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
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.
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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 information for the Form Cut option 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 instructions for Form Cut option.
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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:
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YASKAWA
YASKAWA MANUAL NO.
HW0482342
NX100 OPTIONS
INSTRUCTIONS
FORM CUTTING 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.
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• This manual explains the form cutting function of the NX100. Read this
manual carefully and be sure to understand its contents before handling
the NX100.
• General items related to safety are listed in Section 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 instructions before reading this manual.
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA 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
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”,or ”PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury to personnel and 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
NO
TE
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• Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the 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
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Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows.
• Perform the following inspection procedures prior to conducting 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’s work area, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning Labels 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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Descriptions of the programming pendant, 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
Number Keys
“Axis Keys” and “Number 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
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1Form Cutting Motion
2Patterns for Cutting
3Teaching
3.1 How to Teach a Pattern. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Tool Position and Cutting Pattern . . . . . . . . . . . . . . . . . . 3-4
3.3 Cutting Width Correction Function . . . . . . . . . . . . . . . . . 3-5
3.4 Example of Form Cutting Function . . . . . . . . . . . . . . . . . 3-6
3.4.1 Example of a Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.4.2 Example of a Motion Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
Motion Example 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
Motion Example 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-9
4Form Cutting Start Motion Instruction
4.1 FORMAPR Instruction (Form Cutting Start Motion
Instruction) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Registering Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Registering by Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.2.2 Registering in Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
5Form Cutting Instruction
5.1 FORMCUT (Form Cutting Motion Instruction) . . . . . . 5-1
5.2 Registering Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
6Form Cut Setting File
6.1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Details of File Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.2.1 Specifying the ROUNDNESS ERR . . . . . . . . . . . . . . . . . . . . . .6-4
6.2.2 Specifying the CUT IN LENGTH
and the CUT IN ANGLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4
6.2.3 Specifying the ROTATION DIRECTION . . . . . . . . . . . . . . . . . .6-4
6.2.4 Specifying the ROTATION ANGLE . . . . . . . . . . . . . . . . . . . . . .6-5
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6.3 Examples of File Setting for Each Pattern . . . . . . . . . . 6-5
6.3.1 Circle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.3.2 Rectangle Including Squares . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.3.3 Ellipse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.3.4 Pentagon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.3.5 Hexagon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.4 Displaying and Editing File . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
7Alarm Message List
1-1
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HW0482342
1Form Cutting Motion
The form cutting motion cuts workpieces according to a pattern with a tool such as a laser
cutting machine handled by a manipulator.
In the form cutting function, there may be some differences between the set design and the
actual cutting motion path, depending on the calibration, ambient temperature, and load
applied to the manipulator.
In order to minimize the above explained differences, be sure to calibrate your tools before
using this function.
NOTE
2-1
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2Patterns for Cutting
Five patterns, circle, rectangle (including square), ellipse, pentagon, and hexagon are
available.
The minimum and maximum set values of a pattern can be set at the following parameters.
The minimum and maximum values of data required for a pattern are set as follows.
Parameter Contents Initial Value
S1C G63 Minimum set value 1,000 µm
S1C G64 Maximum set value 1,000,000 µm
Pattern Item Minimum Value Maximum Value
Circle Radius S1CG63 / 2 S1CG64 / 2
Rectangle Width 1 (S1CG64 )2- (Height)2
Height S1CG63 / 2 (S1CG64 )2- (Width)2
Ellipse Radius S1CG63 / 2 (S1CG64 / 2) - (Width / 2)
Width 0 S1CG64 - (2* Radius)
Pentagon Radius S1CG63 / 2 S1CG64 / 2
Hexagon Radius S1CG63 / 2 S1CG64 / 2
Circle Rectangle Ellipse
Pentagon Hexagon
Radius
Height
Width Width
Radius
Radius Radius
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