YASKAWA motoman NX100 User manual

Part Number: 174074-1CD
Revision: 0
MANUAL NO.
1
HW0482711
NX100 OPTIONS
INSTRUCTIONS
FOR CONVEYOR SYNCHRONIZED 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 manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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Copyright © 2015, Yaskawa America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to Yaskawa customers to assist in the
operation of Motoman robots, related equipment and software This manual is copyrighted property of
Yaskawa and may not be sold or redistributed in any way. You are welcome to copy this document to
your computer or mobile device for easy access but you may not copy the PDF files to another website,
blog, cloud storage site or any other means of storing or distributing online content.
Printed in the United States of America
First Printing, 2015
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: [phone]
www.motoman.com
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• This manual explains the search 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 representative 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 product’s warranty.
MANDATORY
CAUTION
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We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial
Robots and Robot Systems (ANSI/RIA R15.06-2012). You can obtain this document from the Robotic
Industries Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: [phone]
FAX: [phone]
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against accidents and damage that can result
from improper operation of the equipment. The customer is responsible for providing adequately
trained personnel to operate, program, and maintain the equipment. NEVER ALLOW UNTRAINED
PERSONNEL TO OPERATE, PROGRAM, OR REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel involved with the operation,
programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a Class A digital device,
pursuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection
against harmful interference when the equipment is operated in a commercial environment. This
equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in
accordance with the instruction manual, may cause harmful interference to radio communications.
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Notes for Safe Operation
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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
damage 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
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Notes for Safe Operation
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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
programming 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 during
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
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Definition of Terms Used Often in This Manual
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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 manipulator 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 cabinet 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
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Description of the Operation Procedure
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Descriptions of the programming pendant keys, buttons, and windows 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]
Windows The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
GO BACK
PAGE
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Customer Support Information
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Customer Support Information
If you need assistance with any aspect of your Conveyor Synchronized system, please contact
Motoman Customer Support at the following
24-hour telephone number:
For routine technical inquiries, you can also contact Motoman Customer Support at the following e-
mail address:
When using e-mail to contact Motoman Customer Support, please provide a detailed description of
your issue, along with complete contact information. Please allow approximately 24 to 36 hours for a
response to your inquiry.
Please have the following information ready before you call:
[e-mail]
Please use e-mail for routine inquiries only. If you have an urgent or emergency need for
service, replacement parts, or information, you must contact Motoman Customer Support
at the telephone number shown above.
• System Conveyor Synchronized
• Controller DX200
• Software Version Access this information on the
Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} -
{VERSION}
• Robot Serial Number Located on the robot data plate
• Robot Sales Order Number Located on the DX200 controller
data plate
[phone]
NOTE
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Table of Contents
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Table of Contents
1Conveyor Synchronized Function
1.1 System Configuration Example. . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Conveyor Synchronized Operation . . . . . . . . . . . . . . . . . 1-2
1.2.1 Conveyor Home-position Limit Switch . . . . . . . . . . . . . . . . . . . 1-3
1.2.2 Conveyor Home-position Input Signal . . . . . . . . . . . . . . . . . . . 1-3
1.2.3 SYSTART Instruction and Manipulator Motion. . . . . . . . . . . . . 1-3
1.3 Conveyor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3.1 Conveyor Form. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3.2 Definition of Conveyor Moving Direction. . . . . . . . . . . . . . . . . . 1-6
1.3.3 Conveyor Distance for Follow-up . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.3.4 Measurement of Conveyor Moving Amount . . . . . . . . . . . . . . . 1-6
2Hardware Specifications
2.1 Required Boards and Setup. . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Connecting NCP02 and NSL01 Boards to NX100 . . 2-1
2.3 Connecting Conveyor Home-Position Signals
to NX100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Applicable Encoder and Connection Specification . . 2-4
2.5 Connection Example of One Conveyor . . . . . . . . . . . . . 2-5
2.6 Detecting Encoder Cable Disconnection. . . . . . . . . . . . 2-5
3Connector Connection
3.1 Opening the Front Door . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Sensor Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.3 Closing the Front Door . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
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4Settings for Conveyor Condition File
4.1 Conveyor Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.2 Editing Conveyor Condition File . . . . . . . . . . . . . . . . . . .4-10
4.2.1 Displaying Conveyor Condition File. . . . . . . . . . . . . . . . . . . . .4-10
4.2.2 Editing Conveyor Condition File . . . . . . . . . . . . . . . . . . . . . . .4-10
Editing “USED STATUS”. . . . . . . . . . . . . . . . . . . . . . . . . . .4-10
Editing “PORT NO.”. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10
Editing “BROKEN LINE DETECT”. . . . . . . . . . . . . . . . . . . .4-11
Editing “ENCODER INPUT” . . . . . . . . . . . . . . . . . . . . . . . .4-11
Editing “ENCODER SIGN” . . . . . . . . . . . . . . . . . . . . . . . . .4-11
Editing “CORRECTION” . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
Editing “TRACKING” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
Editing “USER COORD NO.” . . . . . . . . . . . . . . . . . . . . . . .4-11
Editing “BASE AXIS” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
Editing “POSITIONAL RESOLUTION” . . . . . . . . . . . . . . . .4-12
Editing “VIRTUAL CONVEYOR SPEED” . . . . . . . . . . . . . .4-12
Editing “AVERAGED TRAVEL TIME” . . . . . . . . . . . . . . . . .4-12
Editing “RESET SIGNAL MONITORING” . . . . . . . . . . . . . .4-12
Editing “CONVEYOR SPEED DOWN MODE” . . . . . . . . . .4-13
Editing “CONVEYOR LOWER LIMIT SPD”. . . . . . . . . . . . .4-13
Editing “VIRTUAL ENCODER INPUT” . . . . . . . . . . . . . . . .4-13
Editing “VIRTUAL ENCODER OUTPUT” . . . . . . . . . . . . . .4-13
4.3 Setting Conveyor Positional Resolution . . . . . . . . . . . .4-14
4.3.1 Setting Conveyor Positional Resolution . . . . . . . . . . . . . . . . .4-15
4.3.2 Verifying and Adjusting Conveyor Positional
Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-16
5Teaching
5.1 Registering Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.1.1 SYSTART Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
Registering SYSTART Instruction . . . . . . . . . . . . . . . . . . . .5-2
5.1.2 SYEND Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
Registering SYEND Instruction . . . . . . . . . . . . . . . . . . . . . .5-5
5.1.3 SYMOV¨ Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6
Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6
5.1.4 Interpolation Mode for Conveyor Synchronized
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-7
Switching the Interpolation Mode . . . . . . . . . . . . . . . . . . . . .5-7
5.2 Motion Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8
5.3 Wrist Posture in Synchronization . . . . . . . . . . . . . . . . . .5-10
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5.4 Circular Interpolation Steps. . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.5 Teaching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.6 Teaching After Interruption of Playback in
Synchronized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.6.1 When Adding or Changing Step After Interruption of
Synchronized Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.6.2 When Performing Another Teaching (for Other
Workpiece) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.7 Notes on Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.7.1 Confirming Reach to Step. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.7.2 Backward (BWD) Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.7.3 Changing Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.7.4 Deleting Taught Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.8 Job Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
6Playback
6.1 Conveyor Speed Down. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Accuracy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.3 Conveyor Resolution Error . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.4 Restarting Synchronization After Manipulator Stops 6-3
6.5 Continuance of Conveyor Synchronized Status. . . . . 6-3
6.6 Continuance of Parallel Shift Status . . . . . . . . . . . . . . . . 6-3
6.7 Conveyor Synchronized Operation During
Execution of TIMER and WAIT . . . . . . . . . . . . . . . . . . . . . 6-3
7Conveyor Monitoring Windows
7.1 Conveyor Position Window. . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Conveyor Speed Window . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Conveyor Tracking Status Window . . . . . . . . . . . . . . . . . 7-4
8Virtual Encoder Mode
8.1 Virtual Encoder Pulse Count . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Relation Between Encoder Input and Virtual
Encoder Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.3 Precaution on Switching the Encoder Mode . . . . . . . . 8-1
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9Turntable Synchronized Function
9.1 Setting Up the Turntable Synchronized System. . . . .9-1
9.1.1 Settings for Conveyor Condition File. . . . . . . . . . . . . . . . . . . . .9-1
9.1.2 Calibration between Manipulator and Turntable . . . . . . . . . . . .9-2
Setting a Calibration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2
Teaching Calibration Position . . . . . . . . . . . . . . . . . . . . . . . .9-3
Operating Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4
9.2 Modifying Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7
10 Manual Conveyor Function
10.1 Settings for Manual Conveyor Function . . . . . . . . . .10-2
10.1.1 Setting the Conveyor Position. . . . . . . . . . . . . . . . . . . . . . . .10-2
10.1.2 Enabling/Disabling the Setting . . . . . . . . . . . . . . . . . . . . . . .10-2
10.2 Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
10.2.1 When the Power is Turned ON. . . . . . . . . . . . . . . . . . . . . . .10-2
11 Manual Setting Function for Conveyor
Home-Position Limit Switch
12 Instruction List
13 Alarm List
14 Sensor Parameters (SxE)
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1Conveyor Synchronized Function
1.1 System Configuration Example
A basic system configuration example using NX100 conveyor synchronized function is shown below.
The manipulator detects the conveyor moving amount by the encoder mounted on the conveyor.
Fig. 1-1: System Configuration Example for Conveyor Synchronized Operation
NX100
kVA
ERCR-
3PHASE220V
200V 50Hz
50/60Hz
NJ2484-1 MADEINJAPAN
DATE
SERIALNo.
NX100
TYPE
POWERSUPPLY
*****
ON
TRIPPED
RESET
OFF
PLAY
TEACH
REMOTE
y
x
R+
y
x
R-
T+
z
98
T-
z
B- B+
S+
Y+
X+X-
S-
Y-
R+
+
7
R-
-
L- L+
32
-
.
1
0
546
Y
M
E
P
O
N
E
S
T
E
R
G
C
Conveyor
control
panel
Motor
Encoder
(Detects the conveyor
moving amount)
Manipulator
Synchronized section
Conveyor home-position
limit switch
Conveyor
moving direction
WARNING
THEMANIPULATORAND THE CONTROLLER
SHOULDHAVESAME ORDER NUMBER.
ORDERNO.
Maycause an electrick shock.
Donot open the door when
thepower is ON.
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1.2 Conveyor Synchronized Operation
The position tracking type conveyor synchronized operation function modifies the taught path in
conveyor non-moving state according to the conveyor moving amount so that the manipulator performs
follow-up motion in the conveyor moving direction with constant speed relative to the workpiece.
For example, teach P1 to P7 (P2 to P6 are the points in synchronization) with the conveyor stopped. In
playback operation, the manipulator follows the conveyor (workpiece) with the motion path modified in
the conveyor moving direction as shown in the Fig. 1-3 “Synchronized Motion Path in Playback Mode”.
The conveyor synchronized function can use either the manipulator base axis or the traveling axis
(external axis) to follow the movement of conveyor. However, the base axis and the traveling axis can
not be selected simultaneously.
Fig. 1-2: Teaching
Fig. 1-3: Synchronized Motion Path in Playback Mode
Workpiece
P1
P2
Conveyor
P3 P4
P5
P7
Conveyor
moving
direction
P1
P2
P1
P2
P3
P1
P2
P3 P4
P1
P2
P3 P4
P5
P1
P2
P3 P4
P5
P1
P2
P3 P4
P5
P6
1
2
3
4
5
6
P7
P6
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1.2.1 Conveyor Home-position Limit Switch
The conveyor home-position limit switch turns ON the conveyor home-position input signal when a
workpiece is detected by a sensor.
1.2.2 Conveyor Home-position Input Signal
When the conveyor home-position input signal is input, the conveyor current value is automatically
reset to 0 mm.
Then, the manipulator can enter synchronized operation status by execution of SYSTART instruction.
1.2.3 SYSTART Instruction and Manipulator Motion
The SYSTART is a conveyor synchronized operation start instruction.
Format: SYSTART CV#(1) <STP= Synchronization start position (units: mm)>
After having executed the SYSTART instruction, when the conveyor reaches the position specified at
STP as the synchronization start position, the manipulator enters the synchronized operation status.
Up to this moment, the manipulator does not move.
When a workpiece reaches the position set as the synchronization start position, the manipulator starts
the synchronized operation.
Conveyor home-position
limit switch
Conveyor moving
direction
0 mm
STP
(The distance to the synchronization start point)
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If the SYSTART instruction is executed before the input of conveyor home-position input signal, the
manipulator waits until the conveyor home-position input signal is input and the conveyor reaches the
synchronization start position, then starts the synchronized operation.
If the conveyor home-position input signal is input before the execution of SYSTART instruction, the
manipulator waits until the conveyor reaches the synchronization start position, then enters in
synchronized operation status.
Job Manipulator Motion
MOVJ : Moves to Step 1
SYSTART CV#(1)
STP=100.00 : Stops, and waits until the con- veyor reaches “STP = 100”.
SYMOVL Moves to Step 2 in the conveyor
synchronized operation after
the conveyor position has
come to 100 mm.
Conveyor
moving direction
Step 1
Conveyor home-position
limit switch
0 mm
100 mm
Step 2
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<Job Example>
A job example of conveyor synchronized operation is shown. Refer to Section 5.11 “Job Example”.
1.3 Conveyor
1.3.1 Conveyor Form
There are three types of the conveyor tracking motion: robot-axis tracking, base-axis tracking, and
circular tracking.
Each type must be set according to its system configuration (tracking motion type).
0000 NOP
0001 SYEND CV#(1) Resets the conveyor home-position registration status
0002 MOVJMoves to the stand-by position near the conveyor
0003 SYSTART CV#(1) STP=100.000Conveyor synchronized operation starts.
0004 GETS B000 $B008
0005 JUMP *END IF B000=0
0006 SYMOVL CV#(1) CTP=50.000
0007 SYMOVL CV#(1) CTP=50.000
0008 SYMOVL CV#(1) CTP=50.000
0009 SYMOVL CV#(1) CTP=50.000
0010 *END
0011 SYEND CV#(1)Conveyor synchronized operation ends.
0012 MOVJReturns to the stand-by position
0013 END
Conveyor synchronized motion
(Linear interpolation)
Synchronized operation section
Linear form conveyor
Circular Tracking
Linear Tracking
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1 Conveyor Synchronized Function
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HW0482711
1.3.2 Definition of Conveyor Moving Direction
The conveyor moving amount pulses detected by the encoder mounted on the conveyor are scalar.
From this number of pulses, the manipulator determines how far to move, but not in which direction.
Therefore, the conveyor moving direction must be defined for the manipulator. For the definition of
moving direction, a user coordinate is used. (Refer to “TRACKING (ROBOT-AXIS/BASE-AXIS/
CIRCULAR)".)
1.3.3 Conveyor Distance for Follow-up
With the conveyor synchronized function of NX100, a manipulator can synchronize a conveyor
continuously over a maximum distance of 21 m within the manipulator working envelop.
Since the distance more than 21 m can not be processed internally, if the moving distance reaches 21
m during synchronized operation, the alarm 5022 “CONVEYOR POSITION LIMIT” occurs and the
manipulator stops disregarding the succeeding synchronization.
1.3.4 Measurement of Conveyor Moving Amount
How far the conveyor has moved from the conveyor home-position is measured by the cumulative
number of feedback pulses from the encoder mounted on the conveyor. The accumulation starts when
the conveyor home-position limit switch is turned ON. At the start, the cumulative amount is zero (0).
For registration of user coordinates, refer to “NX100 INSTRUCTIONS”.
SUPPLE-
MENT
Conveyor moving
direction
Y-axis
ORG
XX
XY X-axis
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2 Hardware Specifications
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2Hardware Specifications
This chapter explains the required equipment and boards to use the conveyor synchronized function,
as well as what data are required and how they should be set. Before setting up a system, read
carefully this chapter.
2.1 Required Boards and Setup
For the conveyor synchronized function, the optional base board JANCD-NCP02 and the board
JANCD-NSL01 for conveyor synchronized operation are required besides the standard boards.
Three encoder signal input ports are provided on the NSL01 board. (Note that the connectors are
unified in one.)
Up to three conveyor encoders can be connected to a single NSL01 board.
2.2 Connecting NCP02 and NSL01 Boards to NX100
CN01
(AC IN)
INPUT
3A
50/60Hz
200-240V AC
(REMOTE)
CN02
(TU)
CN03
(+24V2)
CN04
CN05
(+24V1)
LMNPQRSTU V
ABCDEFGHJK
30 2928272625242322 21
20 1918171615141312 11
10 0908070605040302 01
POWER SUPPLY
CPS-420F
No.
DATE
Fuji Electric Co.,Ltd. JAPAN
+5VSB
OHT
FAN
OTHER
+24V
+5V
PON
SOURCE
I PC
PS2
USB0(R)
USB1(L)
IDE
VIDEO
1 0
LED
REV
DATE
TYPE JANCD-NCP01
CPU
JANCD-NCP02
+JANCD-NSL01
CPU board
JANCD-NCP01
NIF unit
Axis board
SGDR-AXA01A
Power supply CPS-420F
(Fuji Electric Hi-Tech Corp.)
Side cover
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