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
Interrupt Job
Function Manual
Part Number: 149648-6CD
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
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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 Interrupt Job 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.
5 %6+10+06 44726,1$+05647%6+105
Provides detailed information about the Interrupt Job 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 (EA1400, HP20, etc.)
• 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. HW0482006
NX100 OPTIONS
INSTRUCTIONS
FOR THE INTERRUPT JOB 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
HW0482006
• This manual explains the interrupt job 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 Instructions before reading this manual.
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-
resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your prod-
uct’s warranty.
MANDATORY
CAUTION
iii
HW0482006
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
HW0482006
• Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the program-
ming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Release of Emergency Stop
• Observe the following precautions when performing teaching operations
within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator dur-
ing operation. Always press an emergency stop button immediately if there are prob-
lems.The emergency stop buttons are located on the right of the front door of the NX100
and the programming pendant.
WARNING
TURN
v
HW0482006
Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows.
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabi-
net after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the NX100
Instructions before operating the manipulator.
Equipment Manual Designation
NX100 Controller NX100
NX100 Programming Pendant Programming Pendant
CAUTION
vi
HW0482006
Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed, or that the item is directly
selected by touching the screen.
Equipment Manual Designation
Programming
Pendant
Character Keys The keys which have characters printed on them are
denoted with [ ].
ex. [ENTER]
Symbol Keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
ex. page key
The cursor key is an exception, and a picture is not
shown.
Axis Keys
Numeric Keys
“Axis Keys” and “Numeric Keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
PAGE
GO BACK
vii
HW0482006
1What is the Interrupt Job Function?
2Setting of the Interrupt Job Function
2.1 Interruption Table Display . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Setting of Interruption Table . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2.1 Setting of Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2.2 Setting of Job Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.3 Setting of Interruption Levels. . . . . . . . . . . . . . . . . . . . . . .2-3
3Registration of Instructions
3.1 EI (Enable Interruption) Instruction. . . . . . . . . . . . . . . . . .3-1
3.2 DI (Disable Interruption) Instruction . . . . . . . . . . . . . . . . .3-3
4Execution of an Interrupt Job
4.1 Interruption Signal Detection. . . . . . . . . . . . . . . . . . . . . . . .4-1
4.2 Timing for Interrupt Job Execution . . . . . . . . . . . . . . . . . .4-1
4.3 Deceleration Before Interrupt Job Execution . . . . . . . .4-1
4.4 Interruption Signal Entered During Another
Interrupt Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.5 Output Signal of “Interrupt Job in Execution” . . . . . . . .4-2
4.6 Automatic Interruption Disabled Status . . . . . . . . . . . . .4-2
4.7 Job Call Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
5Application Examples
5.1 Interruption During Timer Instruction . . . . . . . . . . . . . . .5-1
5.2 Interruption During Move Instruction . . . . . . . . . . . . . . . .5-1
5.3 Interruption During Move Instruction with NWAIT . . .5-2
5.4 Interruption During Circular Interpolation Move
Instruction (MOVC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
1-1
HW0482006
1What is the Interrupt Job Function?
The interrupt job function is a kind of call job. When a signal to interrupt the job is sent from a
peripheral device or another system, this function momentarily suspends a job in progress,
and executes the job corresponding to the signal.
This function is useful when an error occurs in a peripheral device or in another system, or
when the manipulator should be withdrawn in an emergency.
An interruption table defines the relation among the interruption levels (priority of an interrup-
tion signal), the interruption signals, and the interrupting jobs.
Sending a user input signal specified in the table calls, a job corresponding to that signal.
When interrupt job is completed, the suspended job is restarted from the instruction line where
the cursor was at the time of interruption.
The smaller the interruption level number becomes, the higher the priority of the processing
becomes.
Since the NX100 determines which interrupt job is to be executed according to this interrup-
tion table, make sure the settings for this table are correct. The system engineer sets up this
interruption table.
If an interruption signal is received while the manipulator is in the “step” cycle, the manipu-
lator stops at once, and then the next starting operation starts the interrupt job.
Interrupt job Job in progress
NOP
END
NOP
END
Interruption
NOTE
INTERRUPT JOB
LEVEL SIGNAL JOB NAME
IN#01 JIG STOP
NOP
END
Interrupt job
"JIG STOP"
NOP
END
Job in progress
Interruption
Interruption
signal IN#01
Interruption table
INTERRUPT JOB
1-2
HW0482006
An interrupt job can be executed when the start lamp is ON and between the execution of
the EI (enable interruption) instruction and the DI (disable interruption) instruction.
A different interruption level can be specified for both EI and DI.
NOTE
Allows all levels if no interruption
level is specified.
0010 MOVJ VJ=50.00
0011 EI
0012 MOVJ VJ=50.00
0013 TIMER T=1.00
0014 DI LEVEL=5
0015 MOVJ VJ=50.00
Disables the interruption levels
0 and 2.
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