YASKAWA motoman NX100 User manual
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
Motoman NX100 Controller
ServoFloat
Function Manual
Part Number: 149648-10CD
Revision:1
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.
COMPLETE OUR ONLINE SURVEY
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 system information for the ServoFloat Control 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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Provides detailed information about the ServoFloat Control Function.
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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)
• 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 (937) 847-3200.
Please have the following information ready before you call:
• Robot Type (ServoFloat)
• 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. HW0482018
NX100 OPTIONS
INSTRUCTIONS
FOR SERVOFLOAT 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
HW0482018
• This manual explains the servofloat function of the NX100 system and
general operations. Read this manual carefully and be sure to under-
stand 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 Instruction 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
HW0482018
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
HW0482018
• 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 working envelope of the manipulator:
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power.
- Moving the manipulator with the programming pendant.
- Running the system in the check mode.
- Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the manipulator dur-
ing 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
v
HW0482018
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 manipulator’s work area, 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
Cable between the manipulator and the controller Manipulator Cable
CAUTION
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HW0482018
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.
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}
GOBACK
PAGE
vii
HW0482018
1Servofloat Function
1.1 Link Servofloat Function . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Linear Servofloat Function . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.3 Using the Link Servofloat Function and the Linear
Servofloat Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
2The Servofloat Function
2.1 Moving with the Move Instruction . . . . . . . . . . . . . . . . . . .2-2
2.2 Moving with the TIMER and WAIT Instructions. . . . . .2-3
2.3 Operation Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.4 When an Alarm Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.5 Display during Servofloat Operation . . . . . . . . . . . . . . . .2-4
2.6 Turning Servo ON Again During Servofloat
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
3Servofloat Condition Files
3.1 Link Servofloat Condition File . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Linear Servofloat Condition File. . . . . . . . . . . . . . . . . . . . .3-3
4Instructions for the Servofloat Function
4.1 FLOATON Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.2 FLOATOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.3 SPDL Tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
5Registration of Instruction
5.1 FLOATON Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 FLOATOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.3 Addition of SPDL Tag to a Move Instruction. . . . . . . . .5-3
viii
HW0482018
6Application Example of the Servofloat Function
6.1 Movement Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Job Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3 A Setting Example in the Linear Servofloat
Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.4 A Setting Example for the Link Servofloat
Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
1.1 Link Servofloat Function
1-1
HW0482018
1Servofloat Function
The servofloat function of the NX100 consists of the link servofloat function and the linear ser-
vofloat function. The link servofloat function controls the torque independently for each axis;
and the linear servofloat function controls the torque on the Cartesian coordinates. Select
these two functions by setting the servofloat instructions accordingly.
1.1 Link Servofloat Function
The link servofloat function works in combination with the position control and the torque con-
trol, whereas an ordinary control is a position control that generates torque to keep the taught
position regardless of the applied external force. “Torque control” keeps the taught position
only by using the torque against the gravitational and frictional forces. Therefore, a manipula-
tor moved by an external force will not return to its original position.
With the servofloat function, external force moves the manipulator since the torque control has
priority over the position control.
For example, when removing a workpiece from the die-casting machine, a large external force
is applied to the manipulator by the extruding cylinder when a workpiece is grasped and pulled
out. The servofloat function is used to protect the manipulator from excessive external force,
and the manipulator moves according to the force applied from the die-casting machine.
Note that the manipulator does not move exactly to the taught position or along the taught
path, because complete position control is not performed during execution of the servofloat
function.
1.2 Linear Servofloat Function
1-2
HW0482018
1.2 Linear Servofloat Function
When a manipulator pushes a workpiece or visa-versa, a movement to one predetermined
direction may be desirable. With the link servofloat function, a servofloat motion in one direc-
tion is not possible since torque control is performed independently for each axis.
This function can specify the control of force in one direction within a space.*1
When unloading a die-casting machine, this function is useful for considerably long ejection
distances or when polishing or grinding.
*1 When external force is applied, the R, B, and T-axes move the same as in the link
servo-float function.
Only the end of the U-axis moves in a linear motion.
1.3 Using the Link Servofloat Function and the Linear
Servofloat Function
Use the link servofloat function when high-ferquency noise, motor vibration, or unsteady
manipulator motion occur depending on the manipulator posture, speed, and movement direc-
tion.
• Tool load information setting
The servofloat function compensates for gravity in real-time in order to prevent the arms
from dropping due to gravity even when the generated torque is limited. For this purpose,
the tool load information used for gravity compensation must be set correctly. Otherwise,
the servofloat function cannot be performed properly and the arms may drop down or rise
up.
For the tool load infomation, refer to Section “9.11.3 Tool Load Information Setting” in the
NX100 INSTRUCTIONS (manual number: RE-CTO-A211) to correctly set the tool load
information.
NOTE
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