system”, the TCP position
(=Tool length) is;
(x, y, z) = (0, -65, 190)
And,
if
the
“Wrist
coordinate
system”
is
rotated
like
the
following, the desired direction of the tool coordinate
system is acquired. (The order is z,y,x)
Around x axis
: 180 [deg]
Around y
, z axis
: No rotation (0[deg])
TOP VIEW
INFO.
Normally, accurate motion path of the TCP is not required for most of the handling
application. (Only the accurate position repeatability is required) So the setting accuracy of
the TCP coordinates does not matter. However, if the application requires accurate motion
path, please set the TCP position accurately referring to “Setting the tool length
automatically”.
Tool coordinate
system
+X
+Y
+Z
TCP
(x,y,z) = (0, -65, 190)
Wrist coordinate
system
+Y
+Z
+X
x = 0
(No offset)
The origin (0,0,0) of the Wrist
Coordinate System is the
flange center point.
For details, see P4-4.
y = -65
z = +190

3.5 Tool constant settings
T
ool length setting example (2)
In this example, the center point
of the deburring tool
is used as the TCP (Too
l Center Point).
SIDE
VIEW
SIDE
VIEW
Based on the “Wrist coordinate system”, the TCP position
(=Tool length) is;
(x, y, z) = (-210, 0, 110)
And,
if
the
“Wrist
coordinate
system”
is
rotated
like
the
following, the desired direction of the tool coordinate
system is acquired. (The order is z,y,x)
X
axis
:
180[deg]
Y
axis
:
-90[deg]
Z
axis
:
No
rotation
(0[deg])
TOP VIEW
Tool coordinate
system
+Z
+Y
+X
TCP
(x,y,z) = (-210, 0, 110)
y = 0
(No offset)
Wrist coordinate
system
+Y
+Z
+X
x = -210
The origin (0,0,0) of the Wrist
Coordinate System is the
flange center point.
For details, see P4-4.
z = +110