YASKAWA 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
Form Cut
Function Manual
Part Number: 149648-19CD
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

(QTO%WV

(KPCN RCIG

%JCRVGT
+PVTQFWEVKQP
 #DQWV6JKU&QEWOGPV
This manual provides information for the Form Cut option and contains the following
sections:
5'%6+10+06 1&7%6+10
Provides general information about the structure of this manual, a list of reference documents,
and customer service information.
5'%6+105#('6;
This section provides information regarding the safe use and operation of Motoman products.
5'%6+10(1 /%76+056 7%6+105
Provides detailed instructions for Form Cut option.
 GHGTGPEGVQ1VJGT&QEWOGPVCVKQP
For additional information refer to the following:
 1;&RQWUROOHU0DQXDO31
 &RQFXUUHQW,20DQXDO31
 2SHUDWRU·V0DQXDO RU\RXUDSSOLFDWLRQ
 9HQGRUPDQXDOV RUV\VWHPFRPSRQHQWVQRWPDQX DFWXUHGE\0RWRPDQ

(WPEVKQP/CPWCN
%JCRVGT +PVTQFWEVKQP
RCIG (KPCN

 %WUVQOGT5GTXKEG+PHQTOCVKQP
If you are in need of technical assistance, contact the Motoman service staff at [phone].
Please have the following information ready before you call:
 5RERW7\SH)RUP&XW
 $SSOLFDWLRQ7\SHDUFZHOGLQJVSRWZHOGLQJKDQGOLQJ
 5RERW6HULDO1XPEHUORFDWHGRQEDFNVLGHR URERWDUP
 5RERW6DOHV2UGHU1XPEHUORFDWHGRQEDFNR FRQWUROOHU

(QTO%WV

(KPCN RCIG

%JCRVGT
5CHGV[
 +PVTQFWEVKQP
+VKUVJGRWTEJCUGT UTGURQPUKDKNKV[VQGPUWTGVJCVCNNNQECNEQWPV[UVCVG
CPFPCVKQPCNEQFGUTGIWNCVKQPUTWNGUQTNCYUTGNCVKPIVQUCHGV[CPFUCHG
QRGTCVKPIEQPFKVKQPUHQTGCEJKPUVCNNCVKQPCTGOGVCPFHQNNQYGF
:HVXJJHVWWKDW\RXREWDLQDQGUHYLHZDFRS\R WKH$16,5,$1DWLRQDO6D HW\6WDQGDUG RU
,QGXVWULDO5RERWVDQG5RERW6\VWHPV7KLVLQ RUPDWLRQFDQEHREWDLQHG URPWKH5RERWLF,QGXVWULHV
$VVRFLDWLRQE\UHTXHVWLQJ$16,5,$57KHDGGUHVVLVDV ROORZV
5RERWLF,QGXVWULHV$VVRFLDWLRQ
9LFWRUV:D\
32%R[
$QQ$UERU0LFKLJDQ
7(/
)$;
,17(51(7ZZZURERWLFVRQOLQHFRP
8OWLPDWHO\WKHEHVWVD HJXDUGLVWUDLQHGSHUVRQQHO7KHXVHULVUHVSRQVLEOH RUSURYLGLQJSHUVRQQHO
ZKRDUHDGHTXDWHO\WUDLQHGWRRSHUDWHSURJUDPDQGPDLQWDLQWKHURERWFHOO7KHURERWPXVWQRWEH
RSHUDWHGE\SHUVRQQHOZKRKDYHQRWEHHQWUDLQHG
:HUHFRPPHQGWKDWDOOSHUVRQQHOZKRLQWHQGWRRSHUDWHSURJUDPUHSDLURUXVHWKHURERWV\VWHPEH
WUDLQHGLQDQDSSURYHG0RWRPDQWUDLQLQJFRXUVHDQGEHFRPH DPLOLDUZLWKWKHSURSHURSHUDWLRQR WKH
V\VWHP

(WPEVKQP/CPWCN
%JCRVGT 5CHGV[
RCIG (KPCN

7KLVVD HW\VHFWLRQDGGUHVVHVWKH ROORZLQJ
 6WDQGDUG&RQYHQWLRQV6HFWLRQ
 *HQHUDO6D HJXDUGLQJ7LSV6HFWLRQ
 0HFKDQLFDO6D HW\'HYLFHV6HFWLRQ
 ,QVWDOODWLRQ6D HW\6HFWLRQ
 3URJUDPPLQJ2SHUDWLRQDQG0DLQWHQDQFH6D HW\6HFWLRQ
 5VCPFCTF%QPXGPVKQPU
7KLVPDQXDOLQFOXGHVWKH ROORZLQJDOHUWV–LQGHVFHQGLQJRUGHUR VHYHULW\–WKDWDUHHVVHQWLDOWRWKH
VD HW\R SHUVRQQHODQGHTXLSPHQW$V\RXUHDGWKLVPDQXDOSD\FORVHDWWHQWLRQWRWKHVHDOHUWVWR
LQVXUHVD HW\ZKHQLQVWDOOLQJRSHUDWLQJSURJUDPPLQJDQGPDLQWDLQLQJWKLVHTXLSPHQW
%"/(&3
+PHQTOCVKQPCRRGCTKPIKPC&#0)' EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNHTQOVJGKOOGFKCVG
CPFKOOKPGPVJC\CTFUVJCVKHPQVCXQKFGFYKNNTGUWNVKPKOOGFKCVGUGTKQWURGTUQPCNKPLWT[QT
NQUUQHNKHGKPCFFKVKQPVQGSWKROGPVFCOCIG
8"3/*/(
+PHQTOCVKQPCRRGCTKPIKPC9# 0+0)EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNCPFGSWKROGPVHTQO
RQVGPVKCNJC\CTFUVJCVECPTGUWNVKPRGTUQPCNKPLWT[QTNQUUQHNKHGKPCFFKVKQPVQGSWKROGPV
FCOCIG
$"65*0/
+PHQTOCVKQPCRRGCTKPIKPC%#76+10EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNCPFGSWKROGPV
UQHVYCTGCPFFCVCHTQOJC\CTFUVJCVECPTGUWNVKPOKPQTRGTUQPCNKPLWT[QTGSWKROGPVFCOCIG
1RWH,QIRUPDWLRQDSSHDULQJLQD1RWHSURYLGHVDGGLWLRQDOLQIRUPDWLRQZKLFKLVKHOSIXOLQXQGHUVWDQGLQJWKHLWHPEHLQJ
H[SODLQHG

(QTO%WV

(KPCN RCIG

 )GPGTCN5CHGIWCTFKPI6KRU
$OORSHUDWRUVSURJUDPPHUVSODQWDQGWRROLQJHQJLQHHUVPDLQWHQDQFHSHUVRQQHOVXSHUYLVRUVDQG
DQ\RQHZRUNLQJQHDUWKHURERWPXVWEHFRPH DPLOLDUZLWKWKHRSHUDWLRQR WKLVHTXLSPHQW$OO
SHUVRQQHOLQYROYHGZLWKWKHRSHUDWLRQR WKHHTXLSPHQWPXVWXQGHUVWDQGSRWHQWLDOGDQJHUVR 
RSHUDWLRQ*HQHUDOVD HJXDUGLQJWLSVDUHDV ROORZV
 ,PSURSHURSHUDWLRQFDQUHVXOWLQSHUVRQDOLQMXU\DQGRUGDPDJHWRWKHHTXLSPHQW2QO\
WUDLQHGSHUVRQQHO DPLOLDUZLWKWKHRSHUDWLRQR WKLVURERWWKHRSHUDWRUVPDQXDOVWKHV\VWHP
HTXLSPHQWDQGRSWLRQVDQGDFFHVVRULHVVKRXOGEHSHUPLWWHGWRRSHUDWHWKLVURERWV\VWHP
 'RQRWHQWHUWKHURERWFHOOZKLOHLWLVLQDXWRPDWLFRSHUDWLRQ3URJUDPPHUVPXVWKDYHWKH
WHDFKSHQGDQWZKHQWKH\HQWHUWKHURERWFHOO
 ,PSURSHUFRQQHFWLRQVFDQGDPDJHWKHURERW$OOFRQQHFWLRQVPXVWEHPDGHZLWKLQWKH
VWDQGDUGYROWDJHDQGFXUUHQWUDWLQJVR WKHURERW,2,QSXWVDQG2XWSXWV
 7KHURERWPXVWEHSODFHGLQ(PHUJHQF\6WRS(6723PRGHZKHQHYHULWLVQRWLQXVH
 ,QDFFRUGDQFHZLWK$16,5,$5VHFWLRQ6RXUFHVR (QHUJ\XVH
ORFNRXWWDJRXWSURFHGXUHVGXULQJHTXLSPHQWPDLQWHQDQFH5H HUDOVRWR6HFWLRQ
&)53DUW2FFXSDWLRQDO6D HW\DQG+HDOWK6WDQGDUGV RU*HQHUDO,QGXVWU\
26+$
 /GEJCPKECN5CHGV[&GXKEGU
7KHVD HRSHUDWLRQR WKHURERWSRVLWLRQHUDX[LOLDU\HTXLSPHQWDQGV\VWHPLVXOWLPDWHO\WKHXVHUV
UHVSRQVLELOLW\7KHFRQGLWLRQVXQGHUZKLFKWKHHTXLSPHQWZLOOEHRSHUDWHGVD HO\VKRXOGEHUHYLHZHG
E\WKHXVHU7KHXVHUPXVWEHDZDUHR WKHYDULRXVQDWLRQDOFRGHV$16,5,$5VD HW\
VWDQGDUGVDQGRWKHUORFDOFRGHVWKDWPD\SHUWDLQWRWKHLQVWDOODWLRQDQGXVHR LQGXVWULDOHTXLSPHQW
$GGLWLRQDOVD HW\PHDVXUHV RUSHUVRQQHODQGHTXLSPHQWPD\EHUHTXLUHGGHSHQGLQJRQV\VWHP
LQVWDOODWLRQRSHUDWLRQDQGRUORFDWLRQ7KH ROORZLQJVD HW\HTXLSPHQWLVSURYLGHGDVVWDQGDUG
 6D HW\ HQFHVDQGEDUULHUV
 /LJKWFXUWDLQVDQGRUVD HW\PDWV
 'RRULQWHUORFNV
 (PHUJHQF\VWRSSDOPEXWWRQVORFDWHGRQRSHUDWRUVWDWLRQURERWFRQWUROOHUDQG
SURJUDPPLQJSHQGDQW
&KHFNDOOVD HW\HTXLSPHQW UHTXHQWO\ RUSURSHURSHUDWLRQ5HSDLURUUHSODFHDQ\QRQ XQFWLRQLQJ
VD HW\HTXLSPHQWLPPHGLDWHO\

(WPEVKQP/CPWCN
%JCRVGT 5CHGV[
RCIG (KPCN

 +PUVCNNCVKQP5CHGV[
6D HLQVWDOODWLRQLVHVVHQWLDO RUSURWHFWLRQR SHRSOHDQGHTXLSPHQW7KH ROORZLQJVXJJHVWLRQVDUH
LQWHQGHGWRVXSSOHPHQWEXWQRWUHSODFHH[LVWLQJ HGHUDOORFDODQGVWDWHODZVDQGUHJXODWLRQV
$GGLWLRQDOVD HW\PHDVXUHV RUSHUVRQQHODQGHTXLSPHQWPD\EHUHTXLUHGGHSHQGLQJRQV\VWHP
LQVWDOODWLRQRSHUDWLRQDQGRUORFDWLRQ,QVWDOODWLRQWLSVDUHDV ROORZV
 %HVXUHWKDWRQO\TXDOL LHGSHUVRQQHO DPLOLDUZLWKQDWLRQDOFRGHVORFDOFRGHVDQG
$16,5,$5VD HW\VWDQGDUGVDUHSHUPLWWHGWRLQVWDOOWKHHTXLSPHQW
 ,GHQWL \WKHZRUNHQYHORSHR HDFKURERWZLWK ORRUPDUNLQJVVLJQVDQGEDUULHUV
 3RVLWLRQDOOFRQWUROOHUVRXWVLGHWKHURERWZRUNHQYHORSH
 :KHQHYHUSRVVLEOHLQVWDOOVD HW\ HQFHVWRSURWHFWDJDLQVWXQDXWKRUL]HGHQWU\LQWRWKHZRUN
HQYHORSH
 (OLPLQDWHDUHDVZKHUHSHUVRQQHOPLJKWJHWWUDSSHGEHWZHHQDPRYLQJURERWDQGRWKHU
HTXLSPHQWSLQFKSRLQWV
 3URYLGHVX LFLHQWURRPLQVLGHWKHZRUNFHOOWRSHUPLWVD HWHDFKLQJDQGPDLQWHQDQFH
SURFHGXUHV
 2TQITCOOKPI1RGTCVKQPCPF/CKPVGPCPEG5CHGV[
$OORSHUDWRUVSURJUDPPHUVSODQWDQGWRROLQJHQJLQHHUVPDLQWHQDQFHSHUVRQQHOVXSHUYLVRUVDQG
DQ\RQHZRUNLQJQHDUWKHURERWPXVWEHFRPH DPLOLDUZLWKWKHRSHUDWLRQR WKLVHTXLSPHQW,PSURSHU
RSHUDWLRQFDQUHVXOWLQSHUVRQDOLQMXU\DQGRUGDPDJHWRWKHHTXLSPHQW2QO\WUDLQHGSHUVRQQHO
DPLOLDUZLWKWKHRSHUDWLRQPDQXDOVHOHFWULFDOGHVLJQDQGHTXLSPHQWLQWHUFRQQHFWLRQVR WKLVURERW
VKRXOGEHSHUPLWWHGWRSURJUDPRSHUDWHDQGPDLQWDLQWKHV\VWHP$OOSHUVRQQHOLQYROYHGZLWKWKH
RSHUDWLRQR WKHHTXLSPHQWPXVWXQGHUVWDQGSRWHQWLDOGDQJHUVR RSHUDWLRQ
 ,QVSHFWWKHURERWDQGZRUNHQYHORSHWREHVXUHQRSRWHQWLDOO\KD]DUGRXVFRQGLWLRQVH[LVW%H
VXUHWKHDUHDLVFOHDQDQG UHHR ZDWHURLOGHEULVHWF
 %HVXUHWKDWDOOVD HJXDUGVDUHLQSODFH&KHFNDOOVD HW\HTXLSPHQW RUSURSHURSHUDWLRQ
5HSDLURUUHSODFHDQ\QRQ XQFWLRQLQJVD HW\HTXLSPHQWLPPHGLDWHO\
 'RQRWHQWHUWKHURERWFHOOZKLOHLWLVLQDXWRPDWLFRSHUDWLRQ%HVXUHWKDWRQO\WKHSHUVRQ
KROGLQJWKHSURJUDPPLQJSHQGDQWHQWHUVWKHZRUNFHOO
 &KHFNWKH(6723EXWWRQRQWKHSURJUDPPLQJSHQGDQW RUSURSHURSHUDWLRQEH RUH
SURJUDPPLQJ7KHURERWPXVWEHSODFHGLQ(PHUJHQF\6WRS(6723PRGHZKHQHYHULWLV
QRWLQXVH
 %DFNXSDOOSURJUDPVDQGMREVRQWRVXLWDEOHPHGLDEH RUHSURJUDPFKDQJHVDUHPDGH7R
DYRLGORVVR LQ RUPDWLRQSURJUDPVRUMREVDEDFNXSPXVWDOZD\VEHPDGHEH RUHDQ\
VHUYLFHSURFHGXUHVDUHGRQHDQGEH RUHDQ\FKDQJHVDUHPDGHWRRSWLRQVDFFHVVRULHVRU
HTXLSPHQW

(QTO%WV

(KPCN RCIG

 $Q\PRGL LFDWLRQVWR3$576\VWHP6HFWLRQR WKHURERWFRQWUROOHUFRQFXUUHQW,2
SURJUDPFDQFDXVHVHYHUHSHUVRQDOLQMXU\RUGHDWKDVZHOODVGDPDJHWRWKHURERW'RQRW
PDNHDQ\PRGL LFDWLRQVWR3$576\VWHP6HFWLRQ0DNLQJDQ\FKDQJHVZLWKRXWWKHZULWWHQ
SHUPLVVLRQR 0RWRPDQZLOO92,'<285:$55$17<
 6RPHRSHUDWLRQVUHTXLUHVWDQGDUGSDVVZRUGVDQGVRPHUHTXLUHVSHFLDOSDVVZRUGV6SHFLDO
SDVVZRUGVDUH RU0RWRPDQXVHRQO\<285:$55$17<:,//%(92,'L \RXXVH
WKHVHVSHFLDOSDVVZRUGV
 7KHURERWFRQWUROOHUDOORZVPRGL LFDWLRQVR 3$578VHU6HFWLRQR WKHFRQFXUUHQW,2
SURJUDPDQGPRGL LFDWLRQVWRFRQWUROOHUSDUDPHWHUV RUPD[LPXPURERWSHU RUPDQFH*UHDW
FDUHPXVWEHWDNHQZKHQPDNLQJWKHVHPRGL LFDWLRQV$OOPRGL LFDWLRQVPDGHWRWKH
FRQWUROOHUZLOOFKDQJHWKHZD\WKHURERWRSHUDWHVDQGFDQFDXVHVHYHUHSHUVRQDOLQMXU\RU
GHDWKDVZHOODVGDPDJHWKHURERWDQGRWKHUSDUWVR WKHV\VWHP'RXEOHFKHFNDOO
PRGL LFDWLRQVXQGHUHYHU\PRGHR URERWRSHUDWLRQWRHQVXUHWKDW\RXKDYHQRWFUHDWHG
KD]DUGVRUGDQJHURXVVLWXDWLRQV
 &KHFNDQGWHVWDQ\QHZRUPRGL LHGSURJUDPDWORZVSHHG RUDWOHDVWRQH XOOF\FOH
 7KLVHTXLSPHQWKDVPXOWLSOHVRXUFHVR HOHFWULFDOVXSSO\(OHFWULFDOLQWHUFRQQHFWLRQVDUH
PDGHEHWZHHQWKHFRQWUROOHUDQGRWKHUHTXLSPHQW'LVFRQQHFWDQGORFNRXWWDJRXWDOO
HOHFWULFDOFLUFXLWVEH RUHPDNLQJDQ\PRGL LFDWLRQVRUFRQQHFWLRQV
 'RQRWSHU RUPDQ\PDLQWHQDQFHSURFHGXUHVEH RUHUHDGLQJDQGXQGHUVWDQGLQJWKHSURSHU
SURFHGXUHVLQWKHDSSURSULDWHPDQXDO
 8VHSURSHUUHSODFHPHQWSDUWV
 ,PSURSHUFRQQHFWLRQVFDQGDPDJHWKHURERW$OOFRQQHFWLRQVPXVWEHPDGHZLWKLQWKH
VWDQGDUGYROWDJHDQGFXUUHQWUDWLQJVR WKHURERW,2,QSXWVDQG2XWSXWV

(WPEVKQP/CPWCN
%JCRVGT 5CHGV[
RCIG (KPCN

016'5