YASKAWA Motoman NXC100 User manual

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Find the Yaskawa / Motoman NXC100 at our website: Click HERE

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: [phone]
FAX: [phone]
24-Hour Service Hotline: [phone]
Motoman NXC100 Controller
NXC100
Controller Manual
Part Number: 150975-1CD
Revison 2
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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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YASKAWA
YASKAWA MANUAL NO.
HW0482738 1
NXC100
INSTRUCTIONS
TYPE: ERCR-NS00-A200
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
NXC100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
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HW0482738
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• This instruction manual explains the robot system for NXC100. Read
this manual carefully and be sure to understand its contents before han-
dling the NXC100.
• General items related to safety are listed in Section 1: Safety of this
instruction manual: NXC100 INSTRUCTIONS. To ensure correct and
safe operation, carefully read the NXC100 instructions before operating
the robot system.
• 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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HW0482738
HW0482738
Notes for Safe Operation
Read this manual and other required documents carefully before installation, operation, main-
tenance, or inspection of the NXC100.
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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HW0482738
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• Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front face of the NXC100 and
on the right side of the 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
WARNING
TURN
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• Observe the following precautions when performing teaching opera-
tions:
-Always follow the predetermined operating procedure.
-Ensure that you have a safe place to retreat in case of emergency.
Improper operation or unintended manipulator motion 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:
-Turing ON the robot system 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 button is located on the right side of the programming pendant and
on the front face of the NXC100.
WARNING
Programming pendant
HOLDSTART
PLAY TEACH
REMOTE
Emergency
stop button
Start button
Hold button
Mode selector switch
3-2005 DATE
TYPE
SER NO.
JAPAN
44A220-011
ERCR-NS00-A200
YASKAWA ELECTRIC CORPORATION
NJ2518-2
POWER SUPPLY
AC200/220V 50/60Hz 1 1 KVA
NJ2519-2
NJ2520-2
16 Kg
Approx mass. NXC100
BAT
AC FUSE : F1,F2 I/O FUSE : F1,F2,F3,F4
SLOW BLOW
15A / 250V 3.15A / 250V
FAST BLOW
ON (I) F1
OFF (O) F2
SOURCE
X52
X51
X31
BATTERY
FUSE
X81
ON
OFF
FU1
FU2
SOURCE
NXC100
Emergency stop button
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Definition of Terms Used Often in This Manual
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 movement of the manipulator and servo track.
-Check for damage to insulation and sheathing of external wires.
• Read and understand the Explanation of Warning Labels before operat-
ing the robot system.
• For safety, operate under the proper lighting.
Equipment Manual Designation
Manipulator Manipulator
NXC100 Controller (ERCR-NS00-A200) NXC100
Manipulator, servo track, controller altogether Robot system
CAUTION
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Explanation of Warning Labels
The following warning labels are attached to the NXC100.
Always follow the warnings on the labels.
Location of Warning Labels and Name Plate
The following warning labels are attached to the NXC100.
• Always follow the instructions in the warning labels.
Failure to observe this may result in injury or damage to machinery.
WARNING
PPESP
POWER SUPPLY
AC200/220V 50/60Hz 1 1 KVA
NJ2519-2
NJ2520-2
16 Kg
Approx mass.
3-2005 DATE
TYPE
SER NO.
JAPAN
44A220-011
ERCR-NS00-A200
YASKAWA ELECTRIC CORPORATION
NJ2518-2
POWER SUPPLY
AC200/220V 50/60Hz 1 1 KVA
NJ2519-2
3-2005 DATE
TYPE
SER NO.
JAPAN
44A220-011
ERCR-NS00-A200
YASKAWA ELECTRIC CORPORATION
NJ2518-2
NJ2520-2
16 Kg
Approx mass. NXC100
ON (I) F1
OFF (O) F2
ON
OFF
FU1
FU2
SOURCE
SOURCE
X52
X31
BATTERY
FUSE
X81
X55
X71
X53
X54
X62
FAN2
FAN3
X12
X11
X64 - X63
X21
X72
AC FUSE : F1,F2 I/O FUSE : F1,F2,F3,F4
SLOW BLOW
15A / 250V 3.15A / 250V
FAST BLOW
WARNING
Can cause muscle strain or
proper lifting technjques
back injury. Use lifting aids
HEAVY OBJECT
when removing or replacing
WARNING
HAZARDOUS VOLTAGE
system power before servicing
Turn off and lock out
electric shock or burn
Contact may cause
208/110 VAC PRESENT
WARNING
Can cause muscle strain or
proper lifting technjques
back injury. Use lifting aids
HEAVY OBJECT
when removing or replacing
WARNING
HAZARDOUS VOLTAGE
system power before servicing
Turn off and lock out
electric shock or burn
Contact may cause
208/110 VAC PRESENT
This warning label indicates the connector which includes “HAZARDOUS
VOLTAGE.”
220 VAC / 200 VAC
Contact may cause electric shock or burn.
Turn OFF and lock out the system power before connecting or
disconnecting.
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1Safety1.1 For Your Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
1.2 Special Training. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
1.3 Motoman Manual List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
1.4 Personnel Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
1.5 Motoman Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
1.5.1 Installation and Wiring Safety . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
1.5.2 Work Area Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
1.5.3 Operation Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
1.6 Notes for Moving and Transferring the MOTOMAN . . . . .2-12
1.7 Notes on MOTOMAN Disposal . . . . . . . . . . . . . . . . . . . .2-12
2Product Confirmation
3Transporting
3.1 Transporting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4Installation
4.1 NXC100 Basic Specifications. . . . . . . . . . . . . . . . . . . . . . .5-1
4.2 Programming Pendant Specifications. . . . . . . . . . . . . . .5-3
4.3 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
4.4 LED Indicator, Operation Switch, etc.. . . . . . . . . . . . . . .5-5
5Explanation
5.1 NXC100 Connector Names . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.3 Circuit Diagram for I/O Signals . . . . . . . . . . . . . . . . . . . . .5-9
5.4 Interlock Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-13
5.5 Expansion of I/O Capacity. . . . . . . . . . . . . . . . . . . . . . . . .5-14
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6Maintenance and Inspection
6.1 Inspection Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Inspection Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
7Recommended Spare Parts
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