YASKAWA motoman NX100 Operator's Manual

NX100
OPERATOR’S MANUAL
FOR ARC WELDING
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.
Part Number:
Revision:
149235-1CD
2
1 of 493
MANUAL NO.
RE-CSO-A031
5
149235-1CD
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: 937-847-6200
www.motoman.com
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MANDATORY
• This manual explains the various components of the NX100 system and general operations. 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 Instruction before reading this manual.
CAUTION
• 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.
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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: (734) 994-6088
FAX: (734) 994-3338
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
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 “DANGER”, “WARNING,” “CAUTION,”
“MANDATORY,” or “PROHIBITED.”
DANGER
Indicates an imminent hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
WARNING
Indicates a potentially hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
CAUTION
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.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At any rate,
be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION”, “WARNING” and “DANGER.”
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Notes for Safe Operation
WARNING
• 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.
Turn
Release of Emergency Stop
• Observe the following precautions when performing teaching operations within the P-point
maximum envelope of the manipulator :
- Be sure to use a lockout device to the safeguarding when going inside.
Also, display the sign that the operation is being performed inside the
safeguarding and make sure no one closes the safeguarding.
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
- 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 are
problems.The emergency stop buttons are located on the right of the front door of the
NX100 and the programming pendant.
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Definition of Terms Used Often in This Manual
CAUTION
• 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.
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and the
manipulator cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
NX100 Controller
NX100
NX100 Programming Pendant
Programming Pendant
Cable between the manipulator and the controller
Manipulator cable
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Description of the Operation Procedure
Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Manual Designation
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.
GO BACK
ex. page key
The cursor key is an exception, and a picture is not
shown.
PAGE
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}
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.
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered trademarks,
or brand names for each company or corporation. The indications of (R) and TM are omitted.
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Customer Support Information
Customer Support Information
If you need assistance with any aspect of your NX100 Arc Welding system, please contact Motoman
Customer Support at the following 24-hour telephone number:
(937) 847-3200
For routine technical inquiries, you can also contact Motoman Customer Support at the following email address:
[email protected]
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.
NOTE
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.
Please have the following information ready before you call Customer Support:
• System
NX100 Arc Welding
• Robots
___________________________
• Primary Application
___________________________
• Controller
NX100
• 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 NX100 controller data plate
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Table of Contents
Table of Contents
1
Introduction
1.1 NX100 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Programming Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2.1 Programming Pendant Overview . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2.2 Key Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
 Character Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
 Symbol Keys. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
 Axis Keys and Numeric Keys . . . . . . . . . . . . . . . . . . . . . . . . 1-3
 Keys Pressed Simultaneously . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.3 Programming Pendant Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.4 Programming Pendant Display . . . . . . . . . . . . . . . . . . . . . . . . 1-10
 The Five Display Areas. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
 General-purpose Display Area . . . . . . . . . . . . . . . . . . . . . . 1-11
 Main Menu Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
 Status Display Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
 Human Interface Display Area . . . . . . . . . . . . . . . . . . . . . . 1-14
 Menu Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.2.5 Screen Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
 Denotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
 Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.2.6 Character Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
 Alphanumeric Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
 Symbol Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.3 Modes
1.3.1
1.3.2
1.3.3
1.3.4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Teach Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Play Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Remote Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
Teach Mode Priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.4 About the Security Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.4.1 Types of Security Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1.4.2 Switching Security Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24
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2
Manipulator Coordinate Systems
and Operations
2.1 Control Groups and Coordinate Systems
. . . . . . . . . . 2-1
2.1.1 Control Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 Types of Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 General Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
 Check Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
 Select Teach Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
 Select Control Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
 Select Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
 Select Manual Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
 Servo ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
 Axis Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
 HIGH SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.3 Coordinate Systems and Axis Operation . . . . . . . . . . . 2-5
2.3.1
2.3.2
2.3.3
2.3.4
Joint Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
Cartesian Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
Cylindrical Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
Tool Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8
 Selecting the Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9
2.3.5 User Coordinates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
 Selecting User Coordinates. . . . . . . . . . . . . . . . . . . . . . . . .2-11
 Examples of User Coordinate Utilization . . . . . . . . . . . . . . .2-12
2.3.6 External Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-12
2.3.7 Control Point Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-13
2.3.8 Control Point Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-15
3
Teaching
3.1 Preparation for Teaching
. . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.1.1 Checking Emergency Stop Buttons. . . . . . . . . . . . . . . . . . . . . .3-1
3.1.2 Setting the Teach Lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1.3 Registering a Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
 Registering Job Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
 Registering Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
 Registering Control Groups . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
 Switching to the Teaching Window . . . . . . . . . . . . . . . . . . . .3-3
3.2 Teaching Operation
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.2.1 The Teaching Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
3.2.2 Interpolation Type and Play Speed . . . . . . . . . . . . . . . . . . . . . .3-5
 Joint Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
 Circular Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
 Spline Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
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3.2.3 Teaching Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
 Registering Move Instructions . . . . . . . . . . . . . . . . . . . . . . . 3-9
 Registering Reference Point Instructions . . . . . . . . . . . . . . 3-15
 Registering Timer Instructions . . . . . . . . . . . . . . . . . . . . . . 3-16
3.2.4 Overlapping the First and Last Steps . . . . . . . . . . . . . . . . . . . 3-18
3.3 Checking Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.3.1 FWD/BWD Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
 Precautions When Using FWD / BWD Operations . . . . . . . 3-19
 Selecting Manual Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
 Moving to Reference Point . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
 Test Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.4 Modifying Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.4.1 Displaying the JOB CONTENT Window for Editing . . . . . . . . 3-27
 Currently Called Up Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
 Calling Up Other Jobs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
3.4.2 Inserting Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3.4.3 Deleting Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
3.4.4 Modifying Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
 Modifying Position Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30
 Modifying Interpolation Type. . . . . . . . . . . . . . . . . . . . . . . . 3-30
3.4.5 Undo Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3.4.6 Modifying Reference Point Instructions . . . . . . . . . . . . . . . . . 3-31
 Deleting Reference Point Instructions . . . . . . . . . . . . . . . . 3-31
 Modifying Reference Point Instructions . . . . . . . . . . . . . . . 3-32
3.4.7 Modifying Timer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
 Deleting Timer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
 Modifying Timer Instructions. . . . . . . . . . . . . . . . . . . . . . . . 3-33
3.5 Modifying Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.5.1 Calling Up a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.5.2 Windows Related to Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
 JOB HEADER Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
 JOB CONTENT Window. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
 COMMAND POSITION Window. . . . . . . . . . . . . . . . . . . . . 3-37
 JOB CAPACITY Window . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.6 Editing Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
3.6.1
3.6.2
3.6.3
3.6.4
3.6.5
3.6.6
3.6.7
3.6.8
Instruction Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
Inserting Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
Deleting Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
Modifying Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
Modifying Additional Numeric Data. . . . . . . . . . . . . . . . . . . . . 3-47
Modifying Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
Inserting Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
Deleting Additional Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
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3.7 Editing Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-51
3.7.1
3.7.2
3.7.3
3.7.4
3.7.5
Selecting the Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-53
Copying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-54
Cutting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-54
Pasting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-55
Reverse Pasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-56
3.8 Test Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-57
3.9 Other Job-editing Functions . . . . . . . . . . . . . . . . . . . . . . 3-58
3.9.1 Editing Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-58
 Modification of Speed Type . . . . . . . . . . . . . . . . . . . . . . . . .3-58
 Relative Modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-58
 Modification by TRT (Traverse Time) . . . . . . . . . . . . . . . . .3-60
3.9.2 Editing Interpolation Type . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-62
3.9.3 Editing Condition Files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-63
3.9.4 User Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-64
 Setting Byte, Integer, Double Precision Integer,
and Real Type Variables . . . . . . . . . . . . . . . . . . . . . . . . . . .3-66
 Setting Character Type Variables . . . . . . . . . . . . . . . . . . . .3-67
 Registering Variable Name . . . . . . . . . . . . . . . . . . . . . . . . .3-68
 Displaying Position Variables . . . . . . . . . . . . . . . . . . . . . . .3-69
 Setting Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . .3-70
 Setting Position Variables Using the Numeric Keys . . . . . .3-71
 Setting Position Variables Using the Axis Keys . . . . . . . . .3-73
 Deleting Data Set of Position Variables . . . . . . . . . . . . . . .3-74
 Checking Positions by Position Variables . . . . . . . . . . . . . .3-75
 Manipulator Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-76
3.9.5 Editing Local Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-80
 Setting the Number of Local Variables . . . . . . . . . . . . . . . .3-82
3.9.6 Searching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-83
 Line Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-84
 Step Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-84
 Label Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-85
 Instruction Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-86
 Tag Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-87
4
Playback
4.1 Preparation for Playback
. . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 Selecting a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
 Calling a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
 Registering the Master Job . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
 Calling the Master Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.2 The PLAYBACK Window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5
 Display of Cycle Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
 Operation Cycle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
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4.2 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.2.1 Playback Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
 Selecting the Start Device . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
 Servo On. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
 Start Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.2.2 Special Playback Operations . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
 Low Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
 Limited Speed Operations . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
 Dry-run Speed Operations . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
 Machine Lock Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
 Check Mode Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
 Weaving Prohibit Setting during Check Mode Operation . . 4-12
 Cancel All Special Operations . . . . . . . . . . . . . . . . . . . . . . 4-12
4.3 Stop and Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.3.1 Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
 Using the Programming Pendant . . . . . . . . . . . . . . . . . . . . 4-13
 Using an External Input Signal (System Input) . . . . . . . . . . 4-13
4.3.2 Emergency Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
 Restart After Emergency Stop . . . . . . . . . . . . . . . . . . . . . . 4-15
4.3.3 Stop by Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.3.4 Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
 Temporary Stop by Mode Change . . . . . . . . . . . . . . . . . . . 4-17
 Temporary Stop by the PAUSE Instruction . . . . . . . . . . . . 4-17
4.4 Modifying Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4.1 Speed Override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
 Setting Speed Overrides. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
 Modifying Play Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
 Releasing Speed Override Settings . . . . . . . . . . . . . . . . . . 4-21
4.5 Playback with Reserved Start
. . . . . . . . . . . . . . . . . . . . . 4-22
4.5.1 Preparation for Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . 4-22
 Enabling Reserved Start. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
 Registering Reserved Start I/O Signal . . . . . . . . . . . . . . . . 4-24
 Registering Jobs to Stations . . . . . . . . . . . . . . . . . . . . . . . . 4-25
 Deleting Registered Jobs from Stations . . . . . . . . . . . . . . . 4-26
4.5.2 Playback from Reserved Start . . . . . . . . . . . . . . . . . . . . . . . . 4-27
 Start Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
 Checking Job Reservation Status. . . . . . . . . . . . . . . . . . . . 4-28
 Resetting Job Reservation . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.5.3 Hold Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
 [HOLD] on the Programming Pendant . . . . . . . . . . . . . . . . 4-30
 Hold by External Input Signal (System Input) . . . . . . . . . . . 4-30
 Hold at the Station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.6 Displaying Job Stack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
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5
Editing Jobs
5.1 Copying Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.1 Copying Jobs on the JOB CONTENT Window . . . . . . . . . . . . .5-2
5.1.2 Copying Jobs on the JOB LIST Window . . . . . . . . . . . . . . . . . .5-4
5.2 Deleting Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.2.1 Deleting Jobs on the JOB CONTENT Window . . . . . . . . . . . . .5-6
5.2.2 Deleting Jobs on the JOB LIST Window . . . . . . . . . . . . . . . . . .5-7
5.3 Modifying Job Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.3.1 Modifying Job Names on the JOB CONTENT Window. . . . . . .5-8
5.3.2 Modifying Job Names on the JOB LIST Window. . . . . . . . . . .5-10
5.4 Editing Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.5 Setting Edit Lock on Individual Job Units . . . . . . . . . . 5-12
5.6 Enabling the Modification of Position Data Only . . . 5-13
6
Convenient Functions
6.1 One-touch Operation “Direct Open” . . . . . . . . . . . . . . . . 6-1
6.2 Parallel Shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.2.1 Function Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.2.2 Setting the Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
 Registering Position Variables . . . . . . . . . . . . . . . . . . . . . . .6-5
 Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
 Setting the Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6
6.2.3 Registering Shift Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . .6-7
 SFTON Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-8
 SFTOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10
 MSHIFT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-10
6.2.4 Continuation of the Parallel Shift Function . . . . . . . . . . . . . . .6-13
6.2.5 Examples of Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-14
 Example of Use of Shift Addition/Subtraction . . . . . . . . . . .6-14
 Example of Use of MSHIFT Instruction . . . . . . . . . . . . . . . .6-15
6.3 Parallel Shift Job Conversion Function . . . . . . . . . . . . 6-16
6.3.1 Function Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-16
6.3.2 Coordinate Systems for Conversion . . . . . . . . . . . . . . . . . . . .6-17
6.3.3 Executing the Parallel Shift Job Conversion . . . . . . . . . . . . . .6-22
 Window Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-22
 Parallel Shift Job Conversion Operation . . . . . . . . . . . . . . .6-23
6.3.4 Specifying the Shift Value by Position Variables . . . . . . . . . . .6-28
 Window Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-28
 Jobs Targeted for Conversion . . . . . . . . . . . . . . . . . . . . . . .6-29
 Conversion of Coordinated Jobs . . . . . . . . . . . . . . . . . . . . .6-30
 Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
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6.4 PAM Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-34
6.4.1 Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-34
 Input Ranges for Adjustment Data . . . . . . . . . . . . . . . . . . . 6-34
6.4.2 Operating Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
 Setting Adjustment Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
 Executing the Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . 6-38
 Editing Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
6.5 Mirror Shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
6.5.1 Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
6.5.2 Pulse Mirror-shift Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
 Parameter Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-42
 Object Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
 Group Axes Specification . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
 Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
6.5.3 Robot-coordinates Mirror-shift Function . . . . . . . . . . . . . . . . . 6-43
 Object Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
 Group Axes Specification . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
 Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
6.5.4 User-coordinates Mirror-shift Function . . . . . . . . . . . . . . . . . . 6-44
 Object Job. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
 Group Axes Specification . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
 Position Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
6.5.5 Notes on the Mirror Shift Function . . . . . . . . . . . . . . . . . . . . . 6-45
6.5.6 Operation Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46
 Calling Up the JOB CONTENT Window . . . . . . . . . . . . . . . 6-46
 Mirror Shift Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46
 Explanation of the Mirror Shift Window. . . . . . . . . . . . . . . . 6-47
7
External Memory Devices
7.1 Memory Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 Compact Flash (CF Cards) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
 Recommended Compact Flash Cards . . . . . . . . . . . . . . . . . 7-2
 Notes on handling Compact Flash . . . . . . . . . . . . . . . . . . . . 7-3
 Inserting a Compact Flash . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.2 Handling Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.2.1 Normal Mode Data Classification . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.2.2 Collective Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
 CMOS.BIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
 CMOSBK.BIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
 CMOSxx.HEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
 ALCMSxx.HEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7.2.3 File Existence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
 Saving by Overwriting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
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7.3 Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
 Operating a Folder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11
 Saving Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-15
 Loading Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-27
 Verifying Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-38
 Deleting Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-41
 Job Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-43
8
Parameter
8.1 Parameter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Motion Speed Setting Parameters . . . . . . . . . . . . . . . . . 8-2
 S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED .8-2
 S1CxG001: DRY-RUN SPEED . . . . . . . . . . . . . . . . . . . . . . .8-2
 S1CxG002 to S1CxG009: JOINT SPEED FOR
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REGISTRATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
S1CxG010 to S1CxG017: LINEAR SPEED FOR
REGISTRATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
S1CxG018 to S1CxG025: POSITION ANGLE SPEED. . . . .8-3
S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE
VALUE SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-3
S1CxG030 to S1CxG032: INCHING MOVE AMOUNT . . . . .8-3
S1CxG033 to S1CxG040: POSITIONING ZONE . . . . . . . . .8-3
S1CxG044: LOW-SPEED START . . . . . . . . . . . . . . . . . . . .8-4
S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED.8-4
S1CxG056: WORK HOME POSITION RETURN SPEED. . .8-4
S1CxG057: SEARCH MAX. SPEED . . . . . . . . . . . . . . . . . . .8-5
S2C153: POSTURE CONTROL AT CARTESIAN
OPERATION OF JOG. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
S2C154: OPERATION IN USER COORDINATE SYSTEM
(WHEN EXTERNAL REFERENCE POINT CONTROL
FUNCTION USED) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
S2C238: CONTROLLED GROUP JOB TEACHING
POSITION CHANGE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
S2C324, S2C325: OPERATION AFTER RESET FROM
PATH DEVIATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-6
S2C326: DEVIATED POSITION . . . . . . . . . . . . . . . . . . . . . .8-7
S2C327: CIRCULAR INTERPOLATION TOOL POSITION
CONTROL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-8
S2C515: EMERGENCY STOP CURSOR ADVANCE
CONTROL FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-8
S2C516: EMERGENCY STOP CURSOR ADVANCE
CONTROL FUNCTION CONT PROCESS COMPLETION
POSITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-9
S2C517: EMERGENCY STOP ADVANCE CONTROL
FUNCTION WORK START INSTRUCTION STEP
MOTION COMPLETION DELAY TIME. . . . . . . . . . . . . . . . .8-9
S2C560: BASE AXIS OPERATION KEY ALLOCATION
SETTING. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-9
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
S3C806 to S3C808: POSITION CORRECTING
FUNCTION DURING PLAYBACK . . . . . . . . . . . . . . . . . . . 8-10
8.3 Mode Operation Setting Parameters. . . . . . . . . . . . . . . 8-11
 S2C147: SECURITY MODE WHEN CONTROL POWER
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SUPPLY IS TURNED ON. . . . . . . . . . . . . . . . . . . . . . . . . . 8-11
S2C148: SELECTION OF CARTESIAN/CYLINDRICAL . . 8-11
S2C149: COORDINATE SWITCHING PROHIBITED . . . . 8-11
S2C150: EXECUTION UNITS AT “FORWARD”
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
S2C151: INSTRUCTION (EXCEPT FOR MOVE)
EXECUTION AT “FORWARD” OPERATION . . . . . . . . . . . 8-12
S2C155: CHANGING STEP ONLY . . . . . . . . . . . . . . . . . . 8-12
S2C156: MANUAL SPEED STORING FOR EACH
COORDINATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
S2C158: ADDITIONAL STEP POSITION. . . . . . . . . . . . . . 8-13
S2C159: MASTER JOB CHANGING OPERATION . . . . . . 8-13
S2C160: CHECK AND MACHINE-LOCK KEY
OPERATION IN PLAY MODE . . . . . . . . . . . . . . . . . . . . . . 8-14
S2C161: RESERVED WORK JOB CHANGING
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14
S2C162: MASTER OR SUBMASTER CALL
OPERATION IN PLAY MODE . . . . . . . . . . . . . . . . . . . . . . 8-14
S2C163: LANGUAGE LEVEL. . . . . . . . . . . . . . . . . . . . . . . 8-14
S2C166: INSTRUCTION INPUT LEARNING FUNCTION . 8-15
S2C167: ADDRESS SETTING WHEN CONTROL
POWER IS TURNED ON . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
S2C168: JOB LIST DISPLAY METHOD AT JOB
SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
S2C169: INITIAL OPERATION OF MANIPULATOR . . . . . 8-15
S2C170: PLAYBACK EXECUTION AT CYCLE MODE
“1- STEP” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
S2C171: EXTERNAL START . . . . . . . . . . . . . . . . . . . . . . . 8-16
S2C172: PROGRAMMING PENDANT START . . . . . . . . . 8-16
S2C173: SPEED DATA INPUT FORM. . . . . . . . . . . . . . . . 8-16
S2C174: RESERVED START . . . . . . . . . . . . . . . . . . . . . . 8-17
S2C176: JOB SELECTION AT REMOTE FUNCTION
(PLAY MODE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
S2C177: EXTERNAL MODE SWITCH. . . . . . . . . . . . . . . . 8-17
S2C179: EXTERNAL CYCLE SWITCHING . . . . . . . . . . . . 8-17
S2C180: PROGRAMMING PENDANT CYCLE
SWITCHING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
S2C181: SERVO ON FROM EXTERNAL PP
PROHIBITION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
S2C182: PROGRAMMING PENDANT OPERATION
WHEN “IO” IS SELECTED FOR REMOTE MODE . . . . . . 8-18
S2C186: STEP REGISTRATION AT TOOL NO. CHANGE 8-18
S2C211: REMOTE FIRST CYCLE MODE . . . . . . . . . . . . . 8-19
S2C212: LOCAL FIRST CYCLE MODE. . . . . . . . . . . . . . . 8-19
S2C230: POWER ON FIRST CYCLE MODE. . . . . . . . . . . 8-19
S2C231: TEACH MODE FIRST CYCLE MODE. . . . . . . . . 8-19
S2C232: PLAY MODE FIRST CYCLE MODE . . . . . . . . . . 8-19
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S2C297: SIGNAL NAME ALIAS FUNCTION . . . . . . . . . . .8-20
S2C298: VARIABLE NAME ALIAS FUNCTION . . . . . . . . .8-21
S2C299: I/O VARIABLE CUSTOMIZE FUNCTION . . . . . .8-22
S2C317 to S2C321: TIME RESET . . . . . . . . . . . . . . . . . . .8-23
S2C333: TOOL NO. SWITCHING. . . . . . . . . . . . . . . . . . . .8-23
S2C335: POSITION TEACHING BUZZER . . . . . . . . . . . . .8-23
S2C336: JOB LINKING DESIGNATION (When Twin
Synchronous Function Used) . . . . . . . . . . . . . . . . . . . . . . .8-24
S2C339: PLAYBACK OPERATION CONTINUATION
FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-25
8.4 Parameters according to Interference Area . . . . . . . 8-26
 S1CxG200 to S1CxG215: PULSE SOFT LIMIT . . . . . . . . .8-26
 S2C001: CUBE SOFT LIMIT CHECK . . . . . . . . . . . . . . . . .8-27
 S2C002: S-AXIS INTERFERENCE CHECK . . . . . . . . . . . .8-27
 S2C003 to S2C050: CUBE/AXIS INTERFERENCE
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CHECK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-28
S2C051 to S2C114: CUBE USING METHOD. . . . . . . . . . .8-30
S2C188 to S2C193: ROBOT INTERFERENCE CHECK . .8-32
S3C000 to S3C023: CUBE SOFT LIMIT. . . . . . . . . . . . . . .8-32
S3C024 to S3C031: S-AXIS INTERFERENCE AREA . . . .8-33
S3C032 to S3C543: CUBIC INTERFERENCE AREA. . . . .8-33
S3C801 to S3C804: ROBOT INTERFERENCE AREA . . . .8-33
S3C805: A SIDE LENGTH OF WORK-HOME-POSITION
CUBE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-33
8.5 Parameters according to Status I/O . . . . . . . . . . . . . . . 8-34
 S2C187: USER OUTPUT RELAY WHEN CONTROL
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POWER IS ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-34
S4C000 to S4C007: PARITY OF USER INPUT GROUPS .8-35
S4C008 to S4C015: PARITY OF USER OUTPUT
GROUPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-36
S4C016 to S4C023: DATA OF USER INPUT GROUPS. . .8-37
S4C024 to S4C031: DATA OF USER OUTPUT
GROUPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
S4C032 to S4C039: USER OUTPUT GROUP TO BE
INITIALIZED AT SWITCHING MODE . . . . . . . . . . . . . . . . .8-39
S4C126: USER OUTPUT NO. WHEN MANIPULATOR
DROP ALLOWABLE RANGE ERROR OCCURS. . . . . . . .8-39
8.6 Parameters according to Coordinated or
Synchronized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40
 S2C164: +MOV or +SMOV INSTRUCTION SPEED
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INPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40
S2C165: +MOV INSTRUCTION INTERPOLATION INPUT 8-40
S2C183: OPERATION METHOD AT FWD/BWD
OPERATION OR TEST RUN BY INDEPENDENT
CONTROL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41
S2C184: JOB AT CALLING MASTER OF SUBTASK
1, 2, 3, 4, 5, 6, 7 BY INDEPENDENT CONTROL . . . . . . . .8-41
S2C194: STATION AXIS CURRENT VALUE DISPLAY
FUNCTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41
S2C195 to S2C206: STATION AXIS DISPLAYED UNIT . .8-42
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S2C322: POSTURE CONTROL OF SYNCHRONIZED
MANIPULATOR (When Twin Synchronous
Function Used) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-42
S2C323: POSTURE CONTROL OF MANIPULATOR IN
MULTI-JOB (When Twin Synchronous Function Used) . . . 8-43
S2C549: OPERATION OF JOB WITHOUT CONTROL
GROUP SPECIFICATION . . . . . . . . . . . . . . . . . . . . . . . . . 8-43
S2C550: EXECUTION OF “BWD” OPERATION . . . . . . . . 8-43
S3C809: MAXIMUM DEVIATION ANGLE OF CURRENT
STATION POSITION (When Twin Synchronous Function
Used) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-44
8.7 Parameters for Other Functions or Applications . . . 8-45
 S1CxG049 to S1CxG051: SMALL CIRCLE CUTTING. . . . 8-45
 S1CxG052 to S1CxG053: SMALL CIRCLE CUTTING
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DIRECTION LIMIT VALUE . . . . . . . . . . . . . . . . . . . . . . . . . 8-45
S1CxG054 to S1CxG055: SMALL CIRCLE CUTTING
OVERLAP VALUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-45
S1CxG063, S1CxG064: PATTERN CUTTING
DIMENSION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-45
S1CxG065: MIRROR SHIFT SIGN INVERSION . . . . . . . . 8-45
S2C332: RELATIVE JOB OPERATION METHOD. . . . . . . 8-46
S3C819 to S3C898: ANALOG OUTPUT FILTER
CONSTANT (When analog output corresponding to
speed function is used). . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-46
S3C899: CUT WIDTH CORRECTION VALUE
(When form cutting function is used) . . . . . . . . . . . . . . . . . 8-46
8.8 Hardware Control Parameters . . . . . . . . . . . . . . . . . . . . . 8-47
 S2C508: ANTICIPATOR FUNCTION . . . . . . . . . . . . . . . . . 8-47
 S2C646 to S2C648: COOLING FAN ALARM DETECTION8-48
 S4C181 to S4C212: SETTING OF OPERATING
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RELAY NO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48
S4C213 to S4C244: OPERATING METHOD OF RELAYS 8-48
S2C649 to S2C651: COOLING FAN ALARM 1
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48
S2C652 to S2C654: COOLING FAN ALARM 2
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-48
S2C655 to S2C657: COOLING FAN ALARM 3
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
S2C658 to S2C660: FAN ALARM 1 POWER SOURCE
STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
S2C661 to S2C663: FAN ALARM 2 POWER SOURCE
STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
S2C664 to S2C666: FAN ALARM 3 POWER SOURCE
STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-49
8.9 TRANSMISSION PARAMETERS . . . . . . . . . . . . . . . . . 8-50
 RS000: COMMUNICATION PROTOCOL . . . . . . . . . . . . . 8-50
8.9.1 Basic Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50
 RS030: NUMBER OF DATA BITS . . . . . . . . . . . . . . . . . . . 8-50
 RS031: NUMBER OF STOP BITS . . . . . . . . . . . . . . . . . . . 8-50
 RS032: PARITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-50
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RS033: TRANSMISSION SPEED . . . . . . . . . . . . . . . . . . . .8-50
RS034: RESPONSE WAITING TIMER (TIMER A) . . . . . . .8-50
RS035: TEXT TERMINATION MONITORING TIMER
(TIMER B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-50
 RS036: NUMBER OF ENQ RE-TRANSMISSION
RETRIES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-50
 RS037: NUMBER OF DATA RE-TRANSMISSION
RETRIES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-50
 RS038: BLOCK CHECK METHOD . . . . . . . . . . . . . . . . . . .8-50
8.9.2 FC1 Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
 RS050: NUMBER OF DATA BITS . . . . . . . . . . . . . . . . . . .8-51
 RS051: NUMBER OF STOP BITS . . . . . . . . . . . . . . . . . . .8-51
 RS052: PARITY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
 RS053: TRANSMISSION SPEED . . . . . . . . . . . . . . . . . . . .8-51
 RS054: RESPONSE WAITING TIMER (TIMER A) . . . . . . .8-51
 RS055: TEXT TERMINATION MONITORING TIMER
(TIMER B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
 RS056: NUMBER OF ENQ RE-TRANSMISSION
RETRIES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
 RS057: NUMBER OF DATA RE-TRANSMISSION
RETRIES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
 RS058: FC2 FORMAT SPECIFICATION . . . . . . . . . . . . . .8-51
 RS059: EXTERNAL MEMORY FILE OVERWRITE
SPECIFICATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-51
8.10 Application Parameters
. . . . . . . . . . . . . . . . . . . . . . . . . 8-52
8.10.1 Arc Welding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-52
 AxP000: APPLICATION . . . . . . . . . . . . . . . . . . . . . . . . . . .8-52
 AxP003: WELDING ASSIGNMENT OF WELDING
START CONDITION FILE. . . . . . . . . . . . . . . . . . . . . . . . . .8-52
 AxP004: WELDING ASSIGNMENT OF WELDING END
CONDITION FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-52
 AxP005: WELDING SPEED PRIORITY . . . . . . . . . . . . . . .8-52
 AxP009: WORK CONTINUING . . . . . . . . . . . . . . . . . . . . . .8-52
 AxP010: WELDING INSTRUCTION OUTPUT . . . . . . . . . .8-52
 AxP011, AxP012: MANUAL WIRE OPERATION SPEED. .8-53
 AxP013, AxP014: WELDING CONTROL TIME . . . . . . . . .8-53
 AxP015 to AxP017: NUMBER OF WELDING CONTROL .8-53
 AxP026 to AxP029: TOOL ON/OFF USER OUTPUT NO.
(Jigless system). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53
8.10.2 Handling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53
 AxP002, AxP004: f1 KEY FUNCTION . . . . . . . . . . . . . . . .8-53
 AxP003, AxP005: f2 KEY FUNCTION . . . . . . . . . . . . . . . .8-53
8.10.3 Spot Welding. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53
 AxP003: MAXIMUM NUMBERS OF CONNECTED
POWER SOURCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-53
 AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL . .8-53
 AxP005: STROKE CHANGE ANSWER TIME LIMIT . . . . .8-54
 AxP006: PARITY SPECIFICATION FOR WELDING
CONDITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-54
 AxP007: ANTICIPATE TIME . . . . . . . . . . . . . . . . . . . . . . . .8-54
 AxP015: WELDING ERROR RESET OUTPUT TIME. . . . .8-54
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AxP016, AxP017: ELECTRODE WEAR AMOUNT
ALARM VALUE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-54
8.10.4 General-purpose Application . . . . . . . . . . . . . . . . . . . . . . . . 8-54
 AxP009: WORK CONTINUE PROHIBIT . . . . . . . . . . . . . . 8-54
9
Arc Welding Application
9.1 Function Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
9.2 General Descriptions of Instructions and Functions . 9-3
9.2.1
9.2.2
9.2.3
9.2.4
Welding Teaching Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
Functions Used During Teaching . . . . . . . . . . . . . . . . . . . . . . . 9-5
Functions Used During Automatic Drive . . . . . . . . . . . . . . . . . . 9-5
Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-5
9.3.1
9.3.2
9.3.3
9.3.4
9.3.5
9.3.6
9.3.7
9.3.8
9.3.9
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Wire Inching Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Gas Flow Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Welding Execution Function During Teach Mode. . . . . . . . . . . 9-7
Arc Retry Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
Arc Restart Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
Wire-stick Check Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
Automatic Wire-stick Release Function . . . . . . . . . . . . . . . . . 9-11
Slope Up/Down Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
Enhanced Welding Condition File Function . . . . . . . . . . . . . . 9-13
9.3 Function Outlines
9.4 Registering Arc Welding Instructions
. . . . . . . . . . . . . . 9-13
9.4.1 ARCON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
 Registering the ARCON Instruction . . . . . . . . . . . . . . . . . . 9-13
 Setting Welding Start Conditions . . . . . . . . . . . . . . . . . . . . 9-14
9.4.2 ARCOF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
 Registering the ARCOF Instruction . . . . . . . . . . . . . . . . . . 9-21
 Setting Welding End Conditions . . . . . . . . . . . . . . . . . . . . . 9-22
9.4.3 ARCSET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30
 Registering the ARCSET Instruction . . . . . . . . . . . . . . . . . 9-30
9.4.4 ARCCTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-35
 Registering the ARCCTS Instruction . . . . . . . . . . . . . . . . . 9-36
9.4.5 ARCCTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-39
 Registering the ARCCTE Instruction . . . . . . . . . . . . . . . . . 9-40
9.5 Welding Condition Files . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-43
9.5.1
9.5.2
9.5.3
9.5.4
9.5.5
Welding Condition Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-43
Selecting Welding Condition Files . . . . . . . . . . . . . . . . . . . . . 9-44
Arc Start Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-46
Arc End Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-47
Arc Auxiliary Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-48
 Arc Retry Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . 9-48
 Arc Restart Function Setting. . . . . . . . . . . . . . . . . . . . . . . . 9-49
 Automatic Wire Anti-stick Function Setting. . . . . . . . . . . . . 9-50
9.5.6 Enhanced Arc Start Condition File . . . . . . . . . . . . . . . . . . . . . 9-51
9.5.7 Enhanced Arc End Condition File. . . . . . . . . . . . . . . . . . . . . . 9-53
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9.5.8 Editing Welding Condition File. . . . . . . . . . . . . . . . . . . . . . . . .9-55
 Displaying the Welding Condition File . . . . . . . . . . . . . . . . .9-55
 Editing the Arc Start Condition File . . . . . . . . . . . . . . . . . . .9-57
 Editing the Arc End Condition File. . . . . . . . . . . . . . . . . . . .9-58
9.5.9 Welding Speed Specifications . . . . . . . . . . . . . . . . . . . . . . . . .9-58
9.6 Changing Welding Conditions During Playback . . . 9-59
9.6.1 Function Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-59
9.6.2 Changing Welding Conditions . . . . . . . . . . . . . . . . . . . . . . . . .9-60
9.6.3 Notes on Modification of Welding Conditions . . . . . . . . . . . . .9-61
 When Condition Data cannot be Modified . . . . . . . . . . . . . .9-61
 ARCON Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-62
 ARCOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-62
 ARCCTS and ARCCTE Instructions . . . . . . . . . . . . . . . . . .9-63
9.7 Editing Condition Files During the Play Mode
. . . . 9-64
9.7.1 Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-64
9.8 Arc Welding Management and Maintenance . . . . . . 9-66
9.8.1 ARC WELD DIAGNOSIS Window. . . . . . . . . . . . . . . . . . . . . .9-66
9.8.2 Editing the ARC WELD DIAGNOSIS Window. . . . . . . . . . . . .9-67
9.9 Displaying Welding Alarm History . . . . . . . . . . . . . . . . 9-68
 Alarm History Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-68
9.10 Notes on Arc Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-70
 Notes on Restarting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-70
9.11 Weaving Condition File . . . . . . . . . . . . . . . . . . . . . . . . . 9-71
9.11.1 Weaving Basic Coordinate System. . . . . . . . . . . . . . . . . . . .9-71
9.11.2 WEAVING CONDITION Window . . . . . . . . . . . . . . . . . . . . .9-72
9.11.3 Editing the Weaving Condition Files . . . . . . . . . . . . . . . . . . .9-76
 Displaying a Weaving File . . . . . . . . . . . . . . . . . . . . . . . . . .9-76
 Editing the Condition Data. . . . . . . . . . . . . . . . . . . . . . . . . .9-77
 Cases that Require the Registration of Reference Points . .9-78
9.11.4 Prohibiting Weaving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-79
 Method to Prohibit Weaving During a “CHECK” operation .9-79
 Method to Prohibit Weaving During the “TEST RUN”
or FWD Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-80
 Method to Prohibit Weaving by Means of a
System Input Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-81
9.11.5 Registering Weaving Instructions . . . . . . . . . . . . . . . . . . . . .9-81
 WVON Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-81
 WVOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-83
9.12 Power Source Condition File . . . . . . . . . . . . . . . . . . . . 9-85
9.12.1 About Power Source Condition File . . . . . . . . . . . . . . . . . . .9-85
9.12.2 Specifying Welding Voltage when Synergic
Power Supply is Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-86
9.12.3 POWER SOURCE CONDITION Window . . . . . . . . . . . . . . .9-88
 POWER SOURCE CONDITION Window . . . . . . . . . . . . . .9-88
 POWER SOURCE CONDITION Window for Current/Voltage
Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-89
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9.12.4 Editing the Power Source Condition Files . . . . . . . . . . . . . . 9-90
 Displaying a Power Source Condition File . . . . . . . . . . . . . 9-90
 Reading a Power Source Condition File. . . . . . . . . . . . . . . 9-91
 Editing a Power Source Condition File . . . . . . . . . . . . . . . . 9-92
 Editing a Power Source Condition File for
Current/Voltage Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-93
 Registering the Power Source Condition File Data . . . . . . 9-94
9.13 Power Source Condition File Initial Value . . . . . . . . 9-96
 Contents of 24 Welder Condition Files . . . . . . . . . . . . . . . . 9-97
9.14 Table of Work Instructions . . . . . . . . . . . . . . . . . . . . . . 9-109
10
Table of Basic Instructions
10.1
10.2
10.3
10.4
10.5
11
Move Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
I/O Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
Shift Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-11
Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
Error
11.1 Error Message List
11.1.1
11.1.2
11.1.3
11.1.4
11.1.5
11.1.6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
System and General Operation . . . . . . . . . . . . . . . . . . . . . . 11-2
Editing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
Job Defined Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
External Memory Equipment . . . . . . . . . . . . . . . . . . . . . . . . 11-9
Concurrent I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
Maintenance Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-16
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1 Introduction
1.1 NX100 Overview
1 Introduction
1.1
NX100 Overview
The main power switch and the door lock are located on the front of the NX100 controller. The
emergency stop button is installed in the upper right corner of the cabinet door and the programming
pendant hangs from a hook below the button.
For information on setup, installation, and connection of the NX100 system, refer to the “NX100
INSTRUCTIONS.”
Main power switch
Door lock
Door lock
NX100 Front View
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1.2
Programming Pendant
1.2.1
Programming Pendant Overview
The programming pendant is equipped with the keys and buttons used to conduct manipulator teaching
operations and to edit jobs.
Start button
Hold button
Emergency
stop button
Mode switch
REMOTE
Menu area
General-purpose
display area
PLAY
TEACH
JOB
START
EDIT
DISPLAY
HOLD
UTILITY
JOB CONTENT
JOB NAME: TEST01
CONTROL GROUP: R1
0000 NOP
0001 SET B000 0
0002 SET B001 1
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OGH#(13) B002
0006 DOUT OT#(41) ON
0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662
0008 DOUT OT#(44) ON
0009 TIMER T=3.0
0010 MOVL V=880.0
0011 MOVL V=880.0
0012 MOVL V=880.0
0013 MOVL V=880.0
STEP NO: 0003
TOOL: 00
Insertion slot for
Compact Flash
Page key
Main Menu
Short Cut
Turn on servo power
Cursor key
LAYOUT
COORD
Multi
MAIN
MENU
Enable switch
Located on the back of
the programming pendant.
When you lightly squeeze it,
the power turns ON.
When you firmly squeeze it,
the power turns OFF.
SHORT
CUT
DIRECT
OPEN
PAGE
SERVO
ON
READY
X+
S-
S+
Y-.
Y+
L-
L+
Z-
Z+
MANUAL SPEED
U-
U+
SLOW
INTER
LOCK
ROBOT
INFORM
LIST
EX.AXIS
BACK
SPACE
MOTION
TYPE
AREA
!?
Select key
SELECT
CANCEL
ASSIST
SERVO ON
X-
SHIFT
GO BACK
X-
X+
Y-
Y+
.
Z-
Z+
R-
HIGH
SPEED
R+
B-
FAST
Manual speed keys
B+
T+
T-
Axis keys
7
8
9
TEST
START
SHIFT
4
5.
6
BWD
FWD
1
2
3
DELETE
INSERT
0
.
-
MODIFY ENTER
Enable switch (option)
Enter key
MOTOMAN
Numeric keys / Function keys
Motion
Type key Press to input numbers.
These keys are also used as function keys
to input instructions, etc. Key’s function is
automatically switched when function keys
are available.
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1.2.2

Key Description
Character Keys
The keys which have characters printed on them are denoted with [ ]. For example, ENTER is shown as
[ENTER].
The Numeric keys have additional functions along with their number values. Dual function keys are
used in the context of the operation being performed. For example:
1
TIM ER
may be described in the text
as [1] or [TIMER].

Symbol Keys
The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small
picture, with the exception of the cursor key, which is not shown with a picture.
Cursor
Emergency Stop button
DIRECT
OPEN
GO BACK
PAGE

Direct Open key
Page key
Axis Keys and Numeric Keys
The keys pictured in the following are referred to as the axis keys and Numeric keys when described.
ＸＳ+
Ｘ+
Ｓ+
･
Y+
L-
L+
Z-
Z+
Y-
U-
U+
Ｘ-
8
9
4
5
6
1
2
3
0
･
-
･
Y+
Y-
B+
B-
Z+
Z-
T+
T-
N um eric Keys
A xis K eys

7
Ｘ+
R+
R-
Keys Pressed Simultaneously
When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them,
such as [SHIFT]+[COORD].
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1.2.3
Programming Pendant Keys
E.STOP Button
Turns OFF the servo power.
When the servo power is turned OFF, the SERVO ON LED on the
programing pendant will extinguish.
An emergency stop message is displayed on the screen.
Enable Switch
Turns ON the servo power.
When the Enable switch is lightly squeezed while the SERVO ON LED is
blinking and the Mode Switch is set to “TEACH”, the power is turned ON.
And when this switch is released or firmly squeezed while the power is
turned ON, the power turns OFF.
Cursor
Moves the cursor in the direction of the arrow.
The size of the cursor and the range/place where the cursor can move will
vary depending on the window.
If the UP cursor button is pressed when the cursor is on the first line, the
cursor will move to the last line of the job. Conversely, if the cursor is on
the last line of the job and the DOWN cursor button is pressed, the cursor
will jump to the first line of the job.
• [SHIFT] + UP
Scrolls the screen upward.
• [SHIFT] + DOWN
Scrolls the screen downward.
• [SHIFT] + RIGHT
Scrolls the screen to the right.
• [SHIFT] + LEFT
Scrolls the screen to the left.
[SELECT]
Selects menu items such as main menu, pull-down menu,
etc.
S ELEC T
[MAIN MENU]
MAIN
MENU
Displays the main menu.
When pressed while the main menu is displayed, the main menu
disappears.
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Moves the cursor between “Menu Area” and “General
Purpose Display Area.”
When [SHIFT] is pressed simultaneously:
[AREA]
• [SHIFT] + [AREA]
The language can be switched when the bilingual function is valid.
(Bilingual function is optional.)
AREA
• DOWN cursor button + [AREA]
Moves the cursor to the operation button on the screen if displayed.
• UP cursor button + [AREA]
Moves the cursor to the general-purpose display area when the cursor is
on the operation button.
Displays the next page.
[PAGE]
GO BACK
PAGE
[SHIFT] + [PAGE]
The previous page is displayed.
The page can be changed when
appears in the status area on the
screen.
Displays the content related to the current line.
[DIRECT OPEN]
DIRECT
OPEN
To display the content of a CALL job or condition file, move the cursor to
the next line and press [DIRECT OPEN]. The file will be displayed for the
selected line. Display content will vary depending on the type of
instruction used in the job.
Example:
For a CALL instruction, the content of the called job will be displayed.
For a work instruction, the content of the condition file will be displayed.
For Input/output instructions, the input/output condition will be displayed.
[COORD]
TOOL SEL
COORD
Select the operation coordinate system when the
manipulator is operated manually.
Five coordinate systems (joint, cartesian, cylindrical, tool and user) can be
used. Each time this key is pressed, the coordinate system is switched in
the following order: "JOINT""WLD/CYL""TOOL""USER"
The selected coordinate system is displayed on the status display area.
[SHIFT] + [COORD]
The coordinate number can be changed when the “TOOL” or “USER”
coordinate system is selected.
MANUAL SPEED
keys
FAST
MANUAL SPEED
SLOW
[HIGH SPEED]
HIGH
SPEED
Sets the speed for manual operation.
This speed is also valid for operations with [FWD] and [BWD].
There are four speed levels (slow, medium, fast, and inching).
Each time [FAST] is pressed, manual speed changes in the following
order: "INCH"" SLOW""MED""FST"
Each time [SLOW] is pressed, manual speed changes in the following
order: "FST""MED""SLOW""INCH"
The selected speed is displayed on the status area.
Changes the speed of axis operation when the axis button
is pressed.
The speed of the manipulator will change to high regardless of the
programmed speed while this key is pressed.
The speed for [HIGH SPEED] is specified in advance.
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Selects the interpolation type for playback operation.
The selected interpolation type is shown in the status display area on the
screen.
[MOTION TYPE]
MOTION
TYPE
Each time this key is pressed, the interpolation type changes in the
following order:
"MOVJ"" MOVL""MOVC""MOVS"
[SHIFT] + [MOTION TYPE]
The interpolation mode changes in the following order:
"STANDARD"" EXTERNAL REFERENCE POINT"*" CONVEYOR"*
Interpolation type can be changed in any mode.
*: These modes are purchased options.
[ROBOT]
ROBOT
[EX.AXIS]
EX.AXIS
Axis Key
Enables the robot axis operation.
[ROBOT] is active for the system where multiple manipulators are
controlled by one NX100 or the system with external axes.
Enables the external axis (base axis or station axis)
operation.
[EX.AXIS] is active for the system with external axes.
Moves specified axes on manipulator.
The manipulator axes only move while the key is held down.
Multiple axes can be operated simultaneously by pressing two or more
keys at the same time.
The manipulator operates in the selected coordinate system at the
selected manual speed. Make sure that the selected coordinate system
and the manual speed are the desired ones before starting the axis
operation.
[TEST START]
TEST
START
Moves the manipulator through taught steps in a continuous
motion when [TEST START] and [INTERLOCK] are
simultaneously pressed.
The manipulator can be moved to check the path of taught steps.
The manipulator operates according to the currently selected operation
cycle: "AUTO," "1CYCLE," or "STEP."
The manipulator operates at the taught speed. However, if the taught
speed exceeds the maximum teaching speed, the operation proceeds at
the maximum teaching speed.
Operation stops immediately when this key is released.
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Moves the manipulator through the taught steps while this
key is pressed.
Only move instructions are executed (one instruction at a time, no welding
instructions).
[FWD]
FWD
[INTERLOCK] + [FWD]
All instructions are executed.
[REFP] + [FWD]
Moves to the reference point of the cursor line. See “ " Moving to
Reference Point "” in " 3.3.1 FWD/BWD Key Operations ".
The manipulator operates at the selected manual speed. Make sure that
the selected manual speed is the desired one before starting operation.
[BWD]
Moves the manipulator through the taught steps in the
reverse direction while this key is pressed.
Only move instructions are executed (no weld commands).
BWD
[INFORM LIST]
Displays instruction lists of commands available for job
editing.
INFORM
LIST
[CANCEL]
Cancels data input and resets errors.
CANCEL
[DELETE]
Deletes registered instructions and data.
Deletion completes when [ENTER] is pressed while this key lamp is lit.
DELETE
[INSERT]
Inserts new instructions or data.
Insertion completes when [ENTER] is pressed while this key lamp is lit.
INSERT
[MODIFY]
Modifies taught position data, instructions, and data.
Modification completes when [ENTER] is pressed while this key lamp is lit.
MODIFY
[ENTER]
ENTER
Registers instructions, data, current position of the
manipulator, etc.
When [ENTER] is pressed, the instruction or data displayed in the input
buffer line moves to the cursor position to complete a registration,
insertion, or modification.
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[SHIFT]
Changes the functions of other keys by pressing together.
Can be used with [MAIN MENU], [COORD], [MOTION TYPE], cursor key,
GO BACK
SHIFT
Numeric key, page key
to access alternate functions.
Refer to the description of each key for the alternate [SHIFT] functions.
[INTERLOCK]
Changes the functions of other keys by pressing together.
Can be used with [TEST START], [FWD], Numeric key (Numeric key
customize function).
Refer to the description of each key for the alternate [INTERLOCK]
functions.
PAGE
INTER
LOCK
Numeric Key
7
8
9
4
5
6
1
2
3
0
･
-
[START]
START
[HOLD]
HOLD
Enters the number or symbol when the ">" prompt appears
on the input line.
“.” is the decimal point. “-” is a minus sign or hyphen.
The Numeric keys are also used as function keys. Refer to the
explanation of each function for details.
Starts the manipulator motion in playback operation.
The lamp on this button is lit during the playback operation.
The lamp also lights when the playback operation is started by the system
input START signal.
The lamp turns OFF when the playback operation is stopped by alarm
occurrence, HOLD signal, or mode change.
Holds the manipulator motion.
This button is enabled in any mode.
The lamp on this button is lit only while the button is being pressed.
Although the lamp turns OFF when the button is released, the manipulator
stays stopped until a START command is input.
The HOLD lamp automatically lights in the following cases to indicate that
the system is in HOLD status. The start and axis operations are disabled
while the lamp is lit.
• The HOLD signal of system input is ON.
• The HOLD request is being sent from an external device in remote mode.
• In HOLD status caused by an error occurred in working process such as
wire sticking at arc welding
Selects the Play mode, Teach mode, or Remote mode.
Mode Switch
REMOTE
TEACH
PLAY
PLAY: Play Mode
The playback of taught job is enabled.
The START signal from an external device is disabled.
TEACH: Teach Mode
The axis operation and edition from the programming pendant are
enabled.
The START signal from an external device is disabled.
REMOTE: Remote Mode
The operation by external signals is enabled.
[START] is invalid during the remote mode.
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[MAIN MENU]
MAIN
MENU
[SERVO ON READY]
SERVO
ON
READY
Displays the main menu.
If this button is pressed while the main menu is displayed, the main menu
disappears.
[SHIFT] + [MAIN MENU]
While a window opens, the window is switched in the following order:
Window → Sub-menu → Main menu
Enables the servo power supply to be turned ON.
Press this button to enable the servo power supply to be turned ON if the
servo power supply is shut OFF by the emergency stop or overrun signal.
When this button is pressed:
• In the play mode, the servo power supply is turned ON if the safeguarding is securely closed.
• In the teach mode, the SERVO ON lamp flashes and the servo power
supply is turned ON when the Enable switch is ON.
• The SERVO ON lamp is lit while the servo power is ON.
[ASSIST]
!?
ASSIST
Displays the menu to assist the operation for the currently
displayed window.
Pressing this button with [SHIFT] or [INTERLOCK] displays the help
guidance for the operation.
• [SHIFT] + [ASSIST]
The function list of key combinations with [SHIFT] appears.
• [INTERLOCK] + [ASSIST]
The function list of key combinations with [INTERLOCK] appears.
[BACK SPACE]
Deletes the last character while typing characters.
BACK
SPACE
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1.2.4

Programming Pendant Display
The Five Display Areas
The programming pendant display is a 6.5 inch color display. Alphanumeric characters can be used.
The general display area, menu area, human interface display area, and main menu area among the
following five areas can be moved by pressing [AREA], or can be selected by directly touching the
screen.
Menu area
JOB
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
Main menu area
CF
SPOT WELDING
VARIABLE
PARAMETER
SETUP
B001
IN/OUT
In
UTILITY
T
POSITION DIAGNOSIS 3
CURR POS (PLS)
CURR POS (XYZ)
SEG. PLUSE
S
0X
0.000 S
0
L
0Y
0.000 L
0
U
0Z
0
R
B
0 Rx
0.000 U
0.00 R
0.00 B
T
7
0 Rz
0
0
0.00 T
7
0
0
0
0 Ry
8
Out
Status display area
8
0
0
Main menu area
AXIS 0000_0000 TYPE 0000_0000 TOOL 0
F/B PULSE MOTOR POS RESET
ROBOT
0S
S
01
0
SYSTEM INFO
Human interface
display area
Main Menu
Short CUt
Turn on servo power
Each window displayed during operations is provided with its name on the upper left of the general
display area.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME:TEST01
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
STEP NO. : 0003
TOOL : 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
DOUT OT#(41) ON
MOVL C00002 V=880.0 CV#(1) CTP=0.662
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
Main Menu
Short Cut
Turn on servo power
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1.2 Programming Pendant

General-purpose Display Area
On the general-purpose display area, various settings and contents such as jobs and characteristics
files can be displayed and edited.
The operation buttons are also displayed at the bottom of the window according to the window
contents.
• To move the cursor to the operation button, press [AREA] + DOWN cursor key.
• To move the cursor to the general-purpose display area, press [AREA] + UP cursor key or
press [CANCEL].
• To move the cursor between the operation buttons, use the RIGHT or LEFT cursor key.
• To execute the operation button, move the cursor to the button and press [SELECT].
EXECUTE:
Continues operation with the displayed contents.
CANCEL:
Cancels the displayed contents and returns to the previous window.
COMPLETE:
Completes the setting operation displayed on the general-purpose display
area.
STOP:
Stops operation when loading, saving, or verifying with an external
memory device.
RELEASE:
Releases the overrun and shock sensor function.
RESET:
Resets an alarm. (Cannot reset major alarms.)
DIRECT PAGE:
Jumps to the appropriate page if the page can be switched.
• When the page can be switched by specifying the page number, the following input box appears when “DIRECT PAGE” is selected. Directly
type the desired page number and press [ENTER].
General-purpose
display area
Operation buttons
JUMP TO:
PAGE
• When the page can be switched by selecting an item, the following selection list appears when “DIRECT PAGE” is selected. Select a desired item
using the UP and DOWN cursor key and press [ENTER].
PAGE
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1.2 Programming Pendant

Main Menu Area
Each menu and submenu are displayed in the main menu area. Press [MAIN MENU] or touch {Main
Menu} on the left bottom of the window to display the main menu.
FD/CF
JOB
DOUT
MOVE
END
CF
SPOT WELDING
PARAMETER
VARIABLE
SETUP
B001
IN/OUT
In
Out
ROBOT
SYSTEM INFO
Main Menu

Short Cut
Status Display Area
The Status Display area shows controller status. The displayed information will vary depending on the
controller mode (Play/Teach).
T
Weak battery
Page
Mode
State under execution
Operation cycle
Security mode
Group operation axis
Operation coordinate system
Manual speed
Control Group
Displays the active control group for systems equipped with station axes or several robot
axes.
to
: Robot Axes
to
: Base Axes
to
: Station Axes
Operation Coordinate System
Displays the selected coordinate system. Switched by pressing [COORD].
: Joint Coordinates
: Cartesian Coordinates
: Cylindrical Coordinates
: Tool Coordinates
: User Coordinates
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1.2 Programming Pendant
Manual Speed
Displays the selected speed. For details, refer to “ " Select Manual Speed ".”
: Inching
: Low Speed
: Medium Speed
: High Speed
Security Mode
: Operation Mode
: Edit Mode
: Management Mode
Operation Cycle
Displays the present operation cycle.
: Step
: Cycle
: Continuous
State Under Execution
Displays the present system status (STOP, HOLD, E-STOP, ALARM, or RUN).
: Stop Status
: Hold Status
: Emergency Stop Status
: Alarm Status
: Operating Status
Mode (NS3.00 or later)
T
: Teach mode
P
: Play mode
Page
: Displayed when the page can be switched.
Weak Battery of Memory
: Displayed when the battery of memory is weak.
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1.2 Programming Pendant

Human Interface Display Area
When two or more errors or messages are displayed,
appears in the human interface display area.
Turn on servo power
To view the list of current errors or messages, activate the human interface display area and press
[SELECT]. To close the error list, press [CANCEL].
When two or more errors occur,
appears in the message display area. Activate the message
display area and press [SELECT] to view the list of current errors.
5/9
Cannot load macro job at current security mode
HELP
Cannot insert/modify/delete for group axis detachment
CLOSE
Cannot insert/modify/delete for axis detachment
To close the error list, select “CLOSE” or press [CANCEL].

Menu Area
The menu area is used to edit a job, manage jobs, and execute various utilities.
EDIT
DATA
1.2.5

DISPLAY
UTILITY
Screen Descriptions
Denotation
The menu displayed in the programming pendant is denoted with { }.
DATA
EDIT
DISPLAY
UTILITY
The above menu items are denoted with {DATA}, {EDIT}, {DISPLAY}, AND {UTILITY}.
DATA
EDIT
JOB
DOUT
MOVE
END
DOUT
MOVE
END
UTILITY
JOB
CF
ARC WELDING
VARIABLE
B001
IN/OUT
In
DISPLAY
SELECT JOB
CREATE NEW JOB
Aa
MASTER JOB
Out
ROBOT
JOB CAPACITY
SYSTEM INFO
Main Menu
Short Cut
Turn on servo power
The pull-down menu commands are denoted in the same manner.
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1.2 Programming Pendant

Screen
The window can be displayed according to the view desired.
DATA
Main Menu
EDIT
DISPLAY
UTILITY
Short Cut
Full Window View
DATA
EDIT
DISPLAY
UTILITY
Upper Window View
Middle Window View
Main Menu
Short Cut
Lower Window View
1.2.6
Character Input
To input characters, display the software keypad on the programming pendant display.
Move the cursor to the data for which characters are to be input, and press [SELECT] to display the
software keypad.
There are three types of software keypads: the alphanumeric keypads each for upper-case and lowercase characters and the symbol keypad. To switch between the alphanumeric keypads and the symbol
keypad, touch the button tab on the screen or press [PAGE]. To switch the alphanumeric keypads
between upper-case and lower-case characters, touch “CapsLock OFF” or “CapsLock ON.”
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1.2 Programming Pendant

Operation
Keypad
Button on the
Programming
Pendant
Explanation
Moves the cursor (focus).
Cursor
Selects a character.
[SELECT]
[CANCEL]
S ELEC T
CANCEL
Clears all the characters being typed.
Pressing this second time cancels the software keypad.
Deletes the last one character.
[BACK SPACE]
BACK
SPACE
Enters the input characters.
[ENTER]
ENTER
GO BACK
Button Tab
Switches the keypads displayed on the programming
pendant.
PAGE
Closes the software keypad.
MAIN
MENU
Enters numbers.
0
to
Numeric Keys
9
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1.2 Programming Pendant
Alphanumeric Input

Number input is performed with the Numeric keys or on the following alphanumeric input window.
Numbers include 0 to 9, the decimal point (.), and the minus sign/hyphen (-).
Note however, that the decimal point cannot be used in job names.
GO BACK
Press the page key
to display the alphanumeric input window. Move the cursor to the desired
letter and press [SELECT] to enter the letter.
PAGE
For Numbers and Upper-case Characters
JOB
EDIT
For Numbers and Lower-case Characters
UTILITY
DISPLAY
JOB
EDIT
UTILITY
DISPLAY
[RESULT]
[RESULT]
SYMBOL
KEYBOARD
KEYBOARD
1
2
3
4
5
6
7
8
9
0
Back
Space
Q
W
E
R
T
Y
U
I
O
P
Cancel
A
S
D
F
G
H
J
K
L
Z
X
C
V
B
N
M
CapsLock
OFF
Space
1
2
3
4
5
6
7
8
9
0
Back
Space
q
w
e
r
t
y
u
i
o
p
Cancel
a
s
d
f
g
h
j
z
x
c
v
b
n
m
k
l
CapsLock
ON
Enter
Short Cut
Main Menu
SYMBOL
Main Menu
Space
Enter
Short Cut
Symbol Input

GO BACK
Press the page key
to display the symbol input window.
Move the cursor to the desired symbol and press [SELECT] to enter the symbol.
Note that only some symbols are available for naming jobs.
PAGE
JOB
EDIT
UTILITY
DISPLAY
[RESULT]
SYMBOL
KEYBOARD
−
!
%
&
’
(
)
_
+
=
Back
Space
,
.
/
:
;
<
>
?
Cancel
"
$
@
SP
Caps
Lock
Enter
Main Menu
Short Cut
SP: Space
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1 Introduction
1.3 Modes
1.3
Modes
The following three modes are available for NX100.
• Teach Mode
• Play Mode
• Remote Mode
1.3.1
Teach Mode
In the teach mode, the following can be done.
• Preparation and teaching of a job
• Modification of a registered job
• Setting of various characteristic files and parameters
1.3.2
Play Mode
In the play mode, the following can be done.
• Playback of a taught job
• Setting, modification, or deletion of various condition files
1.3.3
Remote Mode
In the remote mode, the operations such as Servo ON Ready, Start, Cycle Change, Call Master Job
can be commanded by external input signals.
The operations by external input signals become enabled in the remote mode, while [START] on the
programming pendant becomes disabled.
The data transmission function (optional function) is also available in the remote mode.
The following table shows how each operation is input in each mode.
Note: “PP” indicates the programming pendant.
Teach Mode
Play Mode
Remote Mode
Servo ON Ready
PP
PP
External input signal
Start
Invalid
PP
External input signal
Cycle Change
PP
PP
External input signal
Call Master Job
PP
PP
External input signal
1.3.4
Teach Mode Priority
In the teach mode, following operations are disabled:
1) Playback using [START].
2) Playback from external input signals.
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1.4 About the Security Mode
1.4
1.4.1
About the Security Mode
Types of Security Modes
The following three types of security modes are available for NX100.
Any operations in the edit mode and the management mode require a password. The password must
contain between 4 and 8 letters, numbers, or symbols.
• Operation Mode
The operator can monitor the line operation and start and stop the manipulator. Repairs,
etc. can be performed if any abnormalities are detected.
• Edit Mode
Teaching, robot jog operations, and editing of jobs and various condition files can be performed in addition to the operations enabled in the operation mode.
• Management Mode
The operator who performs setup and maintenance for the system can set the machine
control parameter, set the time, change the password, etc. in addition to the operations
enabled in the edit mode.
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1.4 About the Security Mode
Menu & Security Mode
Main Menu
JOB
Sub Menu
DISPLAY
EDIT
JOB
Operation
Edit
SELECT JOB
Operation
Operation
CREATE NEW JOB*1
MASTER JOB
Edit
Edit
Operation
Edit
JOB CAPACITY
Operation
-
Edit
Edit
RES. START(JOB)*1
VARIABLE
IN/OUT
*1
*2
Security Mode
RES. STATUS*2
CYCLE
Operation
-
Operation
Operation
BYTE
Operation
Edit
INTEGER
Operation
Edit
DOUBLE
Operation
Edit
REAL
Operation
Edit
STRING
Operation
Edit
POSITION(ROBOT)
Operation
Edit
POSITION(BASE)
Operation
Edit
POSITION(ST)
Operation
Edit
LOCAL VARIABLE
Operation
-
EXTERNAL INPUT
Operation
-
EXTERNAL OUTPUT
Operation
-
UNIVERSAL INPUT
Operation
-
UNIVERSAL OUTPUT
Operation
Edit
SPECIFIC INPUT
Operation
-
SPECIFIC OUTPUT
Operation
-
RIN
Operation
-
CPRIN
Operation
-
REGISTER
Operation
-
AUXILIARY RELAY
Operation
-
CONTROL INPUT
Operation
-
PSEUDO INPUT SIG
Operation
Management
NETWORK INPUT
Operation
-
NETWORK OUTPUT
Operation
-
ANALOG OUTPUT
Operation
-
SV POWER STATUS
Operation
-
LADDER PROGRAM
Management
Management
I/O ALARM
Management
Management
I/O MESSAGE
Management
Management
Displayed in the teach mode only.
Displayed in the play mode only.
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1.4 About the Security Mode
Menu & Security Mode
Main Menu
ROBOT
Sub Menu
DISPLAY
EDIT
CURRENT POSITION
Operation
-
COMMAND POSITION
Operation
-
SERVO MONITOR
Management
-
WORK HOME POS
Operation
Edit
SECOND HOME POS
Operation
Edit
Management
Management
Operation
-
Edit
Edit
Management
Management
SHOCK SENS LEVEL
Operation
Management
USER COORDINATE
Edit
Edit
HOME POSITION
Management
Management
MANIPULATOR TYPE
Management
-
Edit
Edit
Management
Management
OVERRUN&S-SENSOR*1
Edit
Edit
LIMIT RELEASE*1
Edit
Management
ARM CONTROL*1
SHIFT VALUE
Management
Management
Operation
-
VERSION
Operation
-
MONITORING TIME
Operation
Management
ALARM HISTORY
Operation
Management
I/O MSG HISTORY
Operation
Management
SECURITY
Operation
Operation
LOAD
Edit
-
SAVE
Operation
-
VERIFY
Operation
-
DELETE
Operation
-
DEVICE
Operation
Operation
FOLDER
Edit
Edit
Operation
Operation
DROP AMOUNT
POWER ON/OFF POS
TOOL
INTERFERENCE
ROBOT CALIB
ANALOG MONITOR
SYSTEM INFO
FD/CF
FORMAT*5
*1
*5
Security Mode
Displayed in the teach mode only.
For FC1/FC2 Floppy disk
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1.4 About the Security Mode
Menu & Security Mode
Main Menu
Sub Menu
Security Mode
DISPLAY
EDIT
S1CxG
Management
Management
S2C
Management
Management
S3C
Management
Management
S4C
Management
Management
A1P
Management
Management
A2P
Management
Management
A3P
Management
Management
A4P
Management
Management
RS
Management
Management
S1E
Management
Management
S2E
Management
Management
S3E
Management
Management
S4E
Management
Management
TEACHING COND
Edit
Edit
OPERATE COND
Management
Management
DATE/TIME
Management
Management
GRP COMBINATION
Management
Management
RESERVE JOB NAME
Edit
Edit
USER ID
Edit
Edit
SET SPEED
Management
Management
KEY ALLOCATION*1
RES. START(CNCT)
Management
Management
Management
Management
Management
Management
WRONG DATA LOG*4
ARC START COND.
Operation
Management
Operation
Edit
ARC END COND.
Operation
Edit
ARC AUX COND.
Operation
Edit
POWER SOURCE COND.
Operation
Edit
ARC WELD DIAG.
Operation
Edit
WEAVING
Operation
Edit
ARC MONITOR
Operation
-
HANDLING
HANDLING DIAG.
Operation
Edit
SPOT WELDING
WELD DIAGNOSIS
Operation
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
SPOT POWER SOURCE COND.
Management
Management
PARAMETER
SETUP
AUTO BACKUP SET
ARC WELDING
*1
*3
*4
*3
Displayed in the teach mode only.
From NS3.20
From NS3.21
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1.4 About the Security Mode
Menu & Security Mode
Main Menu
SPOT WELDING
(MOTOR GUN)
Sub Menu
DISPLAY
EDIT
Operation
Edit
GUN PRESSURE
Edit
Edit
PRESSURE
Edit
Edit
I/O ALLOCATION
Management
Management
GUN CONDITION
Management
Management
Operation
Edit
Management
Management
WEAVING
Operation
Edit
GENERAL DIAGNOSIS
Operation
Edit
I/O-VARIABLE CUSTOMIZE
Operation
Operation
WELD DIAGNOSIS
CLEARANCE SETTING
SPOT POWER SOURCE COND.
GENERAL
ALL COMMON
APPLICATION
Security Mode
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1.4 About the Security Mode
1.4.2
Switching Security Modes
Operation
1
Select {SYSTEM INFO}
under the main menu.
Explanation
The sub menu appears.
DATA
EDIT
DISPLAY
UTILITY
FD/CF
JOB
DOUT
MOVE
END
CF
ARC WELDING
PARAMETER
VERSION
SETUP
VARIABLE
B001
MONITORING TIME
IN/OUT
In
DISPLAY SETUP
Aa
Out
ALARM HISTORY
ROBOT
I/O MESSAGE HISTORY
SYSTEM INFO
SECURITY
Main Menu
2
Short Cut
Turn on servo power
Select {SECURITY}.
EDIT
DATA
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
UTILITY
SECURITY MODE
CF
ARC WELDING
PARAMETER
SECURITY MODE
EDIT MODE
SETUP
VARIABLE
B001
IN/OUT
In
Out
ROBOT
SYSTEM INFOR
Main Menu
Turn on servo power
Short Cut
The security mode can be selected from operation mode, edit
mode, or management mode.
DATA
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
UTILITY
SECURITY MODE
CF
ARC WELDING
VARIABLE
PARAMETER
SETUP
SECURITY MODE
OPERATION MODE
EDIT MODE
MANAGEMENT MODE
B001
IN/OUT
In
Out
ROBOT
SYSTEM INFO
Main Menu
Short Cut
Turn on servo power
Security Mode Selection Dialog Box
3
Select the desired security
mode.
When the selected security mode is higher than the currently set
mode, the user ID input status window appears.
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1.4 About the Security Mode
Operation
4
Input user ID as required.
Explanation
At the factory, the user ID number is preset as follows:
• Edit Mode: [00000000]
• Management Mode: [99999999]
5
Press [ENTER].
The selected security mode’s input ID is checked. If the correct
user ID is input, the security mode is changed.
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2.1 Control Groups and Coordinate Systems
2 Manipulator Coordinate Systems
and Operations
2.1
Control Groups and Coordinate Systems
2.1.1
Control Group
For the NX100, a group of axes to be controlled at a time is called “Control Group”, and the group is
classified into three units: “ROBOT” as a manipulator itself, “BASE” that moves the manipulator in
parallel, and “STATION” as jigs or tools other than “ROBOT” and “BASE”. BASE and STATION are also
called external axes.
Robot
This is the axis for the
manipulator itself.
Station
This is any axis other than the robot and base. It indicates the
tilt or rotating axis of the fixture.
Base
This is the axis that moves the entire manipulator.
It corresponds to the servo track.
It controls the path of traveling manipulators.
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2.1 Control Groups and Coordinate Systems
2.1.2
Types of Coordinate Systems
The following coordinate systems can be used to operate the manipulator:
• Joint Coordinates
Each axis of the manipulator moves independently.
• Cartesian Coordinates
The tool tip of the manipulator moves parallel to any of the X-, Y-, and Z-axes.
• Cylindrical Coordinates
The θ axis moves around the S-axis. The R-axis moves parallel to the L-axis arm. For
vertical motion, the tool tip of the manipulator moves parallel to the Z-axis.
• Tool Coordinates
The effective direction of the tool mounted in the wrist flange of the manipulator is defined
as the Z-axis. This axis controls the coordinates of the end point of the tool.
• User Coordinates
The XYZ-cartesian coordinates are defined at any point and angle.
The tool tip of the manipulator moves parallel to the axes of them.
Z-axis
Z-axis
r-axis
Y- a x i s
θ-axis
r-axis
X-axis
Cartesian Coordinates
Cylindrical Coordinates
Z- a x i s
X- a x i s
Y-axis
X-axis
Y- a x i s
Z- a x i s
Tool Coordinates
User Coordinates
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2.2 General Operations
2.2

General Operations
Check Safety
Before any operation of NX100, read Section 1 “Safety” of “NX100 INSTRUCTIONS” again and keep
safe around robot system or peripherals.

Select Teach Mode
Set the mode switch on the programming pendant to “teach”.

Select Control Group
If NX100 has several Control Groups or Coordinate Control Systems (optional function), select control
group first.
If two or more ROBOT, BASE, STATION are registered, switch control group by pressing [SHIFT] +
[ROBOT] or [SHIFT] + [EX. AXIS].
After selecting a job, a control group registered in the selected job is enabled. A control group
registered in the edit job can be switched by pressing [ROBOT] or [EX. AXIS].
Check selected control group at status display area on the programming pendant.

Select Coordinate System
Select coordinate system by pressing [COORD] button.
It switches; JointCartesian (Cylindrical)ToolUser in every pressing. Check the selected
coordinate on the status display area on the programming pendant.

Select Manual Speed
Select manual speed of operation by pressing [FAST] or [SLOW]. The selected speed is effective not
only for axis operation but [FWD] or [BWD] operation.
NOTE
In operating the manipulator manually by the programming pendant, the maximum speed
of center point is limited at 250 mm/s.
• Every press of [FAST] switches; “INCH”“SLOW”“MED”“FAST”.
FAST
INCH
SLW
MED
FST
MANUAL SPEED
• Every press of [SLOW] switches; “FAST”“MED”“SLOW”“INCH”.
MANUAL SPEED
SLOW
FST
MED
SLW
INCH
Check selected manual speed on the status area of Programming Pendant.
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2.2 General Operations

Servo ON
Press [SERVO ON READY], then SERVO ON LED starts blinking.
Squeeze the Enable switch, then SERVO ON LED starts lighting.

Axis Operation
Make sure of safety around the manipulator. Press axis key, then axis moves according to the selected
control group, coordinates, and manual speed. See " 2.3 Coordinate Systems and Axis Operation " for
details.

HIGH SPEED
Pressing of [HIGH SPEED] with axis keys pressed allows the manipulator to move faster than usual
speed.
SUPPLE
-MENT
The [HIGH SPEED] key is disabled when “INCH” is selected for manual speed.
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2.3 Coordinate Systems and Axis Operation
2.3
Coordinate Systems and Axis Operation
2.3.1
Joint Coordinates
When operating in joint coordinates mode, the S, L, U, R, B, and T-axes of the manipulator move
independently. The motion of each axis is described in the table below.
Axis Motion in Joint Coordinates
Axis Name
Major
Axes
Axis Operation Key
S-axis
X-
X+
Y-
Y+
Z-
Z+
X-
X+
Y-
Y+
Z-
Z+
S-
L-axis
L-
U-axis
U-
Wrist
Axes
Motion
Main unit rotates right and left.
S+
Lower arm moves forward and backward.
L+
Upper arm moves up and down.
U+
R-axis
Wrist rolls right and left.
R-
R+
B-axis
Wrist moves up and down.
B-
B+
T-axis
Wrist turns right and left.
T-
SUPPLE
-MENT
T+
• When two or more axis keys are pressed at the same time, the manipulator will perform a
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [S-] + [S+]), none of the axes operate.
• When using a manipulator of 7 axes or 8 axes, the C-axis (7th axis) is moved by pressing
[SHIFT] + [S-] or [SHIFT] + [S+]; the W-axis (8th axis) by pressing [SHIFT] + [L-] or
[SHIFT] + [L+].
U-axis
Z+
R-axis
U+
X+
R+
B-axis
Y+
B+
T-axis
L-axis
ZU-
Z+
X-
T+
Y-
R-
B-
Y-
Z-
L-
T-
Y+
L+
S-axis
X-
X+
S-
S+
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2.3 Coordinate Systems and Axis Operation
2.3.2
Cartesian Coordinates
In the cartesian coordinates, the manipulator moves parallel to the X-, Y-, or Z-axes. The motion of
each axis is described in the following table:
Axis Motion in Cartesian Coordinates
Axis Name
Basic
Axes
Axis Operation Key
X-axis
X-
X+
Y-
Y+
Z-
Z+
S-
Y-axis
SUPPLE
-MENT
Moves parallel to Y-axis.
L+
U-
Wrist Axes
Moves parallel to X-axis.
S+
L-
Z-axis
Motion
Moves parallel to Z-axis.
U+
Motion about TCP is executed. See section 2.3.7 "Control Point Operation"
and section 2.3.8 "Control Point Change".
When two or more axis keys are pressed at the same time, the manipulator will perform
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
Z-axis
Y- a x i s
X-axis
Z-axis
Y-axis
Z+
XS-
U+
X+
S+
Y+
L+
Z-
X-axis
U-
YL-
Moves parallel to X- or Y-axis
Moves parallel to Z-axis
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2.3.3
Cylindrical Coordinates
In the cylindrical coordinates, the manipulator moves as follows. The motion of each axis is described in
the following table.
Axis Motion in Cylindrical Coordinates
Axis Name
Basic
Axes
θ-axis
Axis Operation Key
X-
X+
Y-
Y+
Z-
Z+
S-
r-axis
SUPPLE
-MENT
Moves perpendicular to Z-axis.
L+
U-
Wrist Axes
Main unit rolls around S-axis.
S+
L-
Z-axis
Motion
Moves parallel to Z-axis.
U+
Motion about TCP is executed. See section 2.3.7 "Control Point
Operation" and section 2.3.8 "Control Point Change".
When two or more axis keys are pressed at the same time, the manipulator will perform
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [Z-] + [Z+]), none of the axes operate.
Z-axis
r-axis
θ-axis
r-axis
r-axis
X+
S+
Y+
L+
YL-
r-axis
Y-
X-
L-
S-
Rolls around θ-axis
Y+
L+
Moves perpendicular to r-axis
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2.3.4
Tool Coordinates
In the tool coordinates, the manipulator moves parallel to the X-, Y-, and Z-axes, which are defined at
the tip of the tool. The motion of each axis is shown in the following table:
Axis Motion in Tool Coordinates
Axis Name
Basic
Axes
X- axis
Axis Operation Key
X-
X+
Y-
Y+
Z-
Z+
S-
Y- axis
L-
Z- axis
U-
Wrist Axes
SUPPLE
-MENT
Motion
Moves parallel to X-axis.
S+
Moves parallel to Y-axis.
L+
Moves parallel to Z-axis.
U+
Motion about TCP is executed. See section 2.3.7 "Control Point
Operation" and section 2.3.8 "Control Point Change".
When two or more axis keys are pressed at the same time, the manipulator will perform
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
X-axis
X-axis
Z-axis
Y- a x i s
Y- a x i s
Z-axis
Y- a x i s
Z-axis
X-axis
The tool coordinates are defined at the tip of the tool, assuming that the effective direction of the tool
mounted on the manipulator wrist flange is the Z-axis. Therefore, the tool coordinates axis direction
moves with the wrist.
In tool coordinates motion, the manipulator can be moved using the effective tool direction as a
reference regardless of the manipulator position or orientation. These motions are best suited when
the manipulator is required to move parallel while maintaining the tool orientation with the workpieces.
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ZU-
Z+
U+
X+
S+
XS-
SUPPLE
-MENT
For tool coordinates, the tool file should be registered in advance. For further details, refer
to section 8.3 “Tool Data Setting” of coordinates in the “NX100 INSTRUCTIONS”.
Selecting the Tool

Tool numbers are used to specify a tool when more than one tool is used on the system.
You may select from registered tool files when you switch tools on the manipulator.
SUPPLE
-MENT
This operation can be performed only when numbers of the tool is more than one.
To use several tool files with one manipulator, set the following parameter.
S2C333: Tool number switch specifying parameter
1: Can be switched
0: Cannot be switched
Operation
1
Press the [COORD] key
and select the tool
coordinates
2
Explanation
Every pressing of the [COORD] key changes coordinate system;
JointCartesian (Cylindrical)ToolUser. Check the change
on the status display area.
.
Press [SHIFT] + [COORD].
The TOOL NO. SELECT window appears.
DATA
EDIT
DISPLAY
UTILITY
TOOL NO. SELECT
0 : TORCH MT-3501
1 : TORCH MT-3502
2 : TOOL 02
3 : TOOL 03
4 :
5 :
6 :
7 :
8 :
9 :
10 :
11 :
Main Menu
Short Cut
3
Move the cursor to the tool
to use.
The TOOL NO. SELECT window above shows an example;
“TOOL NO. 0 TORCH MT-3501” is selected.
4
Press [SHIFT] + [COORD].
The window goes back to the previous window.
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2.3 Coordinate Systems and Axis Operation
2.3.5
User Coordinates
In the user coordinates, the manipulator moves parallel to each axis of the coordinates which are set by
the user. Up to 24 coordinate types can be registered. Each coordinate has a user number and is
called a user coordinate file. The motion of each axis is described in the following table:
The figure and the table below describe the motion of each axis when the axis key is pressed.
Axis Motion in User Coordinates
Axis Name
Basic
Axes
Axis Key
X- axis
X-
X+
Y-
Y+
Z-
Z+
S-
Y- axis
L-
Z- axis
SUPPLE
-MENT
Moves parallel to X-axis.
S+
Moves parallel to Y-axis.
L+
U-
Wrist Axes
Motion
Moves parallel to Z-axis.
U+
Motion about TCP is executed. See section 2.3.7 "Control Point
Operation" and section 2.3.8 "Control Point Change".
When two or more axis keys are pressed at the same time, the manipulator will perform
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
Y-axis
X-
X+
S-
S+
Y+
L+
X-axis
Z-axis
Y-
Z-axis
L-
Y-axis
Moves parallel to X or Y-axis
X-axis
Z-axis
Z+
U+
X-axis
ZU-
Y-axis
Y-axis
Station
Moves parallel to Z-axis
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
Selecting User Coordinates
Follow these procedures to select the desired coordinate system from among the registered user
coordinates.
Operation
1
Press [COORD] to select the
user coordinates
2
Explanation
.
Press [SHIFT] + [COORD].
Every pressing of the [COORD] key changes coordinate system;
JointCartesian (Cylindrical)ToolUser. Check the change
on the status display area.
The USER COORD SELECT window appears.
DATA
EDIT
DISPLAY
UTILITY
USER COORD SELECT
NO.
NAME
00
01
02
03
04
05
06
07
Main Menu
SUPPLE
-MENT
3
Short Cut
For more information on registration of the user
coordinates, refer to section 8.8 “User Coordinate
Setting” of the “NX100 INSTRUCTIONS”.
Select the desired user
number.
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
Examples of User Coordinate Utilization
The user coordinate settings allow easy teaching in various situations. For example:
• When multiple positioners are used,
manual operation can be simplified by setting the user coordinates for each fixture.
User coordinates
Fixture
Fixture
Fixture
User coordinates
• When performing arranging or stacking operations,
the incremental value for shift can be easily programmed by setting user coordinates on a
pallet.
• When performing conveyor tracking operations,
the moving direction of the conveyor is specified.
Conveyor
2.3.6
External Axis
External axis is enabled to operate in selecting “BASE” or “STATION” for control group.
Axis Name
BASE or
STATION
1st axis
Axis Operation
Key
X-
X+
Y-
Y+
Z-
Z+
S-
2nd axis
L-
3rd axis
U-
2-12
Motion
The 1st axis moves.
S+
The 2nd axis moves.
L+
The 3rd axis moves.
U+
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2.3.7
Control Point Operation
Motion about TCP (Tool Center Point) can only change the wrist orientaion at a fixed TCP position in all
coordinate systems except the joint coordinates. The motion of each axis is described in the following
table.
Axis Motion in Motion about TCP
Axis
Name
Basic
Axes
Axis Key
X-
X+
Y-
Y+
Z-
Z+
X-
X+
Y-
Y+
Z-
Z+
S-
L-
U-
Wrist
Axes
R-
B-
T-
SUPPLE
-MENT
S+
Motion
TCP moves. These movements differ
depending on cartesian, cylindrical,
tool and user coordinates.
L+
U+
R+
Wrist axes move with the TCP fixed.
These movements differ depending
on cartesian, cylindrical, tool and user
coordinates.
B+
T+
When two or more axis keys are pressed at the same time, the manipulator will perform
compound movement. However, if two different directional keys for the same axis are
pressed at the same time (such as [X-] + [X+]), none of the axes operate.
TCP
Torch Welding
Gun Spot Welding
Turning of each wrist axis differs in each coordinate system.
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• In cartesian or cylindrical coordinates, wrist axis rotations are based on the X-, Y-, or Zaxis.
Z-axis
−
+
Y- a x i s
−
+
−
X-axis
+
Z-axis
Y- a x i s
X-axis
• In tool coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the tool coordinates.
X-axis
+
−
−
−
+
Z-axis
+
Y- a x i s
• In user coordinates, wrist axis rotations are based on X-, Y-, or Z-axis of the user coordinates.
Z-axis
+
−
Y- a x i s
−
−
+
X-axis
+
Z-axis
Y- a x i s
X-axis
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2.3.8
Control Point Change
The tool tip position (TCP) is the target point of axis operations and is set as the distance from the
flange face. The control point change operation is an axis operation that involves selecting the tool
from a list of registered tools (Refer to “Selecting the Tool” in section 2.3.4 "Tool Coordinates"), and then
manipulating the axes while changing the TCP. This can be performed with all coordinates except the
joint coordinates. The axis operation is the same as that of the motion about TCP.
<Example 1>TCP Change Operation with Multiple Tools
The TCPs for Tool 1 and Tool 2 are taken as P1 and P2, respectively. When Tool 1 is selected to
perform axis operation, P1 (Tool 1’s TCP) is the target point of the operation. Tool 2 follows Tool 1 and
is not controlled by axis operation. On the other hand, Tool 2 is selected to perform axis operation, P2
(Tool 2’s TCP) is the target point of axis operation. In this case, Tool 1 follows Tool 2.
Tool 2
Tool 1
P1
P1
P2
P2
Workpiece
Workpiece
Selection of Tool 1 and axis operations with controlling P1
Selection of Tool 2 and axis operations with controlling P2
<Example 2>TCP Change Operation with a Single Tool
The two corners of the workpiece that the tool is holding are taken as TCPs P1 and P2 respectively. By
selecting two TCPs alternately, the workpieces can be moved as shown below:
Workpiece
Workpiece
P1
P1
P2
P2
Motion about TCP with P1 selected
SUPPLE
-MENT
Motion about TCP with P2 selected
For registration of the tool file, refer to section 8.3 “Tool Data Setting” of the “NX100
INSTRUCTIONS”.
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3.1 Preparation for Teaching
3 Teaching
3.1
Preparation for Teaching
To ensure safety, the following operations should always be performed before teaching:
• Check the emergency stop buttons to be sure they function properly.
• Set the mode switch to “TEACH”.
Then,
• Register a job.
3.1.1
Checking Emergency Stop Buttons
The Servo ON button on the programming pendant should be lit while the power is ON for the servo
system. Perform the following operation to ensure that the emergency stop buttons on both the NX100
and the programming pendant are functioning correctly before operating the manipulator.
Operation
Explanation
1
Press E. STOP button.
Press the emergency stop button on the NX100 or the
programming pendant.
2
Confirm the servo power is
turned OFF.
The SERVO ON button on the programming pendant lights while
servo supply is turned ON. When the emergency stop button is
pressed and the servo power is turned OFF, the SERVO ON lamp
will turn OFF.
3
Press [SERVO ON READY].
After confirming correct operation, press [SERVO ON READY].
The servo power will be ready to turn ON. The servo power can
be turned ON with the Enable switch while the SERVO ON button
lamp blinks.
3.1.2
Setting the Teach Lock
For safety purposes, always set the mode switch to “TEACH” before beginning to teach.
While the teach lock is set, the mode of operation is tied to the teach mode and the machines cannot be
played back using either [START] or external input.
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3.1 Preparation for Teaching
3.1.3
Registering a Job
Specify the name, comments (as required), and control group to register a job.

Registering Job Names
Job names can use up to 8 alphanumeric and symbol characters. These different types of characters
can coexist within the same job name.
The following rules apply to the designation of names for reserved jobs:
A maximum of six characters can be used for a reserved job name.
When a reserved job name is used, additional characters are added by the system.
<Example>
001
JOB - 1
WORK - A
Operation
1
Select {JOB} under the main
menu.
Explanation
The sub-menu appears.
EDIT
JOB
JOB
DOUT
MOVE
END
DOUT
MOVE
END
UTILITY
FD/CF
JOB
CF
SETUP
ARC WELDING
SELECT JOB
CREATE
NEW JOB
DISPLAY
SETUP
VARIABLE
B001
Aa
MASTER JOB
IN/OUT
In
DISPLAY
Out
JOB CAPACITY
ROBOT
CYCLE
SYSTEM INFO
Short Cut
Main Menu
2
Select {CREATE NEW JOB}.
The NEW JOB CREATE window appears.
JOB
EDIT
DISPLAY
UTILITY
NEW JOB CREATE
JOB NAME
COMMENT
GROUP SET
EXECUTE
Main Menu
3
Input job name.
4
Press [ENTER].
R1
CANCEL
Short Cut
Move the cursor to JOB NAME, and press [SELECT]. Input job
names using the character input operation. For information on
character input operation, refer to section 1.2.6 "Character Input".
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3.1 Preparation for Teaching

Registering Comments
Register a comment using up to 32 alphanumeric and symbol characters as required.
Operation
1
In the NEW JOB CREATE
window, move the cursor to
the comment and press
[SELECT].
2
Enter the comment.
3
Press [ENTER].

Explanation
For information on character input operation, refer to section 1.2.6
"Character Input"
Registering Control Groups
Select the control group that has been registered in advance. If external axes (BASE or STATION) or
multiple robot systems are not used, the registration of control groups is not required.

Switching to the Teaching Window
After the name, comments (can be omitted), and the control groups have been registered, switch the
window to the teaching window as follows:
Operation
1
In the NEW JOB CREATE
window, press [ENTER] or
select “EXECUTE.”
Explanation
Job name, comments, and control groups are all registered.
Then, the JOB CONTENT window appears. NOP and END
instructions are automatically registered.
DATA
EDIT
DISPLAY
JOB CONTENT
JOB NAME : TEST 01
CONTROL GROUP : R1
0000 NOP
0001 END
Main Menu
3-3
Short Cut
UTILITY
STEP NO. : 0000
TOOL : 00
Turn on servo power
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3.2 Teaching Operation
3.2
Teaching Operation
3.2.1
The Teaching Window
Teaching is conducted in the JOB CONTENT window. The JOB CONTENT window contains the
following items:
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
Cursor
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
STEP NO. : 0003
TOOL : 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
DOUT OT#(41) ON
MOVL C00002 V=880.0 CV#(1) CTP=0.662
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
Instruction, additional items,
comments, etc.
Line numbers
Line Numbers
The number of the job line is automatically displayed. Line numbers are automatically
regenerated if lines are inserted or deleted.
Cursor
The cursor for manipulator control. For the FWD, BWD, and test operation, the manipulator
motion starts from the line this cursor points.
Instructions, Additional Items, Comments, Etc.
MOVJ
VJ = 50.00
Tag Numerical Data
Instruction
Additional Item
Instructions:
These are instructions needed to process or perform an
operation. In the case of MOVE instructions, the
instruction corresponding to the interpolation type is
automatically displayed at the time position is taught.
Additional items:
Speed and time are set depending on the type of
instruction. Numerical or character data is added when
needed to the tags which set conditions.
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3.2 Teaching Operation
3.2.2
Interpolation Type and Play Speed
Interpolation type determines the path along which the manipulator moves between playback steps.
Play speed is the rate at which the manipulator moves.
Normally the three elements of position data, Interpolation type, and play speed are registered for the
robot axes steps at one time. If the interpolation type or play speed settings are omitted during
teaching, the data used from the previously taught step is automatically used.

Joint Interpolation
The joint interpolation is used when the manipulator does not need to move in a specific path toward
the next step position. When the joint interpolation is used for teaching a robot axis, the move
instruction is MOVJ. For safety purposes, use the joint interpolation to teach the first step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line changes.
Play Speed Setting Window
• Speeds are indicated as percentages of the maximum rate.
• Setting “0:Speed Omit” sets the same speed as the previous determination.
Operation
Explanation
1
Move the cursor to the play
speed.
2
Set the play speed by pressing The joint speed value increases or decreases.
[SHIFT] + the cursor key.
MOVJ VJ= 0.78
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow
0.78 (%)
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3.2 Teaching Operation

Linear Interpolation
The manipulator moves in a linear path from one taught step to the next. When the linear interpolation
is used to teach a robot axis, the move instruction is MOVL. Linear interpolation is used for work such
as welding. The manipulator moves automatically changing the wrist position as shown in the figure
below.
Play Speed Setting Window (same for circular and spline interpolation)
There are two types of displays, and they can be switched depending on the application.
Operation
Explanation
1
Move the cursor to the play
speed.
2
Set the play speed by pressing The play speed value increases or decreases.
[SHIFT] + the cursor key.
MOVL V= 660
Fast 1500.0
750.0
375.0
187.0
93.0
46.0
23.0
Slow
11 (mm/s)
Fast 9000
4500
2250
1122
558
276
138
Slow
66 (cm/min)
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3.2 Teaching Operation

Circular Interpolation
The manipulator moves in an arc that passes through three points. When circular interpolation is used
for teaching a robot axis, the move instruction is MOVC.
Single Circular Arc
When a single circular movement is required, teach the circular interpolation for three points, P1 to P3,
as shown in the following figure. If joint or linear interpolation is taught at P0, the point before starting
the circular operation, the manipulator moves from P0 to P1 in a straight line.
Interpolation Type for Single Circular Arc
P0
Interpolation Type
Instruction
P0
Joint or Linear
MOVJ
MOVL
P1
P2
P3
Circular
MOVC
P4
Joint or Linear
MOVJ
MOVL
P2
Automatically becomes
a straight line.
P1
P3
P4
Continuous Circular Arcs
When continuous circular movement is required, the two arcs must be separated from each other by a
joint or linear interpolation step. This step must be inserted between two steps at an identical point. The
step at the end point of the preceding circular move must coincide with the beginning point of the
following circular move.
Interpolation Type for Continuous Circular Arc
P1
Interpolation Type
Instruction
P0
Joint or Linear
MOVJ
MOVL
P1
P2
P3
Circular
MOVC
P4
Joint or Linear
MOVJ
MOVL
P5
P6
P7
Circular
MOVC
P8
Joint or Linear
MOVJ
MOVL
Joint or linear
motion type
P2
P0
Point
P7
P3
P4
P5
P6
P8
Play Speed
The play speed set display is identical to that for the linear interpolation.
The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is applied from P2 to P3.
If a circular operation is taught at high speed, the actual arc path has a shorter radius than that taught.
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3.2 Teaching Operation

Spline Interpolation
When performing operations such as welding, cutting, and applying primer, using the spline
interpolation makes teaching for workpieces with irregular shapes easier. The path of motion is a
parabola passing through three points. When spline interpolation is used for teaching a robot axis, the
move instruction is MOVS.
Single Spline Curve
When a single spline curve movement is required, teach the spline interpolation for three points, P1 to
P3, as shown in the figure below. If joint or linear interpolation is taught at point P0, the point before
starting the spline interpolation, the manipulator moves from P0 to P1 in a straight line.
Interpolation Type for a Single Spline Curve
Point
Interpolation Type
Instruction
P2
Automatically becomes
a straight line.
P0
P1
P3
P4
P0
Joint or Linear
MOVJ
MOVL
P1
P2
P3
Spline
MOVS
P4
Joint or Linear
MOVJ
MOVL
Continuous Spline Curves
The manipulator moves through a path created by combining parabolic curves. This differs from the
circular interpolation in that steps with identical points are not required at the junction between two
spline curves.
Interpolation Type for Continuous Spline Curves
P2
P5
P0
P1
Point
Identical-point
step not required
Interpolation Type
P0
Joint or Linear
MOVJ
MOVL
P1
to
P5
Spline
MOVS
P6
Joint or Linear
MOVJ
MOVL
P6
P3
Instruction
P4
When the parabolas overlap, a composite motion path is created.
Start path
End path
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3.2 Teaching Operation
Play Speed
The play speed setting window is identical to that for the linear interpolation.
As with the circular interpolation, the speed taught at P2 is applied from P1 to P2, and the speed taught
at P3 is applied from P2 to P3.
NOTE
Teach points so that the distances between the three points are roughly equal. If there is
any significant difference, an error will occur on playback and the manipulator may operate
in an unexpected, dangerous manner. Ensure that the ratio of distances between steps
m:n is within the range of 0.25 to 0.75.
P2
P1
3.2.3

n
m
P3
Teaching Steps
Registering Move Instructions
Whenever one step is taught, one move instruction is registered. There are two ways to teach a step.
Steps can be taught in sequence as shown in the following left figure "Registering Move Instructions" or
they can be done by inserting steps between already registered steps, as shown in the right figure
"Inserting Move Instructions." This paragraph explains the teaching of "Registering Move Instructions,"
the operations involved in registering new steps.
Step Insertion
P1
Step 2
Step 1
Step 3
Step 1
Registering Move Instructions
Step 2
Step 3
Inserting Move Instructions
Teaching of "Inserting Move Instructions" is called “Inserting move instruction,” to distinguish it from the
method shown in "Registering Move Instructions." For more details on this operation, see section 3.4.2
"Inserting Move Instructions". The basic operations for registration and insertion are the same. The
only difference is pressing [INSERT] in the case of insertion. For registration ("Registering Move
Instructions"), the instruction is always registered before the END instruction. Therefore, it is not
necessary to press [INSERT]. For insertion
("Inserting Move Instructions"), [INSERT] must be pressed.
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3 Teaching
3.2 Teaching Operation
Setting the Position Data
Operation
1
Select {JOB} under the main
menu.
Explanation
The sub-menu appears.
JOB
EDIT
JOB
DOUT
MOVE
END
DOUT
MOVE
END
UTILITY
JOB CONTENT
CF
ARC WELDING
VARIABLE
B001
SETUP
SELECT JOB
CREATE
NEW JOB
DISPLAY
SETUP
Aa
MASTER JOB
IN/OUT
In
DISPLAY
FD/CF
Out
JOB CAPACITY
ROBOT
SYSTEM INFO
Main Menu
2
Select {JOB}.
Short Cut
The contents of the currently-selected job is displayed.
0000
0001
0002
0003
0004
0005
0006
NOP
MOVJ VJ=25.00
MOVJ VJ=25.00
MOVJ VJ=12.50
ARCON ASF#(1)
MOVL V=66
END
3
Move the cursor on the line
immediately before the
position where a move
instruction to be registered.
4
Grip the Enable switch.
5
Move the manipulator to the
Use the axis operation key to move the manipulator to the desired
desired position using the axis position.
key.
Grip the Enable switch to turn the servo power ON.
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3.2 Teaching Operation
Selecting the Tool Number
Operation
1
Press [SHIFT] + [COORD].
Explanation
When selecting the “JOINT,” “XYZ/CYLINDRICAL,” or “TOOL”
coordinates, press [SHIFT] + [COORD] and the TOOL NO.
SELECT window will be shown.
DATA
EDIT
DISPLAY
UTILITY
TOOL NO. SELECT
NO.
NAME
TORCH MT-3501
00
TORCH MTY-3501
01
TORCH MT-3502
02
03
04
05
06
07
Main Menu
2
Select desired tool number.
The contents of the currently-selected job is displayed.
0000
0001
0002
0003
0004
0005
0006
3
Press [SHIFT] + [COORD].
SUPPLE
-MENT
Short Cut
NOP
MOVJ VJ=25.00
MOVJ VJ=25.00
MOVJ VJ=12.50
ARCON ASF#(1)
MOVL V=66
END
The JOB CONTENT window appears.
Using Multiple Tools with One Manipulator
When multiple tools are to be used with one manipulator, set parameter S2C333 to 1.
See "Selecting the Tool" for details on this operation.
Setting the Interpolation Type
Operation
1
Press [MOTION TYPE].
2
Select the desired
interpolation type.
Explanation
When [MOTION TYPE] is pressed, MOVJ  MOVL  MOVC 
MOVS are displayed in order in the input buffer line.
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3.2 Teaching Operation
Setting the Play Speed
Operation
1
Move the cursor to the
instruction.
2
Press [SELECT].
Explanation
0001 MOVJ=50.00
The cursor moves to the input buffer line.
MOVJ VJ=50.00
3
Move the cursor to the play
speed to be set.
4
Press [SHIFT] + the cursor key The joint speed moves up and down.
[↑] or [↓] simultaneously.
MOVJ VJ=50.00
5
Press [ENTER].
The MOV instruction is registered.
Move instruction
is registered.
0000
0001
0002
NOP
MOVJ VJ=50.00
END
Follow the above instructions when conducting teaching. (Tool number, interpolation type, or play
speed does not need to be set if it is same as the previous step.)
SUPPLE
-MENT
• The position level can be set at the same time that the move instruction is registered.
• To make the setting so that the play speed tag is not displayed as a default, select {EDIT}
from the menu and then select “ENABLE PLAY SPEED TAG” to delete “∗.”
Setting Position Level
The position level is the degree of approximation of the manipulator to a taught position.
The position level can be added to move instructions MOVJ (joint interpolation) and MOVL (linear
interpolation). If the position level is not set, the precision depends on the operation speed. Setting an
appropriate level moves the manipulator in a path suitable to circumferential conditions and the
workpiece. The relationship between path and accuracy for position levels is as shown below.
SUPPLE
-MENT
To display the position level tag as a default, select {EDIT} from the menu and then select
“ENABLE POS LEVEL TAG.”
Position level 0
P2
P3
Positioning level 1
Positioning level 2
Positioning level 3
Positioning level 4
Position Levels
Accuracy
0
Teaching position
1
to
10
Fine
|
Rough
Positioning level 5
P1
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3.2 Teaching Operation
Operation
1
Select move instruction.
Explanation
The DETAIL EDIT window appears.
JOB
EDIT
DISPLAY
UTILITY
DETAIL EDIT
MOVJ
JOINT SPEED
POS LEVEL
NWAIT
VJ= 50.00
UNUSED
UNUSED
Short Cut
Main Menu
2
Select the position level
“UNUSED.”
The selection dialog box appears.
JOB
EDIT
DISPLAY
UTILITY
DETAIL EDIT
MOVJ
JOINT SPEED
POS LEVEL
NWAIT
Main Menu
3
Select “PL.”
VJ=
PL 50.00
PL=
1
UNUSED
UNUSED
Short Cut
The position level is displayed. The position initial value is 1.
JOB
EDIT
DISPLAY
UTILITY
DETAIL EDIT
MOVJ
JOINT SPEED
POS LEVEL
NWAIT
Main Menu
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VJ= 50.00
PL= 1
UNUSED
Short Cut
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3.2 Teaching Operation
Operation
4
Explanation
Press [ENTER].
To change the position level, select the level in the input buffer
line, type the value using the Numeric keys, and press [ENTER].
The position levels move instruction is registered.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
UTILITY
STEP NO. : 0003
TOOL : 00
0000 NOP
0001 MOVJ VJ=50.00 PL=1
0002 END
Move instruction
is registered.
MOVJ VJ=50.00 PL=1
Main Menu
5
Short Cut
Press [ENTER].
To perform the movement steps shown below, set as follows:
P1
P2 P4
P5
P3
P6
Steps P2, P4, and P5 are simple passing points, and do not require accurate positioning. Adding PL=1
to 8 to the move instructions of these steps moves the manipulator around the inner corners, thereby
reducing the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.
<EXAMPLE>
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6:
MOVL V=138 PL=0
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3.2 Teaching Operation

Registering Reference Point Instructions
Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving. Reference
point Nos. 1 to 8 are assigned for each application. Follow these procedures to register reference point
instructions.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Move the cursor.
Explanation
Move the cursor to the line immediately before the position where
the reference point to be registered.
0003
0004
0005
Place immediately
before where
reference point is
to be registered.
MOVL V=558
CALL JOB: TEST
MOVL V=138
4
Grip the Enable switch.
The servo power is turned ON.
5
Press the axis operation key.
Move the manipulator to the position to be registered as the
reference point.
6
Press [REFP] or select
“REFP” from the inform list.
The reference point instruction is displayed in the input buffer line.
7
REFP 1
Change the reference point
number in one of the following
ways.
1: Move the cursor to the
reference point number, and
press [SHIFT] + the cursor
key to change the reference
point number; or
2: Press [SELECT] when the
cursor is on the reference
point number. Then, the
data input buffer line
appears. Input the number
and press [ENTER].
REFP 2
Ref-point No.=
REFP
8
Press [INSERT].
The [INSERT] key lamp lights.
When registering before the END instruction, pressing [INSERT]
is not needed.
9
Press [ENTER].
The REFP instruction is registered.
Reference point
is registered.
SUPPLE
-MENT
0003
0004
0005
0006
MOVL V=558
CALL JOB: TEST
REFP 1
MOVL V=138
The programming pendant does not have the [REFP] key for the application of spot
welding, general purposes (= material handling, assembling, cutting) or motor gun.
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3.2 Teaching Operation

Registering Timer Instructions
The timer instruction stops the manipulator for a specified time. Follow these procedures to register
timer instructions.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Move the cursor.
Explanation
Move the cursor to one line before the position where the timer
instruction is to be registered.
One line before
where timer
instruction is
to be registered.
4
Press [TIMER].
0003
0004
MOVJ VJ=50.00
MOVL V=138
The TIMER instruction is displayed on the input buffer line.
TIMER T=1.00
5
Change the timer value.
Move the cursor to the timer value and change it by pressing
[SHIFT] + the cursor key. The timer unit of adjustment is 0.01
seconds.
TIMER T=2.00
If you use the Numeric keys to input the timer value, press
[SELECT] when the cursor is on the timer value. The data input
line appears. Input the value and press [ENTER].
Time =
TIMER T=
6
Press [INSERT].
The [INSERT] key lamp lights.
When registering before the END instruction, pressing [INSERT]
is not needed.
7
Press [ENTER].
The TIMER instruction is registered.
Timer instruction
is registered.
0003
0004
0005
MOVJ VJ=50.00
TIMER T=2.00
MOVL V=138
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3.2 Teaching Operation
Changing Timer Value
Operation
1
Press [TIMER].
2
Press [SELECT].
Explanation
The DETAIL EDIT window for the TIMER instruction appears.
JOB
EDIT
DISPLAY
UTILITY
DETAIL EDIT
TIMER
TIME
T= 1.00
Main Menu
3
Input the timer value on the
instruction DETAIL EDIT
window.
Short Cut
When
is selected, the items available to be changed are
displayed in the dialog box. Select the particular item to be
changed.
JOB
EDIT
DISPLAY
UTILITY
DETAIL EDIT
TIMER
TIME
T= 1.00
CONSTANT
I
I[ ]
Short Cut
Main Menu
When a number is to be changed, move the cursor to the number
and press [SELECT]. Input the desired value using the Numeric
keys, and press [ENTER].
I=
TIMER T=
4
Press [ENTER].
The DETAIL EDIT window is closed and the JOB CONTENT
window appears again. Modified content is displayed in the input
buffer line.
TIMER T=I003
5
Press [INSERT].
The [INSERT] key lamp lights. When registering before the END
instruction, pressing [INSERT] is not needed.
6
Press [ENTER].
The TIMER instruction is registered.
Timer instruction
is registered.
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0003
0004
0005
MOVJ VJ=50.00
TIMER T=I003
MOVL V=138
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3.2 Teaching Operation
3.2.4
SUPPLE
-MENT
Overlapping the First and Last Steps
Why is overlapping the first and last step necessary?
Assume that the job shown below is to be repeated. The manipulator moves from the last
step (Step 6) to the first step (Step 1). If Step 6 and Step 1 are the same position, the
manipulator moves directly from Step 5 to Step 1, thereby improving work efficiency.
Step 6
Step 6 after
change
Step 5
Step 1
The position of step 6 is changed
to overlap with step 1.
Step 2
Step 4
Step 3
Operation
Explanation
1
Move the cursor to the first
step line.
2
Press [FWD].
The manipulator moves to the first step position.
3
Move the cursor to the last
step line.
The cursor starts blinking. When the cursor line position and the
manipulator position are different in the JOB CONTENT window,
the cursor blinks.
4
Press [MODIFY].
The key lamp lights.
5
Press [ENTER].
The position data for the first step is registered on the line of the
last step. At this time, only the position data can be changed in
the last step. Interpolation type and play speed do not change.
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3.3 Checking Steps
3.3
Checking Steps
3.3.1
FWD/BWD Key Operations
Check whether the position of the taught steps is appropriate using [FWD] or [BWD] on the
programming pendant. Each time [FWD] or [BWD] is pressed, the manipulator moves by a single step.
[FWD]:
Moves the manipulator ahead in step number sequence. Only the move
instruction is executed when [FWD] is pressed, but when [INTERLOCK]
+ [FWD] are pressed, all instructions are executed.
[BWD]:
Moves the manipulator backward a step at a time in reverse step
number sequence. Only the move instruction is executed.
NOTE
For safety, set manual speed at
or below.
Operation
1
Move the cursor to the step to
be checked.
2
Press [FWD] or [BWD].

Explanation
The manipulator reaches the following / previous step and stops.
Precautions When Using FWD / BWD Operations
FWD Movements
• The manipulator moves in step number sequence. Only move instructions are executed
when [FWD] is pressed. To execute all instructions, press [INTERLOCK] + [FWD].
• The manipulator stops after playing a single cycle. It does not move after the END
instruction is reached, even if [FWD] is pressed. However, at the end of a called job, the
manipulator moves the instruction next to the CALL instruction.
Called Jobs
Step 1
Step 2
Step 3
Step 4
(RET instruction)
(END instruction)
Manipulator stops.
Step 3
Step 4
Step 5
(CALL instruction)
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Step 6
Step 7
(END instruction)
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3.3 Checking Steps
BWD Movements
• The manipulator moves in reverse step number sequence. Only move instructions are
executed.
• The manipulator stops after playing a single cycle. It does not move after the first step is
reached, even if [BWD] is pressed. However, at the beginning of a called job, the
manipulator moves to the instruction immediately before the CALL instruction.
Called Jobs
Step 1
Step 2
Step 3
Step 4
Step 5
Manipulator stops.
Step 1
Step 3
Step 2
(CALL instruction)
Circular Movements with FWD/BWD Key Operations
• The manipulator moves in a straight line to the first step of the circular interpolation.
• There must be three circular interpolation steps in a row to move the manipulator in an
arc.
• If [FWD] or [BWD] operation is restarted after being stopped to move the cursor or to
perform search, the manipulator moves in a straight line to the next step.
• If [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown in
the following, the manipulator moves in a straight line to P2, the next circular interpolation.
Circular motion is restored from P2 and P3.
Moves with linear interpolation.
: Motion path for FWD/BWD key operation
P2
: Motion using axis keys
: Motion path during playback
P1
P3
Spline Curve Movements with FWD/BWD Operations
• The manipulator moves in a straight line to the first step of spline interpolation.
• There must be three spline curve motion steps in a row to perform a spline curve
operation.
• Depending on the position where the [FWD] / [BWD] operation is performed, the alarm
“IRREGULAR DISTANCES BETWEEN TEACHING POINTS” may occur. Note that FWD/
BWD inching operations change the path of the manipulator and caution is therefore
required. Performing these operations also increases the likelihood that the
“IRREGULAR DISTANCES BETWEEN TEACHING POINTS” will occur.
• If the [FWD] or [BWD] operation is restarted after being stopped to move the cursor or
perform a search, the manipulator moves in a straight line to the next step.
• If the [FWD] or [BWD] operation is restarted after being stopped to move the axis as
shown in the following, the manipulator moves in a straight line to P2, the next spline
curve motion step. Spline curve motion is restored from P2 onward. However, the path
followed between P2 and P3 is somewhat different from the path followed at playback.
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3.3 Checking Steps
Linear motion
: Motion path for FWD/BWD key operation
P2
: Motion using axis keys
: Motion path during playback
P1
P3
• If the manipulator is moved to P3 with [FWD], stopped, and then returned to P2 with
[BWD], the path followed between P2 and P3 is different for each of the following: the first
FWD operation, the BWD operation, and the consequent FWD operation.
P2
P4
P1
P3

Selecting Manual Speed
When [FWD] or [BWD] is pressed, the manipulator moves at the manual speed selected at that time.
Selected manual speed can be checked by the manual speed indication on the programming pendant.
DATA
EDIT
DISPLAY
UTILITY
JOB CONTENT
Manual speed is set with [FAST] and [SLOW]. FWD operation can be performed at a high speed by
pressing [HIGH SPEED]. Follow these procedures to select a manual speed.
• Each time [FAST] is pressed, the speed is changed to the next setting in the following
sequence: INCH, SLW, MED, and FST.
FAST
“INCH”
“SLOW”
“MED”
“FST”
MANUAL SPEED
• Each time [SLOW] is pressed, the speed is changed to the next setting in the following
sequence: FST, MED, SLW, and INCH.
MANUAL SPEED
SLOW
NOTE
“FST”
“MED”
“SLOW”
“INCH”
• FWD/BWD operation is performed with SLW speed even if INCH is selected.
• [HIGH SPEED] is available only for the FWD operation but not for BWD operation.
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3.3 Checking Steps

Moving to Reference Point
To check the position of a taught reference point, follow these procedures to move the manipulator to
the reference point.
Operation
1
Move the cursor to the
reference point instruction line
to be checked.
2
Press [REFP] + [FWD].

Explanation
The manipulator moves to the reference point of the cursor line.
Test Operations
Playback operations can be simulated in the teach mode with test operations. This function is
convenient for checking continuous paths and operation instructions.
Test operation differs in the following ways from actual playback in the play mode.
NOTE
• Operation speeds greater than the maximum teaching speed are reduced to the
maximum teaching speed.
• Only machine lock is available among special operations for playback in the play mode.
• Work instruction output, such as arc output, is not executed.
Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety purposes, these
keys will only function while the keys are held down.
NOTE
Always check safety conditions before pressing [INTERLOCK] + [TEST START] to start
the manipulator in motion.
Operation
Explanation
1
Select {JOB} under the main
menu.
2
Press {JOB}.
The test operation JOB CONTENT window appears.
3
Press [INTERLOCK] + [TEST
START].
The manipulator starts the test cycle operation. However, after the
operation starts, the motion continues even if [INTERLOCK] is
released. The manipulator moves only while these keys are held
down.
The manipulator stops immediately when [TEST START] is
released.
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3.4 Modifying Steps
3.4
Modifying Steps
Begin move instruction
insertion.
Begin move instruction
deletion.
Move step cursor to
location where you want
to insert the instruction.
Move cursor to location of
instruction to be deleted.
Perform axis operations.
Press [DELETE].
Set interpolation type.
Press [ENTER].
Set play speed.
Deletion completed.
Set position level when
necessary.
Press [INSERT].
Press [ENTER].
Insertion completed.
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3.4 Modifying Steps
Begin Move instruction
modification.
Move step cursor to step
to be modified.
Modifying position data Modifying interpolation type
Move to position to be
modified using the
axis operation keys.
Perform axis
operations to position
to be modified.
Press [MODIFY].
Delete MOV
instruction.
Press [ENTER].
Press [MOTION TYPE]
and select motion
type.
Modification
completed.
Insert MOV
Instruction.
Modification
completed.
NOTE
It is not possible to change a move instruction to a reference point instruction and vice
versa.
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3.4 Modifying Steps
Begin REFP instruction
modification.
Deletions
Modifications
Move step cursor to the
REFP instruction to be
deleted,and move the
manipulator to the
position.
Move step cursor to the
REFP instruction to be
modified.
Perform axis operations.
Press [DELETE].
Press [REFP].
Press [ENTER].
Press [MODIFY].
Deletion completed.
Press [ENTER].
Modification completed.
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3.4 Modifying Steps
Begin TIMER Instruction
Modification.
Deletions
Modification
Move edit cursor to the
TIMER instruction to be
deleted.
Move edit cursor to the
TIMER instruction to be
modified.
Press [DELETE].
Press [TIMER].
Press [ENTER].
Enter timer value.
Deletion completed.
Press [MODIFY].
Press [ENTER].
Modification completed.
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3.4 Modifying Steps
3.4.1

Displaying the JOB CONTENT Window for Editing
Currently Called Up Job
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.

Explanation
The JOB CONTENT window appears.
Calling Up Other Jobs
NOTE
In any other than the teach mode, set the mode switch to “TEACH.”
Operation
1
Select {JOB} under the main
menu.
2
Select {SELECT JOB}.
Explanation
The JOB LIST window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB LIST
TEST3A-!
TEST02
Main Menu
3
TEST03
TEST
TEST3A
TEST01
Short Cut
Select the job name to be
called.
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3.4 Modifying Steps
3.4.2
NOTE
Inserting Move Instructions
Move instructions cannot be inserted when the servo power is OFF.
Step where move instruction is to be inserted
Path after insertion
Path before insertion
Operation
1
2
Move the cursor to the line
immediately before the insert
position.
Press the axis operation key.
Explanation
The line immediately
before where the
move instruction
is to be added.
Press [INSERT].
Press [ENTER].
Confirm the move instruction on the input buffer line
and set desired interpolation type and play speed.
The key lamp will light.
NOTE
4
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
Turn ON the servo power and press the axis operation key to
move the manipulator to the position to be inserted.
NOTE
3
0006
0007
0008
0009
When the inserting position is immediately before
the END instruction, pressing [INSERT] is not
needed.
The move instruction is inserted after the cursor line.
The move instruction
is added.
0006
0007
0008
0009
0010
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=558
MOVJ VJ=100.0
<Examples of Inserting a Move Instruction>
When a move instruction is inserted in the following job, it is
placed on different lines according to the setting in the
TEACHING CONDITION window.
Before inserting the move instruction
Cursor line
0006
0007
0008
0009
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
After the insertion: when inserting before the next step
Added
instruction
0006
0007
0008
0009
0010
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=558
MOVJ VJ=100.0
After the insertion: when inserting after the cursor line
Added
instruction
0006
0007
0008
0009
0010
MOVL V=276
MOVL V=558
TIMER T=1.00
DOUT OT#(1) ON
MOVJ VJ=100.0
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3.4 Modifying Steps
NOTE
Positions where the move instructions are inserted.
The default location for insertions is for “before the next step,” but it is also possible to
insert “after the cursor line.” This setting is made in the “Move Instruction Register Method”
in the TEACHING CONDITION window.
3.4.3
Deleting Move Instructions
Step where move instruction is to be deleted
Path before deletion
Path after deletion
Operation
1
Move the cursor to the move
instruction to be deleted.
Explanation
0003
0004
0005
Move instruction
to be deleted
NOTE
MOVL V=138
MOVL V=558
MOVJ VJ=50.00
If the manipulator position differs from the cursor
position on the window, the cursor blinks. Stop the
blinking by either of the following procedures.
• Press [FWD] and move the manipulator to the
position where the move instruction is to be
deleted.
• Press [MODIFY] [ENTER] to change the
position data of the blinking cursor position to the
current manipulator position.
2
Press [DELETE].
The key lamp will blink.
3
Press [ENTER].
The step indicated by cursor line is deleted.
0003
0004
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MOVJ VJ=50.00
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3.4 Modifying Steps
3.4.4

Modifying Move Instructions
Modifying Position Data
Operation
Explanation
1
Move the cursor to the MOV
instruction to be modified.
Display the JOB CONTENT window and move the cursor to the
move instruction to be changed.
2
Press the axis operation key.
Turn ON the servo power and press the axis operation key to
move the manipulator to the desired position.
3
Press [MODIFY].
The key lamp will blink.
4
Press [ENTER].
The position data in the present position is registered.
SUPPLE
-MENT

For MOV instructions for which position variables
have been set, the position variables will not be
changed.
Modifying Interpolation Type
NOTE
Modifying only interpolation type is impossible. The interpolation type can be modified as a
choice for modifying the position data.
Operation
Explanation
1
Move the cursor to the move
instruction to be modified.
Display the JOB CONTENT window, and move the cursor to the
move instruction for which interpolation type is to be changed.
2
Press [FWD].
Turn ON the servo power and press [FWD] to move the
manipulator to the position of the move instruction.
3
Press [DELETE].
The key lamp will blink.
4
Press [ENTER].
The cursor line step is deleted.
5
Press [MOTION TYPE].
Press [MOTION TYPE] to change the interpolation type. Each
time [MOTION TYPE] is pressed, the input buffer line instruction
alternates.
6
Press [INSERT].
7
Press [ENTER].
The interpolation type and position data are changed at the same
time.
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3.4 Modifying Steps
3.4.5
Undo Operation
After inserting, deleting, or modifying an instruction, the operation can be undone.
The UNDO operation becomes enabled by selecting {EDIT}{ENABLE UNDO}, and becomes
disabled by selecting {EDIT}{∗ENABLE UNDO} while editing a job.
NOTE
The undo operation can be performed even after the manipulator is moved by the FWD or
BWD operation or test operation after inserting, deleting, or modifying a move instruction.
However, the undo operation cannot be performed if other instructions are edited or a job is
executed in the play mode after editing the move instruction.
The undo operation works only for the last five edited instructions only.
Operation
1
Press [ASSIST].
Explanation
The assist menu appears.
UNDO
REDO
2
Select {UNDO}.
The last operation is undone.
3
Select {REDO}.
The last UNDO operation is undone.
3.4.6

Modifying Reference Point Instructions
Deleting Reference Point Instructions
NOTE
If the manipulator position differs from the cursor position, an error message is displayed.
If this occurs, follow either of the procedures below.
• Press [REFP] + [FWD] to move the manipulator to the position to be deleted.
• Press [MODIFY] then [ENTER] to change the reference point position data to the current
position of the manipulator.
Operation
Explanation
1
Move the cursor to the
reference point instruction to
be deleted.
2
Press [DELETE].
The key lamp will blink.
3
Press [ENTER].
The reference point instruction at the cursor line is deleted.
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3.4 Modifying Steps

Modifying Reference Point Instructions
Operation
Explanation
1
Move the cursor to the
reference point instruction to
be modified.
2
Move the manipulator with the Turn ON the servo power and use the axis operation keys to
axis operation keys.
move the manipulator to the desired position.
3
Press [REFP].
4
Press [MODIFY].
The key lamp will light.
5
Press [ENTER].
The reference point instruction at the cursor line is changed.
3.4.7

Modifying Timer Instructions
Deleting Timer Instructions
Operation
1
Move the cursor to the timer
instruction to be deleted.
Explanation
Timer instruction
to be deleted
0003
0004
0005
MOVJ VJ=50.00
TIMER T=0.50
MOVL V=138
2
Press [DELETE].
The key lamp will light.
3
Press [ENTER].
The timer instruction at the cursor line is deleted.
0003
0004
MOVJ VJ=50.00
MOVL V=138
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3.4 Modifying Steps

Modifying Timer Instructions
Operation
1
Move the cursor to the timer
instruction to be modified.
2
Press [TIMER].
3
Move the cursor to the input
buffer line timer value.
Explanation
0003
0004
0005
0006
MOVJ VJ=50.00
TIMER T=0.50
MOVL VJ=138
MOVL VJ=138
0003
0004
0005
0006
MOVJ VJ=50.00
TIMER T=0.50
MOVL VJ=138
MOVL VJ=138
Move the cursor to the input buffer line timer value and press
[SHIFT] + the cursor key to set the data. To use the Numeric keys
to input data, move the cursor to the input buffer line timer value
and press [SELECT].
TIMER T=0.50
4
Change the timer value.
5
Press [MODIFY].
This key lamp will light.
6
Press [ENTER].
The timer instruction at the cursor line is changed.
0003
0004
0005
0006
3-33
MOVJ VJ=50.00
TIMER T=1.00
MOVL VJ=138
MOVL VJ=138
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3.5 Modifying Jobs
3.5
Modifying Jobs
3.5.1
Calling Up a Job
Operation
1
Select {JOB} under the main
menu.
2
Select {SELECT JOB}.
Explanation
The JOB LIST window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB LIST
TEST3A-!
TEST02
Main Menu
3
TEST03
TEST
Short Cut
TEST3A
TEST01
Turn on servo power
Select the desired job.
3.5.2
Windows Related to Job
There are five types of job windows. Jobs can be checked and edited in these windows.
• JOB HEADER Window
Comments, data and time of registration, edit prohibit status, and so on are displayed and
edited.
• JOB CONTENT Window
The content of the registered job can be displayed and edited.
• COMMAND POSITION Window
The taught data is displayed.
• JOB LIST Window
The registered job is sorted alphabetically, then displayed, and the job is selected.
• JOB CAPACITY Window
The number of registered jobs, amount of memory, number of steps used, etc. is shown.

JOB HEADER Window
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
Explanation
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3.5 Modifying Jobs
Operation
3
Select {DISPLAY} under the
menu.
4
Select {JOB HEADER}.
Explanation
The JOB HEADER window appears. Scroll the window using the
cursor.
JOB









EDIT
DISPLAY
UTILITY
JOB HEADER
JOB NAME :TEST01
COMMENT
DATE
CAPACITY
LINES
STEPS
EDIT LOCK
TO SAVE TO FD
CONTROL GROUP
Main Menu
: This is test job
: 2003/05/20 12:00
:
1024 BYTE
:
30 LINE
:
20 STEP
:
OFF
:
NOT DONE
:
R1
Short Cut
JOB NAME
Displays the name of the current job.
COMMENT
Displays the comments attached to the current job. This
can be edited in this window.
DATE
Displays the date and time of the last editing of the job.
CAPACITY
Displays the amount of memory that is being used to register this job.
LINES
Displays the total number of instructions registered in this
job.
STEPS
Displays the total number of move instructions registered
in this job.
EDIT LOCK
Displays whether the edit prohibit setting for this job is at
ON or OFF. This can be changed in this window.
TO SAVE TO FD
Displays “DONE” if the contents of the job are saved to a
floppy disk since the date and time of the last editing operation, and displays “NOT DONE” if they are not saved.
The job is marked as “DONE” only if it is saved as an
independent job or as a related job. If it is saved in a
CMOS batch operation, it is not marked as “DONE.”
CONTROL GROUP
Displays the control group that this job controls. If the master
axis is specified, the master axis is highlighted.
SUPPLE
-MENT
To return to the JOB CONTENT window from the
JOB HEADER window, select {DISPLAY} from the
menu and then select {JOB CONTENT}.
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3.5 Modifying Jobs

JOB CONTENT Window
Operation
1
Select {JOB} under the
main menu.
2
Select {JOB}.
Explanation
The JOB CONTENT window appears.
 (Left) : The cursor is moved to the address area.
 (Right): The cursor is moved to the instruction area.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME :TEST01
CONTROL GROUP :R1

0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
STEP NO. : 0003
TOOL : 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
DOUT OT#(41) ON
MOVL C00002 V=880.0 CV#(1) CTP=0.662
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0

MOVJ VJ=80.00
Main Menu
Short Cut
Turn on servo power
Address Area
Displays line numbers.
Instruction Area
Displays instructions, additional items, and comments. Line
editing is possible.
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3.5 Modifying Jobs

COMMAND POSITION Window
Operation
1
Select {ROBOT} under the
main menu.
2
Select {COMMAND
POSITION}.
Explanation
Edit operations cannot be conducted from this window, but the
taught play speed and position data can be viewed on this
window.
DATA


EDIT
DISPLAY
UTILITY
COMMAND POSITION
INTR: ∗∗∗∗∗∗∗∗∗ SPD: 558 cm/min
[CMD] TOOL : ∗∗ [CURR] TOOL : ∗∗
R1: S
R1: S
L
U
R
B
T
L
U
R
B
T
Main Menu

0
0
0
0
0
0

Short Cut
Interpolation
Displays the interpolation type.
Speed
Displays the play speed.
Command Position
Displays the tool file number and position data that has
been taught for this job. Steps which have no position
data, such as move instructions which use position variables, are marked with an asterisk (*).
Current Data
Displays the current tool file number and position of the
manipulator.
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3.5 Modifying Jobs

JOB CAPACITY Window
Operation
1
Select {JOB} under the
main menu.
2
Select {JOB CAPACITY}.
Explanation
JOB
EDIT
DISPLAY
UTILITY
JOB CAPACITY

NUMBER OF JOBS
:

USED MEMORY
REST
:
:

STEPS
REMAIN STEPS
:
:

EDITING BUFFER
: UNUSED
Main Menu
9
2360 BYTES
841408 BYTES
50
45611
Short Cut
NUMBER OF JOBS
Displays the total number of jobs currently registered in
the memory of NX100.
USED MEMORY
Displays the total amount of memory used in the NX100.
STEPS
Displays the total number of used steps.
EDITING BUFFER
Displays editing buffer use.
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3.6 Editing Instructions
3.6
Editing Instructions
The content of editing differs depending on where the cursor is in the address area or instruction area.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME :TEST01
CONTROL GROUP : R1

0000
0001
0002
0003
0004
0005
STEP NO. : 0003
TOOL : *
NOP
MOVJ VJ=25.00 PL=0 NWAIT ACC=20 DCC=20
MOVJ VJ=25.00
MOVJ VJ=12.50
ARCON ASF#(1)
END

MOVJ VJ=50
Short Cut
Main Menu
When the cursor is in the address area
Instructions can be inserted, deleted, or modified.
When the cursor is in the instruction area
Date of additional items of already-registered instructions can be modified, inserted, or
deleted.
Editing additional items only is called “line editing.”
When inserting or modifying instructions, input the instruction with the function keys such as [TIMER],
etc. or using the instruction list dialog box. The selected instruction is displayed on the input buffer line
with the same additional items as registered previously.
3.6.1
Instruction Group
The instructions are divided into eight groups by processing or each work.
By pressing [INFORM LIST]
INFORM
LIST
JOB
, the instruction group list dialog box appears.
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
IN/OUT
STEP NO. : 0003
TOOL : 00 CONTROL
NOP
MOVJ VJ=25.00 PL=0 NWAIT ACC=20 DCC=20
MOVJ VJ=25.00
MOVJ VJ=12.50
ARCON ASF#(1)
END
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
MOVJ VJ=50
Main Menu
Short Cut
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3.6 Editing Instructions
Display
Instruction
Group
Contents
Example
IN/OUT
I/O Instructions
Controls input and output
DOUT, WAIT
CONTROL
Control
Instructions
Controls processing or each work
JUMP, TIMER
DEVICE
Work
Instructions
Operates arc welding, spot welding, handling,
painting, etc.
ARCON, WVON,
SVSPOT, SPYON
MOTION
Move
Instructions
Moves the manipulator
MOVJ, REFP
ARITH
Operating
Instructions
Performs arithmetic calculation
ADD, SET
SHIFT
Shift
Instructions
Shifts the teaching point
SFTON, SFTOF
SENS
(Option)
Sensor
Instructions
(Option)
Instructions related to the sensor
COMARCON
OTHER
Other
Instructions
Instructions for functions other than above
SHCKSET
SAME
-
Specifies the instruction where the cursor is.
PRIOR
-
Specifies the previously-registered instruction.
By selecting a group, the instruction list dialog box of the selected group appears.
IN/OUT
JUMP
CONTROL
CALL
DEVICE
TIMER
MOTION
LABEL
ARITH
COMMENT
RET
SHIFT
OTHER
SAME
PRIOR
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3.6 Editing Instructions
3.6.2
Inserting Instructions
Operation
1
2
Explanation
Move the cursor to the
address area in the JOB
CONTENT window.
Move the cursor to the line immediately before where the
instruction is to be inserted, in the teach mode.
Press [INFORM LIST].
The INFORM command list appears, and an underline is
displayed beneath the line number in the address area.
Line before
where instruction
is to be added.
JOB
0000
0001
0002
EDIT
NOP
MOVJ VJ=25.00 PL=0 NWAIT ACC=20 DCC=20
MOVJ VJ=25.00
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
IN/OUT
STEP NO. : 0003
CONTROL
TOOL : 00
NOP
MOVJ VJ=25.00 PL=0 NWAIT ACC=20 DCC=20
MOVJ VJ=25.00
MOVJ VJ=12.50
ARCON ASF#(1)
END
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
=> MOVJ VJ=50
Short Cut
Main Menu
3
Select the instruction group.
The instruction list dialog box appears. The selected instruction is
displayed on the input buffer line with the same additional items
as registered previously.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
NOP
MOVJ VJ=25.00 PL=0 NWAIT ACC=20 DCC=20
MOVJ VJ=25.00
MOVJ VJ=12.50
ARCON ASF#(1)
END
IN/OUT
STEP NO.: 0003
CONTROL
:00
JUMP
CALL
DEVICE
TIMER
MOTION
LABEL
ARITH
COMMENT
RET
SHIFT
OTHER
SAME
PRIOR
=> JUMP *LABEL
Main Menu
4
Short Cut
Select the instruction.
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3.6 Editing Instructions
Operation
5
Explanation
Change the data of additional <When Nothing is to be Changed>
items or variables as required. Proceed to Step 6.
<When Additional Items are to be edited>
• Changing numeric data
Move the cursor to the desired item and press [SHIFT] + the
cursor key to increase or decrease the value.
PULSE OT#( 2 )
To directly input the value using Numeric keys, press [SELECT]
to display the input buffer line.
OUTPUT NO.=
PULSE OT#( )
Type the value and press [ENTER]. The value on the input
buffer line is changed.
• Adding, modifying, or deleting an item
To add, modify, or delete an additional item, move the cursor to
the instruction on the input buffer line and press [SELECT]. The
DETAIL EDIT window appears.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
PULSE
OT#( ) 2
UNUSED
OUTPUT NO.
TIME
PULSE OT#(2)
Main Menu
Short Cut
To add an item, move the cursor to “UNUSED” and press
[SELECT]. The selection dialog box appears.
Move the cursor to the desired item and press [SELECT].
To delete an item, move the cursor to the item to be deleted and
select “UNUSED.”
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
PULSE
OUTPUT NO.
TIME
OT#( ) 2
T=
UNUSED
PULSE OT#(2)
Main Menu
Short Cut
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3.6 Editing Instructions
Operation
5
(cont’d)
Explanation
• Changing the data type
To change the data type of an additional item, move the cursor
to
of the item and press [SELECT]. The data type list
appears. Select the desired data type.
DATA
DISPLAY
EDIT
UTILITY
DETAIL EDIT
PULSE
OUTPUT NO.
TIME
CONSTANT
I
I[ ]
PULSE OT#(2)
Short Cut
Main Menu
After additional items have been added, modified, or deleted as
required, press [ENTER]. The DETAIL EDIT window closes and
the JOB CONTENT window appears.
6
Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is inserted.
When adding immediately before the END instruction, pressing
[INSERT] is not needed.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
0006
NOP
MOVJ VJ=25.00 PL=0 NWAIT ACC=20 DCC=20
PULSE OT#(2)
MOVJ VJ=25.00
MOVJ VJ=12.50
ARCON ASF#(1)
END
IN/OUT
STEP NO.0003
:00
CONTROL
JUMP
CALL
DEVICE
TIMER
MOTION
LABEL
ARITH
COMMENT
RET
SHIFT
OTHER
SAME
PRIOR
JUMP *LABEL
Main Menu
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3.6 Editing Instructions
3.6.3
Deleting Instructions
Operation
1
Move the cursor to the
address area in the JOB
CONTENT window.
2
Move the cursor to the
deleting line in the address
area.
3
Press [DELETE] and
[ENTER].
Explanation
Move the cursor to the instruction line to be deleted, in the teach
mode.
0021
0022
0023
Move the cursor to the
address area in the JOB
CONTENT window.
Explanation
Move the cursor to the instruction line to be modified, in the teach
mode.
Instruction line
to be changed
2
MOVL V=138
MOVJ VJ=100.00
DOUT OT#(1) ON
Modifying Instructions
Operation
1
MOVL V=138
PULSE OT#(2) T=I001
MOVJ VJ=100.00
The instruction is deleted and the following lines move up.
The following
lines move up.
3.6.4
0020
0021
0022
The line desired
to be deleted
Press [INFORM LIST].
0022
0023
0024
MOVJ VJ=100.00
DOUT OT#(1) ON
MOVJ VJ=50.00
The INFORM command list appears, and an underline is
displayed beneath the line number in the address area.
0017
0018
0019
0020
0021
0022
0023
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
PULSE OT#(2) T=I001
MOVJ VJ=100.00
DOUT OT#(1) ON
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
3
Select the instruction group.
The instruction list dialog box appears. The selected instruction is
displayed on the input buffer line with the same additional items
as registered previously.
0017
0018
0019
0020
0021
0022
0023
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
PULSE OT#(2) T=I001
MOVJ VJ=100.00
DOUT OT#(1) ON
PULSE OT#(1)
DOUT
IN/OUT
DIN
CONTROL
WAIT
PULSE
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
4
Select the instruction to be
modified.
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3.6 Editing Instructions
Operation
5
Explanation
Change the data of additional <Editing Additional Items>
items or variables as required. • Changing numeric data
Move the cursor to the desired item and press [SHIFT] + the
cursor key to increase or decrease the value.
PULSE OT#( 2 )
To directly input the value using Numeric keys, press [SELECT]
to display the input buffer line.
OUTPUT NO.=
PULSE OT#( )
Type the value and press [ENTER]. The value on the input
buffer line is changed.
• Adding, modifying, or deleting an item
To add, modify, or delete an additional item, move the cursor to
the instruction on the input buffer line and press [SELECT]. The
DETAIL EDIT window appears.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
PULSE
OT#( ) 2
UNUSED
OUTPUT NO.
TIME
PULSE OT#(2)
Main Menu
Short Cut
To add an item, move the cursor to “UNUSED” and press
[SELECT]. The selection dialog box appears.
Move the cursor to the desired item and press [SELECT].
To delete an item, move the cursor to the item to be deleted and
select “UNUSED.”
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
PULSE
OT#( ) 2
OUTPUT NO.
TIME
T=
UNUSED
PULSE OT#(2)
Main Menu
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3.6 Editing Instructions
Operation
5
(cont’d)
Explanation
• Changing the data type
To change the data type of an additional item, move the cursor
to
of the item and press [SELECT]. The data type list
appears. Select the desired data type.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
PULSE
OT#( ) 2
OUTPUT NO.
TIME
CONSTANT
I
I[ ]
PULSE OT#(2)
Main Menu
Short Cut
After additional items have been added, modified, or deleted as
required, press [ENTER]. The DETAIL EDIT window closes and
the JOB CONTENT window appears.
6
Press [MODIFY] and
[ENTER].
The instruction is modified to the instruction displayed in the input
buffer line.
DATA
EDIT
DISPLAY
DETAIL EDIT
PULSE
OUTPUT NO.
TIME
UTILITY
DOUT
OT#( ) 2
CONSTANT
I
I[ ]
DIN
IN/OUT
CONTROL
WAIT
DEVICE
PULSE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
PULSE OT#(2)
Main Menu
Short Cut
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3.6 Editing Instructions
3.6.5
Modifying Additional Numeric Data
Operation
Explanation
1
Mote the cursor to the
instruction area in the JOB
CONTENT window.
2
Select the line where the
The selected line can now be edited.
number data is to be modified.
Number data
to be modified
3
Move the cursor to the
numeric data to be modified.
4
Input the desired number.
0017
0018
0019
0020
0021
0022
0023
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
PULSE OT#(2) T=I001
MOVJ VJ=100.00
DOUT OT#(1) ON
Press [SHIFT] + the cursor key to increase or decrease the value.
To directly input the number, press [SELECT]. The input buffer
line appears. Type the number and press [ENTER].
PULSE OT#( 2 ) T=I001
5
Press [ENTER].
The numeric data is modified.
Instruction line
for which
numeric data
was changed.
0017
0018
0019
0020
0021
0022
0023
3-47
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
PULSE OT#(1) T=I001
MOVJ VJ=100.00
DOUT OT#(1) ON
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3.6 Editing Instructions
3.6.6
Modifying Additional Items
Operation
Explanation
1
Move the cursor to the
instruction area in the JOB
CONTENT window.
2
Select the instruction line for
which the additional item is to
be modified.
The selected line can now be edited.
Select the instruction.
The DETAIL EDIT window appears.
3
0017
0018
0019
0020
Instruction line
0021
for which additional
0022
item is to be modified. 0023
JOB
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
WAIT IN#(1)=ON
MOVJ VJ=100.00
DOUT OT#(1) ON
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
4
JOB
Select the desired additional
item.
UTILITY
IN#( ) 1
=
ON
UNUSED
Select the additional item to be The selection dialog box appears.
modified.
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
5
DISPLAY
DISPLAY
UTILITY
IN#(
IN#() )1
OT#(
)
=
SIN#( )
ON
SOUT#( )
IG#( )
The modified additional item is displayed on the DETAIL EDIT
window.
JOB
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
DISPLAY
UTILITY
OT#( ) 1
=
ON
UNUSED
6
Press [ENTER].
The DETAIL EDIT window closes, and the JOB CONTENT
window appears.
7
Press [ENTER].
Contents of the input buffer line are registered on the cursor line
of the instruction area.
Instruction line
for which additional
item was modified.
0017
0018
0019
0020
0021
0022
0023
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
WAIT OT#(1)=ON
MOVJ VJ=100.00
DOUT OT#(1) ON
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3.6 Editing Instructions
3.6.7
Inserting Additional Items
Operation
1
Move the cursor to the
instruction area in the JOB
CONTENT window.
2
Select the instruction line for
which the additional item is to
be inserted.
Explanation
The selected line can now be edited.
0017
0018
0019
0020
0021
0022
0023
Instruction line
for which additional
item is to be added.
3
Select the instruction.
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
WAIT IN#(1)=ON
MOVJ VJ=100.00
DOUT OT#(1) ON
The DETAIL EDIT window appears.
JOB
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
4
UTILITY
OT#( ) 1
=
ON
UNUSED
Select the additional item to be The selection dialog box appears.
inserted.
JOB
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
5
DISPLAY
Select inserting additional
item.
DISPLAY
UTILITY
IN#( ) 1
=
ON
T=
UNUSED
The additional item is inserted.
JOB
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
DISPLAY
UTILITY
IN#( ) 1
=
ON
T= 0.01
When the additional item needs the numeric data, move the
cursor to the number and press [SELECT]. The input buffer line
appears. Type the number and press [ENTER].
Time =
WAIT IN#(1)=ON T=
6
Press [ENTER].
The DETAIL EDIT window closes, and the JOB CONTENT
window appears.
7
Press [ENTER].
Contents of the input buffer line are registered on the cursor line
of the instruction area.
0017
0018
0019
0020
Instruction line
0021
for which additional 0022
item was added.
0023
3-49
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
WAIT IN#(1)=ON T=0.50
MOVJ VJ=100.00
DOUT OT#(1) ON
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3.6 Editing Instructions
3.6.8
NOTE
Deleting Additional Items
This operation cannot be used for the additional item which is locked.
Operation
Explanation
1
Move the cursor to the
instruction area in the JOB
CONTENT window.
2
Select the line where the
additional item is to be
deleted.
The selected line can be now be edited.
Select the instruction.
The DETAIL EDIT window appears.
3
0017
0018
0019
0020
Instruction line
0021
for which additional 0022
item is to be deleted. 0023
JOB
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
WAIT IN#(1)=ON T=1.00
MOVJ VJ=100.00
DOUT OT#(1) ON
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
4
UTILITY
IN#( ) 1
=
ON
T= 0.01
Select the additional item to be The selection dialog box appears.
deleted.
JOB
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
5
DISPLAY
Select “UNUSED.”
DISPLAY
UTILITY
IN#( ) 1
=
ON
T=
UNUSED
T=
0.01
“UNUSED” is displayed on the DETAIL EDIT window.
JOB
EDIT
DETAIL EDIT
WAIT
WAIT TARGET
CONDITION
CONDITION
TIME
DISPLAY
UTILITY
IN#( ) 1
=
ON
UNUSED
6
Press [ENTER].
The DETAIL EDIT window closes, and the JOB CONTENT
window appears.
7
Press [ENTER].
Contents of the input buffer line are registered on the cursor line
of the instruction area.
Instruction line for
which the additional
item was deleted.
0017
0018
0019
0020
0021
0022
0023
TIMER T=1.00
MOVJ VJ=12.50
MOVJ VJ=50.00
MOVL V=138
WAIT IN#(1)=ON
MOVJ VJ=100.00
DOUT OT#(1) ON
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3.7 Editing Jobs
3.7
Editing Jobs
The following five operations are to edit jobs.
Copy
Cut
Paste
Reverse Paste
Base Reverse Paste
:Copies a specified range to the buffer.
:Copies a specified range from a job to the buffer, and deletes it in a job.
:Inserts the contents of the buffer into a job.
:Reverses the order of the contents of the buffer, and inserts them
into a job. (Refer to the following figure.)
:Reverses the order of the contents of the buffer and adjusts the to-andfrom speeds same, and inserts them into a job.
(Refer to the following figure.)
V=100
:
MOVL V=100
;Move to  at V=100
MOVL V=50
MOVL V=80
;Move to  at V= 50
;Move to  at V=80
MOVL V=30
MOVL V=70
;Move to  at V=30
;Move to  at V=30

V=50
V=80

V=30


:
V=70
Excute Reverse Paste

：
MOVL V=100
MOVL V=50
;Move to  at V=100
;Move to  at V= 50
MOVL V=80
MOVL V=30
;Move to  at V=80
;Move to  at V=30
MOVL V=70
MOVL V=30
;Move to  at V=70
;Move to  at V=30
;Move to  at V=80
MOVL V=80
MOVL V=50
MOVL V=100
V=100

V=50
V=??

V=50
V=100

V=80
V=30
V=80

The speed and interpolation are
different going and returning.
;Move to  at V= 50
;Move to  at V=100
V=30
:
Execute Base Reverse Paste
：
;Move to  at V=100
MOVL V=100
;Move to  at V= 50
MOVL V=50
;Move to   at V=80
MOVL V=80
MOVL V=30
V=70

V=100
V=50

V=80


V=50
V=80
V=30
;Move to  at V=30
MOVL V=70
;Move to  at V=70
MOVL V=70
MOVL V=30
;Move to  at V=70
;Move to  at V=30
MOVL V=80
MOVL V=50
;Move to  at V= 80
;Move to  at V=50
The speed and interpolation are
the same going and returning.
V=30

V=70
:
V=70

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3.7 Editing Jobs
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
Copy
Cut
Paste
The buffer content is inserted.
Reverse paste
Buffer content order is reversed and inserted.
0000
0001
0002
0003
0004
0005
NOP
’TEST JOB
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
MOVL V=100
0000
0001
NOP
’TEST JOB
0005
MOVL V=100
0000
0001
0002
0003
0004
0005
NOP
’TEST JOB
MOVJ VJ=50.00
TIMER T=1.00
MOVL V=100
MOVL V=100
0000
0001
0002
0003
0004
0005
NOP
’TEST JOB
MOVL V=100
TIMER T=1.00
MOVJ VJ=50.00
MOVL V=100
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3.7 Editing Jobs
3.7.1
Selecting the Range
After setting the range, Copy and Delete can be performed.
Operation
1
Move the cursor to the
instruction area in the JOB
CONTENT window.
Explanation
JOB
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
Move the cursor to the start
line and press [SHIFT] +
[SELECT].
UTILITY
STEP NO. : 0003
TOOL : 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
DOUT OT#(41) ON
MOVL C00002 V=880.0 CV#(1) CTP=0.662
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
Main Menu
2
DISPLAY
EDIT
JOB CONTENT
JOB NAME :TEST01
CONTROL GROUP : R1
Short Cut
Move the cursor to
instruction area.
Turn on servo power
The range specification begins, and the address is displayed in
reverse.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
Start line
End line
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
Main Menu
3
Move the cursor to the end
line.
STEP NO. : 0003
TOOL : 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
DOUT OT#(41) ON
MOVL C00002 V=880.0 CV#(1) CTP=0.662
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
Short Cut
Turn on servo power
Moving the cursor effects to the range. Up to the line specified by
the cursor is the range.
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3.7 Editing Jobs
3.7.2
Copying
Before copying, the range to be copied has to be specified.
Operation
1
Explanation
Select {EDIT} under the menu. The pull-down menu appears.
EDIT
JOB
DISPLAY
UTILITY
JOB CONENT
COPY
JOB NAMETEST01
CONTROL GROUPR1
STEP NO. : 0003
TOOL : 00
CUT
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
NOP
SET B000 0
PASTE
SET B001 1
MOVJ VJ=80.00
REVERSE PASTE
MOVJ VJ=80.00
DOUT OGH#(13) B002
WAIT IF IN#(5)=ON
MOVL V=880.0
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.00
MOVJ VJ=50.00 PL=1
Short Cut
Main Menu
2
Select {COPY}.
3.7.3
The specified range is copied to the buffer.
Cutting
Before cutting, the range to be cut has to be specified.
Operation
1
Explanation
Select {EDIT} under the menu. The pull-down menu appears.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
COPY
JOB NAMETEST01
CONTROL GROUPR1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
STEP NO. : 0003
TOOL : 00
CUT
NOP
SET B000 0
PASTE
SET B001 1
MOVJ VJ=80.00
REVERSE PASTE
MOVJ VJ=80.00
DOUT OGH#(13) B002
WAIT IF IN#(5)=ON
MOVL V=880.0
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.00
MOVJ VJ=50.00 PL=1
Main Menu
2
Select {CUT}.
Short Cut
The confirmation dialog box appears. When “YES” is selected,
the specified range is deleted and copied to the buffer.
When “NO” is selected, the cutting operation is cancelled.
Delete?
YES
NO
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3.7 Editing Jobs
3.7.4
Pasting
Before pasting, the range to be pasted has to be stored in the buffer.
Operation
Explanation
1
Move the cursor to the line
immediately before the
desired position in the JOB
CONTENT window.
2
Select {EDIT} under the menu. The pull-down menu appears.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
COPY
JOB NAMETEST01
CONTROL GROUPR1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
STEP NO. : 0003
TOOL : 00
CUT
NOP
SET B000 0
PASTE
SET B001 1
MOVJ VJ=80.00
REVERSE PASTE
MOVJ VJ=80.00
DOUT OGH#(13) B002
WAIT IF IN#(5)=ON
MOVL V=880.0
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
MOVJ VJ=50.00 PL=1
Main Menu
3
Select {PASTE}.
Short Cut
The confirmation dialog box appears. When “YES” is selected,
the contents of the buffer are inserted to the job.
When “NO” is selected, the pasting operation is cancelled.
Paste?
YES
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3.7 Editing Jobs
3.7.5
Reverse Pasting
Before pasting, the range to be pasted has to be stored in the buffer.
Operation
Explanation
1
Move the cursor to the line
immediately before the
desired position in the JOB
CONTENT window.
2
Select {EDIT} under the menu. The pull-down menu appears.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
COPY
JOB NAME TEST01
CONTROL GROUP R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
STEP NO.
TOOL : 00
CUT
0003
NOP
SET B000 0
PASTE
SET B001 1
MOVJ VJ=80.00
REVERSE PASTE
MOVJ VJ=80.00
DOUT OGH#(13) B002
WAIT IF IN#(5)=ON
MOVL V=880.0
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
MOVJ VJ=50.00 PL=1
Main Menu
3
Select {REVERSE PASTE}.
Short Cut
The confirmation dialog box appears. When “YES” is selected,
the contents of the buffer are reverse pasted to the job.
When “NO” is selected, the pasting operation is cancelled.
Paste?
YES
NO
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3.8 Test Operations
3.8
Test Operations
Playback operations can be simulated in the teach mode with test operations. This function is
convenient for checking continuous paths and operation instructions.
Test operation differs in the following ways from actual playback in the play mode.
NOTE
• Operation speeds greater than the maximum teaching speed are reduced to the
maximum teaching speed.
• Only machine lock is available among special operations for playback in the play mode.
• Work instruction output, such as arc output, is not executed.
Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety purposes, these
keys will only function while the keys are held down.
NOTE
Always check safety conditions before starting the manipulator in motion.
Operation
Explanation
1
Select {JOB} under the main
menu.
2
Press {JOB}.
The test operation JOB CONTENT window appears.
3
Press [INTERLOCK] + [TEST
START].
The manipulator starts the test cycle operation. The manipulator
moves only while these keys are held down. However, after the
operation starts, the motion continues even if [INTERLOCK] is
released.
The manipulator stops immediately when [TEST START] is
released.
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3.9 Other Job-editing Functions
3.9
Other Job-editing Functions
3.9.1
Editing Play Speed
There are two ways to modify play speed:
• Modification of Speed Type
• Relative Modification

Modification of Speed Type
This method is used to modify the speed type (such as VJ, V, VR, etc.).
0005
0006
0007
MOVJ VJ=25.00
MOVL V=138
MOVJ VJ=50.00
Only VJ is changed to 100.
0005
0006
0007
MOVJ VJ=100.00
MOVL V=138
MOVJ VJ=100.00
Type of
Play Speed

Explanation
VJ
Joint Speed
V
TCP Speed
Normal robot axes
VR
Posture Angle Speed
VE
Base Axis Speed
Relative Modification
All steps are selected regardless of the play speed type. This method is used to change all steps by a
specified percentage (1% to 200%). This is called relative modification.
0005
0006
0007
MOVJ VJ=25.00
MOVL V=138
MOVJ VJ=50.00
Speed is doubled.
0005
0006
0007
MOVJ VJ=50.00
MOVL V=276
MOVJ VJ=100.00
The speed of the entire job or specified section can be changed.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
Explanation
The JOB CONTENT window appears.
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3.9 Other Job-editing Functions
Operation
Explanation
3
Move the cursor to the
instruction area.
4
Press [SHIFT] + [SELECT] in
the speed modify start line.
If the section is not specified, the speed of the entire job will be
changed.
5
Move the cursor to the end
line.
The line numbers of the selected lines are highlighted.
6
Select {EDIT} under the menu.
7
Select {CHANGE SPEED}.
The SPEED MODIFICATION window appears.
JOB
EDIT
DISPLAY
UTILITY
DETAIL EDIT





START LINE NO.
END LINE NO.
MODIFICATION TYPE
SPEED KIND
SPEED
EXECUTE
Main Menu
8
Set desired items.
0001
0002
CONFIRM
VJ
50 %
CANCEL
Short Cut
START LINE NO.
Displays the first line number of the section to be modified.
END LINE NO.
Displays the last line number of the section to be modified.
MODIFICATION TYPE
Selects the confirmation before changing: “CONFIRM” or
“NO CONFIRM.”
Each time [SELECT] is pressed when the cursor is on this
item, the setting alternates between “CONFIRM” and “NO
CONFIRM.”
SPEED KIND
Selects the speed type.
When [SELECT] is pressed when the cursor is on this
item, selection dialog box appears. Select the speed type
to be changed.
SPEED
Specifies the speed value.
When [SELECT] is pressed when the cursor is on this
item, the mode changes to number input mode. Input the
speed value and press [ENTER].
9
Select “EXECUTE.”
The speed begins to change.
If “MODIFICATION TYPE” is set to “CONFIRM,” the confirmation
dialog box “Modifying speed” is displayed. Press [ENTER] to
change the speed on the first line and search for the next speed.
Press the UP/DOWN cursor button to keep the speed on the first
line and search for the next speed. To cancel the speed
modification, press [CANCEL].
If “MODIFICATION TYPE” is set to “NOT CONFIRM,” all the
speeds of the specified section are changed.
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3.9 Other Job-editing Functions

Modification by TRT (Traverse Time)
Modifications made by TRT have the following characteristics:
• By setting the time required to execute a move instruction (moving time) to a desired
value, the speeds can be modified.
• It is possible to measure the moving time without actually moving the manipulator.
For example, when the movement from lines 5 through 20 currently requires 34 seconds, and you want
to reduce it to 15 seconds or extend it to 50 seconds, this function is used.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Move the cursor to the
instruction area.
4
Press [SHIFT] + [SELECT] in
the weaving time measure
start line.
5
Move the cursor to the end
line.
6
Select {EDIT} under the menu.
7
Select {TRT}.
Explanation
The JOB CONTENT window appears.
The line numbers of the selected lines are highlighted.
The TRT window appears.
JOB
EDIT
DISPLAY
UTILITY
TRT




START LINE NO.
0001
END LINE NO.
0002
MOVING TIME
00010.00 sec
SETTING TIME
00007.00 sec
EXECUTE
Main Menu
8
Set the desired items.
CANCEL
Short Cut
START LINE NO.
Displays the first line number of the section to be measured
and modified.
END LINE NO.
Displays the last line number of the section to be measured
and modified.
MOVING TIME
The weaving time needed to move from the first number to last
number is measured and displayed.
SETTING TIME
Set the desired weaving time.
When [SELECT] is pressed when the cursor is on this item, the
input buffer line appears. Input the desired weaving time and
press [ENTER].
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3.9 Other Job-editing Functions
Operation
9
Select “EXECUTE.”
Explanation
The speed is changed according to the setting.
NOTE
• If instructions that include specific speed data
such as SPEED or ARCON instructions (including
speed data of the welding condition file) exist in
the specified section, the speed data for those
steps are not changed. Therefore, in such cases,
the set time and the actual time required are not
same.
• If the speed data is limited by the maximum value,
the following message is displayed.
!Limited to maximum speed
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3.9 Other Job-editing Functions
3.9.2
Editing Interpolation Type
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Move the cursor to the
instruction area.
4
Select the line to be modified.
Explanation
The JOB CONTENT window appears.
The instruction on the cursor is displayed in the input buffer line.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
TOOL : 00
0001
0002
0003
0004
0005
0006
0007
NOP
’CAR TYPE-A JOB
JUMP JOB:JOB-01
MOVJ VJ=50.00
MOVJ VJ=50.00
MOVJ VJ=50.00
MOVJ VJ=50.000
MOVJ VJ=50.00
Main Job
5
Short Cut
Press [SHIFT] + the cursor key The interpolation type in the input buffer line changes.
simultaneously.
The modification of the speed according to the modification of the
interpolation type is calculated by the ratio to maximum speed at
each speed.
Joint Speed: MAX=100.0%
Linear Speed: MAX=9000 cm/min
(e.g.)
Joint Speed: 50% = Linear Speed: 4500 cm/min
Linear Speed: 10% = Linear Speed: 900 cm/min
0007 MOVJ VJ=50.000
MOVL V=4500
Short Cut
Main Menu
6
Press [ENTER].
The instruction on the cursor line is replaced with one on the input
buffer line.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
TOOL : 00
0001
0002
0003
0004
0005
0006
0007
NOP
’CAR TYPE-A JOB
JUMP JOB:JOB-01
MOVL V=4500
MOVJ VJ=50.00
MOVJ VJ=50.00
MOVJ VJ=50.000
MOVL V=4500
Main Menu
Short Cut
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3.9 Other Job-editing Functions
3.9.3
Editing Condition Files
Condition files are prepared in order to set the conditions for the manipulator to execute instructions.
Multiple condition files are provided for each application. More than one pattern can be set up in each
condition file. The patterns are listed by “condition numbers.” This number is specified by the work
instruction in a job.
NOTE
Refer to NX100 Operator’s Manual of each application for information regarding the
contents and editing methods of the condition file.
Condition Files
Application A
Application B
Condition
Condition
Condition
Number 1
Number 2
Number 3
Condition
Condition
Number 1
Number 2
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Condition
Condition
Number 1 Condition
Condition
Number 2
Number 3
Number 4
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3.9.4
User Variables
User variables are used for jobs to store counters, calculation results or input signals. Since the same
user variable can be used in multiple jobs, save the numerical values as common references for the
jobs and the user variables are maintained even when the power is turned OFF.
User variables have the following applications:
• Controlling of the number of workpieces
• Controlling of the number of jobs
• Sending/receiving of information between jobs
The data formats for user variables are described in the following table:
User Variables
Data Format
Byte Type
Variable No.
(pcs)
B000 to B099
(100)
Integer Type
Functions
Range of storable values is from 0 to 255.
Can store I/O status.
Can perform logical operations (AND, OR, etc.).
I000 to I099
(100)
Range of storable values is from -32768 to 32767.
Double Precision
Integer Type
D000 to D099
(100)
Range of storable values is from -2147483648 to
2147483647.
Real Type
R000 to R099
(100)
Range of storable values is from -3.4E+38 to 3.4E38.
Accuracy: 1.18E-38 < x ≤ 3.4E38
Character Type
S000 to S099
(100)
Maximum storable number of characters is 16.
Position
Type
Robot
Axes
P000 to P127
(128)
Base
Axes
BP000 to BP127
(128)
Can store position data in pulse form or in XYZ form.
XYZ type variable can be used as target position data
for move instructions, and as incremental values for
parallel shift instructions.
Station
Axes
EX000 to EX127
(128)
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NOTE
• Play Speed V:
MOVL V=I000
The variable I000 is used for speed V with this move instruction.
The unit for V is 0.1mm per second.
For example, if I000 were set as 1000, the following would be true:
I000=1000  unit for V is 0.1mm/s  V=100.0 mm/s
Note that, depending on the unit being used, the value of the variable and the value of the
actual speed on occasion might not match.
• Play Speed VJ:
MOVL VJ=I000
The unit for VJ is 0.01%.
For example, if I000 were set as 1000, the following would be true:
I000=1000  unit for VJ is 0.01%  VJ=10.00%.
• Timer T:
TIMER T=I000
The unit for T is 0.01 seconds.
For example, if I000 were set as 1000, the following would be true:
I000=1000  unit for T is 0.01 seconds  T=10.00 seconds.
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
Setting Byte, Integer, Double Precision Integer, and Real Type
Variables
Operation
Explanation
1
Select {VARIABLE} under the
main menu.
{BYTE}, {INTEGER}, {DOUBLE}, and {REAL} are displayed for
the sub menu.
2
Select desired variable type.
The BYTE VARIABLE window appears. (Following is a case that
{BYTE} is selected.)
DATA
EDIT
UTILITY
DISPLAY
BYTE VARIABLE
NO.
B000
B001
B002
B003
B004
B005
B006
B007
B008
B009
B010
CONTENT
2
0
255
0
0
10
1
1
1
1
1
Short Cut
Main Menu
3
NAME
WORK NUM
0000_0010
0000_0000
1111_1111
0000_0000
0000_0000
0000_1010
0000_0001
0000_0001
0000_0001
0000_0001
0000_0001
Move the cursor to the desired When the desired variable number is not displayed, move the
variable No.
cursor with either of the following operations.
• Move the cursor on the variable No. and press [SELECT]. Then
input the variable No. using the Numeric keys and press
[ENTER].
• Move the cursor to the menu area and select {EDIT} 
{SEARCH}. Then input the variable No. with the Numeric keys
and press [ENTER].
EDIT
DATA
DISPLAY
UTILITY
BYTE VARIABLE
NO.
Cursor is moved
to desired variable
number.
4
Move the cursor to the data of
the variable.
5
Press [SELECT].
6
Input the desired number.
7
Press [ENTER].
CONTENT
B055
B056
B057
B058
10
255
255
0
NAME
0000_1010
1111_1111
1111_1111
0000_0000
The number can be directly typed.
Input value is set to the variable on the cursor position.
DATA
EDIT
DISPLAY
UTILITY
BYTE VARIABLE
NO.
B000
B001
B002
CONTENT
2
12
255
0000_0010
0000_0000
1111_1111
NAME
WORK NUM
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Setting Character Type Variables
Operation
1
Select {VARIABLE} under the
main menu.
2
Select {STRING}.
Explanation
The STRING VARIABLE window appears.
EDIT
DATA
DISPLAY
UTILITY
STRING VARIABLE
NO.
CONTENT
NAME
S000
S001
S002
S003
S004
S005
S006
S007
S008
S009
S010
Main Menu
3
Short Cut
Move the cursor to the desired When the desired variable number is not displayed, move the
variable No.
cursor with either of the following operations.
• Move the cursor on the variable No. and press [SELECT]. Then
input the variable No. using the Numeric keys and press
[ENTER].
• Move the cursor to the menu area and select {EDIT} 
{SEARCH}. Then input the variable No. with the Numeric keys
and press [ENTER].
DATA
EDIT
UTILITY
DISPLAY
STRING VARIABLE
The cursor is
moved to
desired variable
number.
NO.
CONTENT
NAME
S055
S056
S057
S058
S004
4
Move the cursor to the data of
the variable.
5
Press [SELECT].
The characters can be directly typed.
6
Input the desired characters.
For information on character input operation, refer to section 1.2.6
"Character Input".
7
Press [ENTER].
The input characters are set to the variable on the cursor position.
DATA
EDIT
DISPLAY
UTILITY
STRING VARIABLE
NO.
S000
S001
S002
S003
S004
S005
S006
S007
S008
S009
S010
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NAME
WORK NUM
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
Registering Variable Name
Operation
Explanation
1
Select {VARIABLE} under the
main menu.
2
Select desired variable.
Select any variable type from among byte type, integer type,
double precision integer type, real type, robot position type, base
position type, and station position type.
3
Move the cursor to desired
variable number.
If desired variable number is not displayed, move the cursor by
either of following operations.
• Select the variable number, input desired variable number and
press [ENTER]
The cursor moves to the variable number to be input.
• Move the cursor to the menu area and select
{EDIT}{SEARCH}. Input desired variable number and press
[ENTER].
The cursor moves to the variable number to be input.
4
Select “NAME.”
The input buffer line appears.
SUPPLE
-MENT
5
Input name.
6
Press [ENTER].
Refer to section 1.2.6 "Character Input" for the
character input operation.
The variable name is registered.
EDIT
DATA
DISPLAY
UTILITY
BYTE VARIABLE
NO.
B000
B001
B002
B003
CONTENT
2
12
255
0
0000_0010
0000_0000
1111_1111
0000 0000
NAME
WORK NUM
WORK2 NUM
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
Displaying Position Variables
Operation
Explanation
1
Select {VARIABLE} under the
main menu.
2
Select desired position
variable type.
The POSITION VARIABLE window of desired type among robot
type, base type, and station type appears.
DATA
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
ROBOT
#P000
R1: X
330.000
Y
0.000
Z
-10.000
Rx
0.00
Ry
0.00
Rz
0.00
NAME SHIFT DATA
TOOL: 01
<TYPE>
FRONT
UP
FLIP
S<180
R<180
T<180
PAGE
Main Menu
3
Short Cut
GO BACK
Press the page key
PAGE
GO BACK
or
GO BACK
[SHIFT] + page key
PAGE
.
Select the desired number by pressing the page key
PAGE
.
If [SHIFT] is pressed simultaneously, the window returns to
previous page.
When the desired variable number is not displayed, move the
cursor with either of the following operations.
• Press [DIRECT PAGE]. Then input the variable No. using the
Numeric keys and press [ENTER].
• Move the cursor to the menu area and select {EDIT} 
{SEARCH}. Then input the variable No. with the Numeric keys
and press [ENTER].
DATA
Move to desired
variable number
page.
3-69
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
#P025
PULSE
R1: S
28109
L
-136
U
0
R
0
B
0
T
0
NAME
TOOL: 01
<TYPE>
FRONT
UP
FLIP
S<180
R<180
T<180
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
Setting Position Variables
The following table shows the types of position variables and setting methods.
NOTE
The setting of position variables is done in the teach mode.
Turn the servo power ON when setting the variables with the axis keys.
Types of Position Variables and Setting Methods
BPxxx
(Base)
Pxxx (Robot)
EXxxx
(Station)
Type
Pulse Type
Pulse
Type
XYZ Type
XYZ
Type
Pulse Type
Select coordinates from
base, robot, user, tool.
Z-axis
Using the numeric keys
45000
7
8
9
4
5.
6
1
2
3
0
.
-
Setting
Method
X-axis
Y- a x i s
Using the axis keys
XS-
X+
S+
X-
X+
R-
R+
Y-
Y+
Y-
Y+
Z-
Z+
Z-
Z+
L-
U-
L+
U+
B-
T-
B+
T+
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
Setting Position Variables Using the Numeric Keys
Pulse Type
Operation
1
Select {VARIABLE} under the
main menu.
2
Select desired position
variable type.
Explanation
The desired variable window appears (robot, base, or station).
(The POSITION VARIABLE window is used for this example.)
DATA
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
#P000
**: S
L
U
R
B
T
NAME
TOOL: **
*
*
*
*
*
*
PAGE
Main Menu
3
Select the variable data type.
Short Cut
The selection dialog box appears.
#P000
NAME
PULSE
BASE
ROBOT
USER
TOOL
MASTER TOOL
If the position variable was set before, confirmation dialog box
appears for data clear. If “YES” is selected, the data is cleared.
Clear data?
YES
4
Select {PULSE}.
5
Move the cursor to desired
data to be input and press
[SELECT].
6
Input the value.
7
Press [ENTER].
NO
The value is set in the cursor position.
DATA
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
#P000
**: S
L
U
PULSE
45000
0
0
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XYZ Type
Operation
1
Select {VARIABLE} under the
main menu.
2
Select desired position
variable type.
3
Select the variable data type.
Explanation
The selection dialog box appears.
NAME
#P000
PULSE
BASE
ROBOT
USER
TOOL
MASTER TOOL
4
Select desired coordinates
except PULSE.
5
Move the cursor to desired
data to be input and press
[SELECT].
6
Input the value.
7
Press [ENTER].
The value is set in the cursor position.
DATA
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
ROBOT
#P000
R1: X
330.000
Y
0.000
Z
-10.000
Rx
0.00
Ry
0.00
Rz
0.00
NAME
TOOL: 00
<TYPE>
FRONT
UP
FLIP
S<180
R<180
T<180
PAGE
Main Menu
Short Cut
Setting of “<TYPE>”
Each time [SELECT] is pressed when the cursor is on the setting
data in thePOSITION
inputVARIABLE
buffer line, the settings alternate.
ROBOT
#P000
R1: X
330.000
Y
0.000
Z
-10.000
Rx
0.00
Ry
0.00
Rz
0.00
NAME
TOOL: 00
<TYPE>
REAR
UP
FLIP
S<180
R<180
T<180
About “<TYPE>”
• It is not necessary to set a type if the position variable is to be used for parallel shift
operations.
• When the position variable is used with a move instruction such as “MOVJ P001,” it
is necessary to set a type. For details on types, refer to "Manipulator Types".
Current Position Window (XYZ) shows the current setting of a type.
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
Setting Position Variables Using the Axis Keys
Pulse Type
Operation
Explanation
1
Select {VARIABLE} under the
main menu.
2
Select desired position
variable type.
The desired variable window appears (robot, base, or station).
3
Press [SHIFT] + [ROBOT].
When you need an external axis position, press
[SHIFT]+[EX.AXIS].
When there are two or more robot, base, or a station, specify the
axis with following operation.
• Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on
the status line changes:
R1  R2  R3  R4.
• Base or Station
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on
the status line changes:
B1 B2  B3  B4  S1  S2  S3    S12
4
Move the manipulator with the Move the manipulator or the external axis to the desired position
axis keys.
to be set to position variable.
5
Press [MODIFY].
6
Press [ENTER].
XYZ Type
Operation
1
Select {VARIABLE} under the
main menu.
2
Select desired position
variable type.
Explanation
When there are two or more robot, base, or a station, specify the
axis with following operation.
• Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on
the status line changes:
R1  R2  R3  R4.
• Base or Station
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on
the status line changes:
B1 B2  B3  B4  S1  S2  S3    S12
3
Move the manipulator with the Move the manipulator or the external axis to the desired position
axis keys.
to be set to position variable.
4
Press [MODIFY].
5
Press [ENTER].
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
Deleting Data Set of Position Variables
Operation
1
Select {VARIABLE} under
the main menu.
2
Select desired position
variable type.
3
Select {DATA} under the
menu.
Explanation
The pull-down menu appears.
DATA
EDIT
DISPLAY
UTILITY
CLEAR DATA
NAME
TOOL: 00
ROBOT
#P000
R1: X
330.000
Y
0.000
Z
-10.000
Rx
0.00
Ry
0.00
Rz
0.00
4
Select {CLEAR DATA}.
<TYPE>
FRONT
UP
FLIP
S<180
R<180
T<180
The position variable data on the displayed page are deleted.
DATA
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
#P000
**: S
L
U
R
B
T
*
*
*
*
*
*
NAME
TOOL: **
PAGE
Main Menu
Short Cut
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
Checking Positions by Position Variables
Operation
1
Select {VARIABLE} under the
main menu.
2
Select desired position
variable type.
Explanation
When there are two or more robot, base, or a station, specify the
axis with following operation.
• Robot
Each time [SHIFT] + [ROBOT] is pressed, the axis displayed on
the status line changes:
R1  R2  R3  R4.
• Base or Station
Each time [SHIFT]+[EX.AXIS] is pressed, the axis displayed on
the status line changes:
B1 B2  B3  B4  S1  S2  S3    S12
3
Press [FWD].
Selected axis moves to the position specified by the variable.
NOTE
The selected axis (manipulator, base, or station)
moves directly to the set variable position. Before
pressing [FWD], check that the surrounding area is
safe.
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
Manipulator Types
When robot axis position data is described in the XYZ format, a number of solutions are obtained from
the manipulator’s structure when moving it to the described position. In order to select one appropriate
solution, it is necessary to specify the manipulator type. This manipulator type is called “Type.” There
are up to six types in NX100 system. These types also vary according to the manipulator models.
• Flip/No Flip: R-axis Position
• R-axis Angle
• T-axis Angle
• Front/Back: Relationship Between the S-axis and TCP
• Upper Arm/Lower Arm: Type Comprised of the L- and U-axes
• S-axis Angle
These six types are described in the following:
• Flip/No Flip
This shows the R-axis position.
When the R-axis is in the position at A as shown in the following diagram, it is known as
“Flip;” when it is in the B position, it is called “No Flip.” However, in a manipulator in which
the R-axis can move more than ±180° even in position A, it is necessary to specify
whether the R-axis is from -90° to 90°, or from 270° to 360°, or from -360° to -270°. The
same is true for the B position. This is set at the following “R-axis Angle.”
Flip
No Flip
0°
0°
A
B
-90 < θ R ≤ 90
270 < θ R ≤ 360, -360 < θ R ≤ -270
NOTE
90 < θ R ≤ 270
-270 < θ R ≤ -90
θ R is the angle when the R-axis home position is 0°.
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• R-axis Angle
This specifies whether the R-axis angle is less than ±180° or greater than ±180°.
R < 180°
R ≥ 180°
0°
0°
360° -360°
-180° 180°
-180 < θ R ≤ 180
NOTE
180 < θ R ≤ 360, -360 < θ R ≤ -180
θ R is the angle when the R-axis home position is 0°.
• T-axis Angle
This specifies positions of the R-, B-, and T-axis.
For manipulators with wrist axes (three axes), this specifies whether the T-axis angle is
less than ±180° or greater than ±180°.
T <180°
T ≥ 180°
0°
0°
360° -360°
-180° 180°
-180 < θ T ≤180
NOTE
180 < θ T ≤ 360, -360 < θ T ≤ -180
θ T is the angle when the T-axis home position is 0°.
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• Front/Back
This specifies where in the S-axis rotation center the B-axis rotation center locates when
viewing the L-axis and U-axis from the right-hand side. When viewed from the right-hand
side, the right of the S-axis rotation center is called the front, and the left is called the
back.
Right-hand side
(S-axis 0°)
S-axis 0°
Back
S-axis 180°
Front
Front
Back
The diagram above shows the S-axis at 0° and at 180°. This is the configuration when
the L-axis and the U-axis are viewed from the right-hand side.
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• Upper Arm/Lower Arm
This specifies a type comprised of L-axis and U-axis when the L-axis and U-axis are
viewed from the right-hand side.
Right-hand side
Upper Arm
Lower Arm
• S-axis Angle
This designation is required for the manipulators which have working envelopes greater
than ±180°.
This specifies whether the S-axis angle is less than ±180° or greater than ±180°.
S<180°
S ≥ 180°
0°
0°
360°
-180°
180°
-180° < θ S ≤ 180°
NOTE
-360°
180° < θ S ≤ 360°
-360° < θ S ≤ -180°
θ S is the angle when the S-axis home position is 0°.
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3.9.5
Editing Local Variables
User variables and local variables can be used in the storage of counters, calculations, and input
signals. The data format is the same as that of user variables. As shown in the following table, the letter
L is affixed to the variable number to indicate a local variable.
Local Variables
Data Format
Variable No.
Byte Type
LB000 to
LB
Functions
Range of storable values is from 0 to 255.
Can store I/O status.
Can perform logical operations (AND, OR, etc.).
Integer Type
Ll000 to
LI
Range of storable values is from -32768 to 32767.
Double Precision
Integer Type
LD000 to
LD
Range of storable values is from -2147483648 to
2147483647.
Real Type
LR000 to
LR
Range of storable values is from -3.4E+38 to 3.4E+38
Accuracy: 1.18E-38 < x ≤ 3.4E+38
Character Type
LS000 to
LS
Maximum storable number of characters is 16.
Position
Type
Robot
Axes
LP000 to
LP
Base
Axes
LBP000 to
LBP
Can store position data in pulse form or in XYZ form. XYZ
type variables can be used as target position data for
move instructions, and as incremental values for parallel
shift instructions.
Station
Axes
LEX000 to
LEX
Local variables differ from user variables in the following four ways:
• Used in One Job Only
With user variables it is possible to define and use one variable in multiple jobs, but local
variables are used only in the one job in which they are defined, and cannot be read from
other jobs. Accordingly, local variables do not affect other jobs, so it is possible to define a
variable number (such as LB001) separately in different jobs, and use it in different ways
in each of these jobs.
User Variable
B001
Job 1
Job 2
Job 3
Job 1
Job 2
Job 3
Local Variable
Local Variable
Local Variable
LB001
LB001
LB001
Local Variables
User Variables
• Able to Use Any Number of Variables
The number is set in the JOB HEADER window. When the number is set, the area for the
value is saved in memory.
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• Not Able to Display the Variable Contents
To display the local variable contents, user variables are needed.
For example, to view the contents of local variable LP000, save it temporarily as user
variable P001. Then execute the instruction SET P001 LP000, and view the POSITION
VARIABLE window for P001.
• Enabled Only During the Execution of the Defined Job
The contents of the local variables are enabled only during the execution of the defined
job.
The local variable field is assured when the defined job is called (when the job is executed
by a CALL or JUMP instruction, or the job is selected by the menu). Once the job is
completed by the execution of a RET, END, or JUMP instruction, the local variable data
that was set is disabled. However, if a job which uses local variables itself calls a separate
job, then is returned to by use of a RET instruction, the data that was present prior to the
CALL instruction remains in effect and can be used.
NOTE
Precautions for Variables and Units
As was the case with user variables, note that, depending on the value of the unit being
used, the value of the variable and the value of the actual speed or time an occasion might
not match. Refer to section 3.9.4 "User Variables".
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
Setting the Number of Local Variables
How many local variables are to be used in a job is set in the JOB HEADER window. When setting the
number of variables, the memory area needed for those variables is saved.
NOTE
Only when expanding the “INSTRUCTION LEVEL,” it is possible to use local variables.
Refer to section 8.12 “Instruction Level Setting” of “NX100 INSTRUCTIONS” for details on
setting the language level.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Select {DISPLAY} under the
menu.
4
Select {JOB HEADER}.
Explanation
The JOB HEADER window appears. Scroll the window using the
cursor.
EDIT
JOB
UTILITY
DISPLAY
JOB HEADER
JOB NAME : TEST01
: This job is test job
COMMENT
: 2003/05/20 12:00
DATE
:
CAPACITY
24 BYTE
:
LINES
30 LINE
:
20 STEP
STEPS
:
EDIT LOCK
OFF
:
TO SAVE TO FD
NOT DONE
:
GROUP SET
R1
ROBOT (LP)
BYTE (LB)
INT (LI)
DOUBLE (LD)
REAL (LR)
CHARACTER (LS)
Main Menu
5
Select the number of local
variables to be set.
6
Input the number of variables.
7
Press [ENTER].
Short Cut
The input buffer line appears.
The number of local variables are set.
JOB
EDIT
DISPLAY
UTILITY
JOB HEADER
JOB NAME : TEST01
: This job is test job
COMMENT
: 2003/05/20 12:00
DATE
:
CAPACITY
24 BYTE
:
LINES
30 LINE
:
20 STEP
STEPS
:
EDIT LOCK
OFF
TO SAVE TO FD
GROUP SET
BYTE (LB)
INT (LI)
DOUBLE (LD)
REAL (LR)
CHARACTER (LS)
Main Menu
NOT DONE
R1
ROBOT (LP)
Short Cut
Reconstruct local variable from next start
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3.9 Other Job-editing Functions
3.9.6
Searching
When performing editing or confirmation, a search for the job or step can be done. The search can be
done when the cursor is in either the address or instruction area on the JOB CONTENT window.
Operation
Explanation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Select {EDIT} under the menu. The pull-down menu appears.
The JOB CONTENT window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
TOP LINE
JOB NAMETEST01
CONTROL GROUPR1
0000
0001
0002
0003
0004
0005
0006
STEP NO. : 0003
TOOL : 00
END LINE
NOP
’TESTSEARCH
MOVJ VJ=50.00
MOVJ VJ=12.50
ENABEL SPEED TAG
MOVL V=276
TIMER T=1.00
ENABLE POS LVL TAG
DOUT OT#(1) ON
MOVJ VJ=100.00
Main Menu
4
Select {SEARCH}.
Short Cut
The selection dialog box appears.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
UTILITY
STEP NO. : 0003
TOOL : 00
0000 NOP
0001 ’This job is test job
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004
V=276
LINE MOVL
SEARCH
0005
TIMER T=1.00
STEP SEARCH
LABEL SEARCH
0006
DOUT OT#(1) ON
INSTRUCTION SEARCH
0007
MOVL V=138
Main Menu
5
Short Cut
Select the searching type.
Searching is an operation by which the cursor is moved to a specific step or instruction in the edit job. A
target point can be instantaneously searched out without using the cursor.
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3.9 Other Job-editing Functions

Line Search
This function moves the cursor to the desired line number.
Operation
Explanation
1
Select {EDIT], {SEARCH} and The input buffer line appears.
“LINE SEARCH.”
2
Input desired line number.
3
Press [ENTER].
The cursor is moved to the line number and the window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0100
0101
0102
0103
0104
0105
0106
0107
STEP NO.:0003
TOOL : 00
MOVJ VJ=100.00
TIMER T=1.00
MOVL V=138
MOVL V=138
MOVJ VJ=50.00
MOVJ VJ=100.00
DOUT OT#(1) ON
TIMER T=0.50
MOVJ VJ=100.00
Main Menu

Short Cut
Step Search
This function moves the cursor to the desired step number (move instruction).
Operation
1
Select “STEP SEARCH.”
2
Input desired step number.
3
Press [ENTER].
Explanation
The input buffer line appears.
The cursor is moved to the input step and the window appears.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0100
0101
0102
0103
0104
0105
0106
0107
UTILITY
STEP NO. : 0003
TOOL : 00
MOVJ VJ=100.00
TIMER T=1.00
MOVL V=138
MOVL V=138
MOVJ VJ=50.00
MOVJ VJ=100.00
DOUT OT#(1) ON
TIMER T=0.50
MOVJ VJ=100.00
Main Menu
Short Cut
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3.9 Other Job-editing Functions

Label Search
This function searches for the desired label and the instruction using that label.
Operation
Explanation
1
Select {EDIT}, {SEARCH} and The input buffer line appears.
“LABEL SEARCH.”
2
Input desired label name.
For information on character input operation, refer to section 1.2.6
"Character Input"
At this time, search can be conducted by entering any one
character of the label. For example, to search for the “START”
label, enter only “S,” and the search can be done.
3
Press [ENTER].
The label is searched out and the cursor is on its line number.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0099
0100
0101
0102
0103
0104
0105
0106
STEP NO. : 0003
TOOL : 00
*START
MOVJ VJ=100.00
TIMER T=1.00
MOVL V=138
MOVL V=138
MOVJ VJ=50.00
MOVJ VJ=100.00
DOUT OT#(1) ON
*START
Main Menu
4
Use the cursor to continue
searching.
Short Cut
It is possible to continue searching by pressing the cursor key.
To end searching, select {EDIT}  {END SEARCH} on the menu
and press [SELECT].
JOB
EDIT
DISPLAY
JOB CONTENT
TOP LINE
JOB NAMETEST01
CONTROL GROUPR1
0099
0100
0101
0102
0103
0104
0105
0106
END LINE
UTILITY
STEP NO. : 0003
TOOL : 00
*START
MOVJ VJ=100.00
END SEARCH
TIMER T=1.00
MOVL V=138
ENABLE SPEED TAG
MOVL V=138
MOVJ VJ=50.00
ENABLE POS LVL TAG
MOVJ VJ=100.00
DOUT OT#(1) ON
Main Menu
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3.9 Other Job-editing Functions

Instruction Search
This function moves the cursor to a desired instruction.
Operation
1
Explanation
Select {EDIT}, {SEARCH} and The INFORM command list appears.
“INSTRUCTION SEARCH.”
DISPLAY UTILITY
JOB
EDIT
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
0006
0007
NOP
’This job is test job
MOVJ VJ=50.00
MOVJ VJ=12.50
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=138
Main Menu
2
Select desired instruction
group.
3
Select desired instruction.
IN/OUT
STEP NO.: 0003
TOOL : 00 CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
Short Cut
The instruction is searched out and the cursor is on its line
number.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0010
0011
0012
0013
0014
0015
0016
0017
STEP NO. : 0003
TOOL : 00
ARCON ASF#(1)
MOVJ VJ=100.00
TIMER T=1.00
MOVL V=138
MOVL V=138
MOVJ VJ=50.00
MOVJ VJ=100.00
DOUT OT#(1) ON
ARCON ASF#(1)
Main Menu
4
Use the cursor to continue
searching.
Short Cut
It is possible to continue searching by pressing the cursor key.
To end searching, select {EDIT}  {END SEARCH} on the menu
and press [SELECT] or press [CANCEL].
JOB
EDIT
DISPLAY
JOB CONTENT
TOP LINE
JOB NAME TEST01
CONTROL GROUP R1
0010
0011
0012
0013
0014
0015
0016
0017
END LINE
UTILITY
STEP NO. 0003
TOOL : 00
ARCON ASF#(1)
MOVJ VJ=100.00
END SEARCH
TIMER T=1.00
MOVL V=138
ENABLE SPEED TAG
MOVL V=138
MOVJ VJ=50.00
ENABLE POS LVL TAG
MOVJ VJ=100.00
DOUT OT#(1) ON
Main Menu
Short Cut
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3.9 Other Job-editing Functions

Tag Search
This function moves the cursor to the desired tag.
Operation
1
Explanation
Select {EDIT}, {SEARCH} and The instruction list dialog box appears.
“TAG SEARCH.”
EDIT
JOB
DISPLAY UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
0006
0007
IN/OUT
STEP NO. : 0003
TOOL : 00
CONTROL
NOP
’This job is test job
MOVJ VJ=50.00
MOVJ VJ=12.50
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=138
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
Main Menu
2
Select desired instruction
group.
3
Select desired instruction for
which the tag is to be
searched.
Short Cut
The tag list dialog box for selected instruction appears.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
0006
0007
B
IN/OUT
step no.0003
tool
CONTROL
B[] :00
NOP
This job is test job
MOVJ VJ=50.00
MOVJ VJ=12.50
MOVL V=276
TIMER T=1.00
DOUT OT#(1) ON
MOVL V=138
D
I
OG#()
OGH#()
OT#()
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
Main Menu
4
Select the desired tag.
Short Cut
The cursor is moved to the selected tag and the window appears.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1
0010
0011
0012
0013
0014
0015
0016
0017
UTILITY
STEP NO. : 0003
TOOL : 00
DOUT OT#(1) ON
MOVJ VJ=100.00
TIMER T=1.00
MOVL V=138
MOVL V=138
MOVJ VJ=50.00
MOVJ VJ=100.00
DOUT OT#(1) ON
DOUT OT#(1) ON
Main Menu
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3.9 Other Job-editing Functions
Operation
5
Use the cursor to continue
searching.
Explanation
It is possible to continue searching by pressing the cursor key.
To end searching, select {EDIT}  {END SEARCH} on the menu
and press [SELECT] or press [CANCEL].
JOB
EDIT
DISPLAY
JOB CONTENT
TOP LINE
JOB NAMETEST01
CONTROL GROUPR1
0010
0011
0012
0013
0014
0015
0016
0017
END LINE
UTILITY
STEP NO. : 0003
TOOL : 00
DOUT OT#(1) ON
MOVJEND
VJ=100.00
SEARCH
TIMER T=1.00
MOVL V=138
ENABLE SPEED TAG
MOVL V=138
MOVJ VJ=50.00
ENABLE POS LVL TAG
MOVJ VJ=100.00
DOUT OT#(1) ON
Main Menu
Short Cut
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4 Playback
4.1 Preparation for Playback
4 Playback
4.1
Preparation for Playback
4.1.1
Selecting a Job
Playback is the act of executing a taught job. Before playback operation, first call the job to be
executed.

Calling a Job
Operation
1
Select {JOB} under the main
menu.
2
Select {SELECT JOB}.
Explanation
The JOB LIST window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB LIST
TEST3A-!
TEST02
Main Menu
3
TEST03
TEST
TEST3A
TEST01
Short Cut
Select the desired job.
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4.1 Preparation for Playback

Registering the Master Job
If a particular job is played back frequently, it is convenient to register that job as a master job (master
registration). A job registered as the master job can be called more easily than the method described
on the preceding page.
NOTE
Only one job can be registered as the master job. Registering a master job automatically
releases the previously registered master job.
Be sure to register a master job in the teach mode.
Operation
1
Select {JOB} under the
main menu.
2
Select {MASTER JOB}.
Explanation
The MASTER JOB window appears.
JOB
EDIT
DISPLAY
UTILITY
MASTER JOB
MASTER JOB : *******
Main Menu
3
Press [SELECT].
Short Cut
The selection dialog box appears.
JOB
EDIT
DISPLAY
UTILITY
MASTER JOB
MASTER JOB*******
CALL MASTER JOB
SETTING MASTER JOB
CANCEL MASTER JOB
Main Menu
Short Cut
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4.1 Preparation for Playback
Operation
4
Select {CALL MASTER JOB}.
Explanation
The JOB LIST window appears.
JOB
EDIT
UTILITY
DISPLAY
JOB LIST
TEST3A-!
TEST02
Main Menu
5
Select a job to be registered
as a master job.
TEST03
TEST
TEST3A
TEST01
Short Cut
The selected job is registered as the master job.
EDIT
JOB
UTILITY
DISPLAY
MASTER JOB
MASTER JOB : TEST01

Calling the Master Job
This operation is to call a master job. The job can be called in the JOB CONTENT window, PLAYBACK
window, JOB SELECT window, or the MASTER JOB window.
Calling from the JOB CONTENT, PLAYBACK, JOB SELECT Window
Operation
1
Explanation
Select {JOB} under the menu. The pull-down menu appears.
EDIT
JOB
UTILITY
JOB CONTENT
JOB
DOUT
MOVE
END
DOUT
MOVE
END
ARC WELDING
VARIABLE
B001
IN/OUT
In
DISPLAY
JOB CONTENTJOB
CF
NAME : TEST01
CONTROL GROUP : R1
SELECT JOB 0000 NOP
0001 MOVJ VJ=50.00
0002 MOVL V=138
CREATE NEW JOB
0003 MOVL V=138
0004 MOVL V=138
Aa
0005 MOVL V=138
MASTER JOB
0006 END
STEP NO. : 0003
TOOL : 00
Out
ROBOT
JOB CAPACITY
SYSTEM INFO
MOVJ VJ=0.78
Main Menu
2
Select {MASTER JOB}.
Short Cut
The master job is called, and the JOB CONTENT window
appears.
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4.1 Preparation for Playback
Calling from the MASTER JOB Window
Operation
1
Select {JOB} under the main
menu.
2
Select {MASTER JOB}.
Explanation
The MASTER JOB window appears.
JOB
EDIT
DISPLAY
UTILITY
MASTER JOB
MASTER JOB : TEST01
Main Menu
3
Press [SELECT].
Short Cut
The selection dialog box appears.
JOB
EDIT
DISPLAY
UTILITY
MASTER JOB
MASTER JOB*******
CALL MASTER JOB
SETTING MASTER JOB
CANCEL MASTER JOB
Main Menu
4
Select {CALL MASTER JOB}.
Short Cut
The master job is called, and the JOB CONTENT window (during
the teach mode), or the PLAYBACK window (during the play
mode) appears.
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4.1 Preparation for Playback
4.1.2
The PLAYBACK Window
When the mode switch on the programming pendant is switched to “PLAY” while displaying the JOB
CONTENT window, the PLAYBACK window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME : TEST01
CONTROL GROUP : R1





0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
STEP NO. : 0003
TOOL : 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
WAIT IF IN#(5)=ON
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
SPEED ADJUSTMENT (MODIFY: OFF)
MEASURE START JOB
MOVING TIME
PLAYBACK TIME
Main Menu
100 %
J: TEST01 S: 000
24.00 sec
44.50 sec
Short Cut
Job Content
The cursor moves according to the playback operation. The contents are automatically
scrolled as needed.
Override Speed Settings
Displayed when override speed setting is performed.
Cycle Time
Displays the operating time of the manipulator. Each time the manipulator is started, the
previous cycle time is reset, and a new measurement begins. The setting can be made for
display or no display.
Start No.
First step in the measurement. Measurement starts when the start button lamp lights and
the playback starts.
Motion Time
Displays the weaving time of the manipulator.
Playback Time
Displays the time from beginning to the end of the measurement. Measurement ends when
the manipulator stops and the start button lamp goes off.
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4.1 Preparation for Playback

Display of Cycle Time
Follow the procedure below to set whether or not to display the cycle time on the PLAYBACK window.
Operation
1
Select {DISPLAY} under the
menu.
2
Select {CYCLE TIME}.

Explanation
The cycle time is displayed. Doing the same operation one more
time will delete the cycle time display.
Operation Cycle
There are three types of manipulator operation cycles:
• AUTO :Repeats a job continuously.
• 1 CYCLE : Executes a job once. If there is a called job during execution, it is performed,
after which the manipulator returns to the original job.
• 1 STEP : Executes one step (instruction) at a time.
The operation cycle can be changed using the following:
Operation
1
Select {JOB} under the
main menu, and then select
{CYCLE}.
2
Select the operation cycle
to be changed.
Explanation
The operation cycle is changed.
DATA
EDIT
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
UTILITY
CYCLE
CF
ARC WELDING
VARIABLE
PARAMETER
WORK SELECT
STEP
1 CYCLE
CONTINUOUS
SETUP
B001
IN/OUT
In
MULTIPLE WINDOWS
Out
ROBOT
SYSTEM INFO
Main Menu
Short Cut
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4.1 Preparation for Playback
Automatic Setting for Operation Cycle
Automatic setting of the operation cycle can be changed by the following operation.
This can be done in the management mode only.
Operation
1
Select {SETUP} under the
main menu.
2
Select {OPERATE COND}.
Explanation
The OPERATING CONDITION window appears. Use the cursor
to scroll the screen.
DATA
EDIT
DISPLAY
UTILITY
OPERATING CONDITION
MASTER JOB CHANGE
RESERVED START
RESERVED START JOB CHANGE
SPEED DATA INPUT FORM
CYCLE SWITCH IN TEACH MODE
CYCLE SWITCH IN PLAY MODE
CYCLE SWITCH IN LOCAL MODE
CYCLE SWITCH IN REMOTE MODE
SET CYCLE ON POWER ON
Main Menu
3
Select desired operation.
PERMIT
PROHIBIT
PERMIT
cm/min
1 CYCLE
1 CYCLE
1 CYCLE
1 CYCLE
1 CYCLE
Short Cut
The selection dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
OPERATING CONDITION
MASTER JOB CHANGE
RESERVED START
RESERVED START JOB CHANGE
SPEED DATA INPUT FORM
CYCLE SWITCH IN TEACH MODE
CYCLE SWITCH IN PLAY MODE
CYCLE SWITCH IN LOCAL MODE
CYCLE SWITCH IN REMOTE MODE
SET CYCLE ON POWER ON
Main Menu
SUPPLE
-MENT
PERMIT
PROHIBIT
PERMIT
cm/min
1 CYCLE
STEP
11 CYCLE
CYCLE
CONTINUOUS
1 CYCLE
NONE
1 CYCLE
1 CYCLE
Short Cut
“NONE” setting
The operation cycle is not changed when “NONE”
is set.
For example, if the setting is “CYCLE SWITCH IN
TEACH MODE = NONE,” the operation cycle after
selecting the teach mode is the same as the one
before.
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4.2 Playback
Operation
4
Select a cycle.
Explanation
The operation cycle set automatically is changed.
DATA
EDIT
DISPLAY
UTILITY
OPERATING CONDITION
MASTER JOB CHANGE
RESERVED START
RESERVED START JOB CHANGE
SPEED DATA INPUT FORM
CYCLE SWITCH IN TEACH MODE
CYCLE SWITCH IN PLAY MODE
CYCLE SWITCH IN LOCAL MODE
CYCLE SWITCH IN REMOTE MODE
SET CYCLE ON POWER ON
Main Menu
4.2
PERMIT
PROHIBIT
PERMIT
cm/min
STEP
1 CYCLE
1 CYCLE
1 CYCLE
1 CYCLE
Short Cut
Playback
4.2.1
NOTE
Playback Operation
After checking to be sure there is no one near the manipulator, start the playback operation
by following the procedures below.
Playback is the operation by which the taught job is played back. Follow the procedures below to start
the playback operation.
• Programming pendant (start button)
• Peripheral device (external start input)
Which is used to start playback is specified by the mode switch on the programming pendant.
Mode Switch on
Programming Pendant
Job is started up by peripheral device
[PLAY]
[START] button on programming
pendant
[REMOTE]
Peripheral device
For playback using the programming pendant, follow the procedures below.

Selecting the Start Device
Operation
1
Set the mode switch on the
programming pendant to
“PLAY.”
Explanation
The remote mode is disabled and the play mode is enabled so
the machines are to be started up by the programming pendant.
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4.2 Playback

Servo On
Operation
1

Explanation
Press [Servo ON Ready].
NX100 servo power is ON and the Servo ON lamp on the
programming pendant lights.
Start Operation
Operation
1
Explanation
Press [START].
4.2.2
The start button lamp lights and the manipulator begins operation.
Special Playback Operations
The following special operations can be performed during playback:
• Low speed operation
• Limited speed operation
• Dry run speed operation
• Machine lock operation
• Check mode operation
Two or more special operations can be performed at the same time. If multiple operations are selected,
the speed during playback is limited to the speed of the slowest of the operations. Settings for special
operations are done in the SPECIAL PLAY window.
When displaying the PLAYBACK window, move the cursor to the menu area and select {UTILITY} 
{SETUP SPECIAL RUN}. The SPECIAL PLAY window appears.
DATA
EDIT
DISPLAY
UTILITY
SPECIAL PLAY
LOW SPEED START
SPEED LIMIT
DRY-RUN SPEED
MACHINE LOCK
CHECK-RUN
WEAV PROHIBIT IN CHK-RUN
INVALID
INVALID
INVALID
INVALID
INVALID
INVALID
COMPLETE
Main Menu
Short Cut
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4.2 Playback

Low Speed Operation
The manipulator moves at low speed during the first step after starting. After the operation of this step,
the manipulator stops regardless of the selection of the operation cycle and when low speed operation
is canceled. Even if the manipulator is manually stopped during low speed operation, the low speed is
cancelled.
After one step operation or any stop of manipulator during low speed operation, pressing [START]
allows the manipulator to move at the taught speed.
Operation
Explanation
1
Select “LOW SPEED START”
on the SPECIAL PLAY
window.
The setting alternates between “VALID” and “INVALID.”
2
Select “COMPLETE.”
The window returns to the PLAYBACK window.

Limited Speed Operations
The manipulator operates within the limited speed for the teach mode. Usually, the limited speed is set
to 250mm/s. However, operation is performed at actual playback speeds for steps in which the set
speed is under this limit.
Operation
Explanation
1
Select “SPEED LIMIT” under
the SPECIAL PLAY window.
The setting alternates between “VALID” and “INVALID.”
2
Select “COMPLETE.”
The window returns to the PLAYBACK window.
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4.2 Playback

Dry-run Speed Operations
The dry-run speed is a constant speed that is independent of the teaching speeds. The manipulator
executes all the steps at a constant speed, which is convenient for quick check of a job consisting of
slow operations. The dry-run speed is 10% of maximum speed.
NOTE
Be careful of steps programmed at lower speeds than the dry-run speed, because they are
executed at greater speeds than programmed.
Operation
Explanation
1
Select the “DRY-RUN
SPEED” under the
SPECIAL PLAY window.
The setting alternates between “VALID” and “INVALID.”
2
Select “COMPLETE.”
The window returns to the PLAYBACK window.
Speed
Play speed
Safety speed
Dry-run speed
Safety Speed and Dry-run Speed

Step
Machine Lock Operation
A job is played back without moving the manipulator to check the status of input and output.
Operation
Explanation
1
Select “MACHINE LOCK”
under the SPECIAL PLAY
window.
The setting alternates between “VALID” and “INVALID.”
2
Select “COMPLETE.”
The window returns to the PLAYBACK window.
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4.2 Playback

Check Mode Operation
The machine runs without issuing work instructions, such as the ARCON instruction. It is used
primarily to check the path of the program.
Operation
Explanation
1
Select “CHECK-RUN” under
the SPECIAL PLAY window.
The setting alternates between “VALID” and “INVALID.”
2
Select “COMPLETE.”
The window returns to the PLAYBACK window.

Weaving Prohibit Setting during Check Mode Operation
The weaving operation is not executed in the weaving section of the job.
Operation
Explanation
1
Select “WEAV PROHIBIT IN
CHK-RUN” under the
SPECIAL PLAY window.
The setting alternates between “VALID” and “INVALID.”
2
Select “COMPLETE.”
The window returns to the PLAYBACK window.

Cancel All Special Operations
All special operations are disabled by the following operation
Operation
1
Select {EDIT} from the menu.
2
Select “CANCEL ALL
SELECT.”
NOTE
Explanation
The message “All special functions canceled” appears.
Special operations are also automatically cancelled if the main power is shut OFF.
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4.3 Stop and Restart
4.3
Stop and Restart
The manipulator stops in the following conditions:
• Hold
• Emergency stop
• Stop by alarm
• Others
• During each application
4.3.1
Hold
Hold operation causes the manipulator to stop all motion.
[HOLD] lamp lights while it is held down. At the same time, [START] lamp goes
OFF.
SUPPLE
-MENT
Using the Programming Pendant

Hold
Operation
1
Press [HOLD] on the
programming pendant.
Explanation
The manipulator stops.
The [HOLD] lamp lights while the [HOLD] button is held down.
Release
Operation
1
Press [START] on the
programming pendant.
Explanation
The manipulator restarts its operation from the position where it
was stopped.
Using an External Input Signal (System Input)

Hold
Operation
1
Turn ON the hold signal from
an external input (system
input).
Explanation
The manipulator stops momentarily.
External holding
The output signal “HOLD” turns ON.
The programming pendant [HOLD] lamp lights.
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4.3 Stop and Restart
Release
Operation
1
Turn off the hold signal from
an external input (system
input).
4.3.2
Explanation
Hold is released. To continue the operation, press [START] or turn
ON the external input signal (system input). The manipulator
restarts its operation, beginning from the position where it was
stopped.
Emergency Stop
At an emergency stop, the servo power supply that drives the manipulator is turned OFF and the
manipulator stops immediately. An emergency stop can be performed by using either of the following:
• Programming pendant
• External input signal (system input)
Emergency Stop
Operation
1
Press the emergency stop
button
.
Explanation
The servo power turns OFF and the manipulator stops
immediately.
EMERGENCY STOP
On the front door of the NX100:
On the programming pendant:
Using the Emergency Stop Button on the Programming Pendant
Robot stops by P.P. emergency stop
Using the External Input Signal (System Input)
Robot stops by external emergency stop
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4.3 Stop and Restart
Release
Operation
1
Explanation
Turn the emergency stop
button
in the direction
of the arrows.
TURN
On the front door of the NX100:
TURN
On the programming pendant:
To turn ON the servo power supply again, press [SERVO ON
READY] and then grip the Enable switch of the programming
pendant.
SERVO
ON
READY

Restart After Emergency Stop
• Prior to restarting after an emergency stop, confirm the position for the next operation and make
sure there is no interference with the workpiece or fixture.
The application of an emergency stop during high speed operations on continuous steps
can result in the manipulator stopping two or three steps prior to the step that is being
displayed. There is a risk of interference with the workpiece or fixture when the
manipulator is restarted under such conditions.
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4.3 Stop and Restart
4.3.3
Stop by Alarm
If an alarm occurs during operation, the manipulator stops immediately and the ALARM window
appears on the programming pendant indicating that the machine was stopped by an alarm.
If more than one alarm occurs simultaneously, all alarms can be viewed on the window. Scroll down the
viewing area of the window when necessary.
DATA
EDIT
DISPLAY
UTILITY
ALARM
ALARM 4100 [1]
OVERRUN (ROBOT)
ALARM 4321
OVERLOAD [SLURBT]
ALARM 4315
COLLISION [SLURBT]
OCCUR TIMES : 3
RESET
Main Menu
Short Cut
The following operations are available in the alarm status: window change, mode change, alarm reset,
and emergency stop.
To display the ALARM window again when the window is changed during alarm occurrence, select
{SYSTEM INFO} and then {ALARM HISTORY}.
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4.3 Stop and Restart
Releasing Alarms
• Minor Alarms
Operation
1
Explanation
Press [SELECT].
Select “RESET” under the ALARM window to release the alarm
status. When using an external input signal (system input), turn
ON the “ALARM RESET” setting.
• Major Alarms
1
Operation
Explanation
Turn OFF the main power
supply and remove the cause
of the alarm.
If a severe alarm, such as hardware failure occurs, servo power is
automatically shut off and the manipulator stops. If releasing
does not work, turn OFF the main power and correct the cause of
the alarm.
4.3.4

Others
Temporary Stop by Mode Change
When the play mode is switched to the teach mode during playback, the manipulator stops
immediately.
!Stopped by switching mode
To restart the operation, return to the play mode and perform a start operation.

Temporary Stop by the PAUSE Instruction
When the PAUSE instruction is executed, the manipulator stops operating.
!Robot stops by execution PAUSE command
To restart the operation, perform a start operation. The manipulator restarts from the next instruction.
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4.4 Modifying Play Speed
4.4
4.4.1
Modifying Play Speed
Speed Override
Speed modifications using the speed override have the following features:
• Speed can be modified during playback.
The job can be played back at various speeds until the play speed is properly adjusted.
• Speed can be increased or decreased by a ratio of the current play speed.
The ratio settings range from 10% to 150% in increments of 1%.
Therefore, it is convenient when, for example, all play speed settings are to be increased by 150% at
the same time.
The operation flow override of play speeds is as shown in the following:
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4.4 Modifying Play Speed
Start speed override
Call job to perform speed override
Set speed override
(Speed data modify :OFF,specify the ratio)
Start playback
Changes experimentally,
without modifying registered
speed
Adjust the ratio during playback if needed
(1cycle completed)
YES
Reset and playback?
NO
NO
Modify?
YES
Call job to perform speed override
Set speed override
(Speed data modify: ON,specify the ratio)
Modifies play speed
Start playback
Modify play speed simultaneously
(1cycle completed)
End
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4.4 Modifying Play Speed

Setting Speed Overrides
Operation
1
Select {UTILITY} under the
menu in the PLAYBACK
window.
2
Select {SPEED OVERRIDE}.
Explanation
The PLAYBACK window becomes the speed override condition.
DATA
EDIT
DISPLAY
UTILITY
PLAYBACK
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
0006
SPEED ADJUSTMENT MODIFY
Main Menu
3
Select “ON” or “OFF” under
“MODIFY.”
OFF RATIO 100 %
Short Cut
Each time [SELECT] is pressed when the cursor is on the data of
the item “MODIFY,” “ON” and “OFF” alternate.
Select “ON” to modify the registered play speed during playback.
When “OFF” is selected, the registered play speed is not
modified. To change the play speed temporarily (for example, to
experiment with various speeds), select “OFF.”
SPEED ADJUSTMENT MODIFY
4
STEP NO. : 0003
TOOL : 00
NOP
MOVJ VJ=100.00
MOVL V=1500
MOVJ VJ=100.00
MOVL V=1500
MOVJ VJ=100.00
MOVJ VJ=100.00
OFF RATIO 100 %
Line up the cursor with the
The number input line appears. Input the override ratio using the
override ratio and move the
Numeric keys.
cursor up and down to change
SPEED ADJUSTMEN MODIFY
OFF RATIO 100
the ratio.
If you want to input the ratio
number directly, move the
cursor to the override ratio and
press [SELECT].
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4.4 Modifying Play Speed

Modifying Play Speed
Operation
1
Set speed override.
2
Playback the manipulator.
NOTE
Explanation
The play speed is increased or decreased in the set ratio. When
setting “MODIFY” to “ON,” the step’s play speed is modified when
each step is reached.
When one cycle is completed by the END instruction, the speed
override setting is released.
• Assuming that the manipulator moves from step 1 to step 2, the play speed of step 2 is
not modified if the speed override is released before reaching step 2.
• When the play speed is changed by speed override, the maximum and minimum speed is
limited by the manipulator.
• When the safety speed operation is commanded with the setting of “MODIFY: ON,” the
manipulator operates at safety speed. However, the play speed in memory is modified
as set using speed override.
• Play speed set by the SPEED instruction is not modified.

Releasing Speed Override Settings
Operation
1
Select {UTILITY} under the
menu in the PLAYBACK
window.
2
Select {SPEED OVERRIDE}.
NOTE
Explanation
The setting of the speed override ratio is released. If it is
released, the speed ratio setting is not displayed on the
PLAYBACK window.
The speed override settings are automatically released in the following cases:
• When dry-run speed operation is set.
• When the mode is changed to any mode other than the play mode.
• When an alarm or error occurs.
• When one cycle operation is completed with the END instruction.
• When the power supply is turned OFF.
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4.5 Playback with Reserved Start
4.5
4.5.1
Playback with Reserved Start
Preparation for Reserved Start
In the reserved start function, jobs registered at different stations are played back in the reserved order
using the start buttons on the stations.
Station 3
(Job 3 registered)
Station 1
(Job 1 registered)
Station 2
(Job 2 registered)
For example, in a case where three stations handle three different workpieces, as shown in the
illustration above, the jobs would be registered as follows:
• Job 1 is registered to process workpiece 1 at Station 1
• Job 2 is registered to process workpiece 2 at Station 2
• Job 3 is registered to process workpiece 3 at Station 3
To play back the jobs, prepare workpiece 1 and press the start button on Station 1. The manipulator
executes Job 1. Prepare workpieces 2 and 3 while Job 1 is being executed, and press the start buttons
on Stations 2 and 3. Even if Job 1 is being executed at that time, jobs on different stations are reserved
in the order that the start buttons were pressed, and will be executed in that order. During playback, the
status of the reservation can be checked on the start reservation window.
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4.5 Playback with Reserved Start

Enabling Reserved Start
The start button on the station is operative when the reserved start function is enabled, and the
following start operations are disabled.
• [START] on the programming pendant
• Start operation from external input signal (system input)
NOTE
The OPERATING CONDITION window is shown only when the security mode is
management mode
Operation
1
Select {SETUP} under the
main menu.
2
Select {OPERATE COND}.
Explanation
The OPERATING CONDITION window appears. The screen is
scrolled up/down by the cursor key when it locates at the top/
bottom of the items.
DATA
EDIT
DISPLAY
UTILITY
OPERATING CONDITION
EXTERNAL START
EXTERNAL MODE SWITCH
EXTERNAL CYCLE SWITCH
PP CYCLE SWITCH
EXTERNAL SERVO ON
CHECK/MACHINE LOCK
MASTER CALLING UP
MASTER JOB CHANGE
RESERVED START
RESERVED START JOB CHANGE
Main Menu
3
Select “RESERVED START.”
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PROHIBIT
PERMIT
Short Cut
Each time [SELECT] is pressed, “PERMIT” and “PROHIBIT”
alternate. Select “PERMIT.”
DATA
EDIT
DISPLAY
UTILITY
OPERATING CONDITION
EXTERNAL START
EXTERNAL MODE SWITCH
EXTERNAL CYCLE SWITCH
PP CYCLE SWITCH
EXTERNAL SERVO ON
CHECK/MACHINE LOCK
MASTER CALLING UP
MASTER JOB CHANGE
RESERVED START
RESERVED START JOB CHANGE
Main Menu
NOTE
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
PERMIT
Short Cut
When reserved start is enabled, the external start and the programming pendant start are
prohibited even if setting is “PERMIT.”
Regardless of the operation cycle selected, it is automatically set to 1 CYCLE.
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4.5 Playback with Reserved Start

Registering Reserved Start I/O Signal
Register the start I/O signal as a preparation to perform start operation from the station.
NOTE
This operation can be done only when the operation mode is teach mode and the security
mode is management mode.
Operation
Explanation
1
Select {SETUP} under the
main menu.
2
Select {RES. START(CNCT)}. The RESERVED START (CNCT) window appears.
DATA
EDIT
DISPLAY
UTILITY
RESERVED START (CNCT)
START OUT
NO.
START IN
1
2
3
4
5
6
Main Menu
3
Select “START IN” or “START
OUT” for each station.
Short Cut
The number can now be entered.
DATA
EDIT
DISPLAY
UTILITY
RESERVED START (CNCT)
NO.
START IN START OUT
1
2
3
4
5
6
4
Input signal number and press The input/output signal number is registered.
[ENTER].
DATA
EDIT
DISPLAY
UTILITY
RESERVED START (CNCT)
NO.
START IN
START OUT
1
2
3
4
5
6
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4.5 Playback with Reserved Start

Registering Jobs to Stations
Register the starting job of each station.
NOTE
This operation can be done only when the operation mode is teach mode and the setting of
“RESERVED START JOB CHANGE” is “PERMIT” in the OPERATING CONDITION
window.
Operation
1
Select {JOB} under the main
menu.
2
Select {RES. START(JOB)}.
Explanation
The RESERVED START (JOB) window appears.
 indicates that the input/output number is registered.
 indicates that the input/output number is not registered.
DATA
EDIT
DISPLAY
UTILITY
RESERVED START (JOB)
NO. JOB NAME
CONNECTION
1
2
3
4
5
6
Main Menu
3
Select job name for each
station.
Short Cut
The selection dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
RESERVED START (JOB)
NO. JOB NAME
CONNECTION
1
2
3
4
5
6
AA
SETTING START JOB
CANCEL START JOB
4
Select “SETTING START
JOB.”
The JOB LIST window appears.
5
Select a job.
The starting job is registered.
DATA
EDIT
DISPLAY
UTILITY
RESERVED START (JOB)
NO. JOB NAME
CONNECTION
JOB1
1
2
3
4
5
6
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4.5 Playback with Reserved Start

Deleting Registered Jobs from Stations
Delete the registered job of each station.
NOTE
This operation can be done only when the operation mode is teach mode and the setting of
“RESERVED START JOB CHANGE” is “PERMIT” in the operation condition display.
Operation
Explanation
1
Select {JOB} under the main
menu.
2
Select {RES. START(JOB)}.
The RESERVED START (JOB) window appears.
3
Select job name for each
station.
The selection dialog box appears.
EDIT
DATA
DISPLAY
UTILITY
RESERVED START (JOB)
NO. JOB NAME
CONNECTION
JOB1
SETTING START JOB
JOB2
CANCEL START JOB
JOB3
JOB4
1
2
3
4
5
6
Main Menu
4
Select “CANCEL START
JOB.”
Short Cut
Registered job is deleted.
DATA
EDIT
DISPLAY
UTILITY
RESERVED START (JOB)
NO. JOB NAME
CONNECTION
1
2
3
4
5
6
JOB2
JOB3
JOB4
Main Menu
Short Cut
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4.5 Playback with Reserved Start
4.5.2

Playback from Reserved Start
Start Operation
Operation
1
Set the mode switch to “PLAY.”
2
Press start button on the
station.
NOTE
Explanation
The job registered for the station starts up and the manipulator
performs one cycle operation.
• While the job is being executed, the start button lamp on the station lamps.
• If the workpiece must be prepared at the station, prepare it before pressing the start
button.
• If the start button of another station is pressed during execution of a job at one station, the
job on the station is reserved and prepares to start. Jobs are reserved and executed in
the order that the start buttons are pressed.
• When a job is reserved, the start button lamp on the station blinks.
• No station job is reserved when it is being executed even if its start button is pressed.
• To suspend a job being executed, perform the Hold operation.
SUPPLE
-MENT
Reservations are cancelled when the start button is pressed again during the job
reservation operation.
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4.5 Playback with Reserved Start

Checking Job Reservation Status
The job reservation status during playback can be checked.
Operation
1
Select {JOB} under the main
menu.
2
Select {RES. STATUS}.
Explanation
The RESERVATION STATUS window appears.
DATA
EDIT
DISPLAY
RESERVATION STATUS
NO. JOB NAME
STATUS
JOB1
JOB2
JOB3
JOB4
1
2
3
4
5
6
UTILITY
START IN
STARTING
RESERVE1
RESERVE2
RESERVE3


Main Menu
Short Cut
 STATUS
Reservation status is displayed.
STARTING: Indicates the station currently working.
STOP: Indicates any station where work has been temporarily
stopped by a hold operation.
RESERVE1,RESERVE2,...: Indicates the order in which jobs
have been reserved for start.
 START IN
Input signal status is displayed.
“”: Input signal ON
“”: Input signal OFF
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4.5 Playback with Reserved Start

Resetting Job Reservation
NOTE
If “STARTING” is displayed, the job cannot be reset.
Operation
1
Select {JOB} on the
RESERVATION STATUS
window.
2
Select {RESET
RESERVATION} or {RESET
ALL}.
Explanation
When {RESET RESERVATION} is selected, job reservation
stated to “RESERVE” is reset.
When {RESET ALL} is selected, job reservation stated to
“STOP” and “RESERVE” is reset.
DATA
EDIT
DISPLAY
RESERVATION STATUS
NO. JOB NAME
STATUS
1
2
3
4
5
6
UTILITY
START IN
JOB1
JOB2
JOB3
JOB4
Main Menu
Short Cut
The confirmation dialog box appears.
Clear data?
YES
3
NO
Select “YES.”
NOTE
All job reservations are reset automatically in the following conditions:
• When the reserved start sets to “PROHIBIT.” (When “RESERVED START” is set to
“PROHIBIT” on the OPERATING CONDITION window.)
• When another job is called or an edit operation is performed.
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4.5 Playback with Reserved Start
4.5.3
Hold Operation
Hold operation causes the manipulator to stop all motion. It can be performed by the following buttons
or signal.
• [HOLD] on the programming pendant
• External Input Signal (system input)
• Hold button for the station axis
[HOLD] on the Programming Pendant

Hold
Operation
1
Press [HOLD] on the
programming pendant.
Explanation
The manipulator stops temporarily.
The [HOLD] lamp lights while the [HOLD] button is held down.
Release
Operation
1
Press the start button on the
suspended station.
Explanation
The manipulator restarts its operation from the position where it
was stopped,.
Hold by External Input Signal (System Input)

Hold
Operation
1
Explanation
Input ON signal to the external The manipulator stops temporarily.
input (system input) specified
External holding
for hold operation.
The hold lamp for the external output signal lights.
The [HOLD] lamp on the programming pendant lights and the
[START] lamp turns OFF.
Release
Operation
1
Input OFF signal to the
external input (system input)
specified for hold operation.
Explanation
Hold is released.
To continue the operation, press the start button on the
suspended station. The manipulator restarts its operation from
the position where it was stopped.
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4.5 Playback with Reserved Start
Hold at the Station

Hold
Operation
1
Press the hold button on the
station.
Explanation
The manipulator stops temporarily.
External holding
Release
Operation
1
Press the hold button on the
suspended station.
SUPPLE
-MENT
Explanation
Hold is released.
Press the start button on the station, then the manipulator restarts
its operation from the position where it was stopped.
Pressing the start button on a station that is not in Hold status does not start manipulator
operation. The job registered for the station is reserved or the reservation, if it has been
made, is canceled.
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4.6 Displaying Job Stack
4.6
Displaying Job Stack
During execution of the series of jobs that combined with CALL or JUMP instructions, the job stack can
be displayed to check where the current job is and how many jobs left.
Stack Level 3
Stack Level 2
Stack Level 1
Stack Level 4
Job call
Job A
Job call
Job B
Job call
Job C
Return
Job D
Return
Job call
Return
SUPPLE
-MENT
Job calls can be used for up to 8 stack levels. (Up to 10 from NS3.00)
Operation
1
Select {DISPLAY} under the
menu on the PLAYBACK
window.
Explanation
The pull-down menu appears.
DATA
EDIT
DISPLAY
UTILITY
PLAYBACK
CYCLE TIME
JOB NAME : TEST01
CONTROL GROUP : R1
0001
0002
0003
0004
0005
0006
0007
2
Select {JOB STACK}.
STEP NO. : 0003
TOOL : 00
JOB STACK
MOVJ VJ=100.00
MOVL V=1500
DISPLAY STEP NO.
MOVJ VJ=100.00
MOVL V=1500
MOVJ VJ=100.00
CALL JOB:JOB B
MOVJ VJ=100.00
The job stack status dialog box appears. To close the job stack
status dialog box, select {DISPLAY} and then {JOB STACK}
under the menu again.
DATA
EDIT
PLAYBACK
JOB NAME : TEST01
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
0006
0007
NOP
MOVJ VJ=100.00
MOVL V=1500
MOVJ VJ=100.00
MOVL V=1500
MOVJ VJ=100.00
MOVJ VJ=100.00
MOVJ VJ=100.00
DISPLAY
UTILITY
STEP NO. : 0003
TOOL : 00
JOB STACK
1:MASTER
2:JOB-A
3:JOB-B
4:
5:
6:
7:
8:
9:
10:
For above example, the playback of Job C is being executed and
the Job C is called from Job B. Also, the Job B is called from Job
A.
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5 Editing Jobs
5 Editing Jobs
This section explains how to manage the jobs without moving the manipulator. Copying, deleting, and
modifying of the jobs can be done in the teach mode only. Other operations can be done in any mode.
NOTE
NOTE
Edit operations are restricted when the edit lock is applied.
Editing Move Instructions
See chapter 3 "Teaching" for basic information on editing move instructions.
It is not possible to add, delete, or modify move instructions which have position data. See
section 3.4 "Modifying Steps" for details.
The following MOV instruction edit operations are explained in this section:
For move instructions:
• Insertion, deletion, or modification of additional items
• Modification of interpolation type or play speed for move instructions
• Setting, modification, or deletion of UNTIL statements (interruption conditions based
on input signals)
• Setting and deletion of NWAIT instructions
For move instructions using position variables:
• Insertion and deletion of move instruction.
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5 Editing Jobs
5.1 Copying Jobs
5.1
Copying Jobs
This operation is used to copy registered jobs and use them to create new jobs. It can be done using
either the JOB CONTENT window or the JOB LIST window.
5.1.1
Copying Jobs on the JOB CONTENT Window
On the JOB CONTENT window, the current edit job becomes the copy source job.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
Explanation
The JOB CONTENT window appears.
EDIT
DATA
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: TEST01
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
3
STEP NO: 0003
TOOL: 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
Select {JOB} under the menu. The pull-down menu appears.
JOB
EDIT
DISPLAY
UTILITY
SELECT JOB
JOB NAME:
JOB-A
MASTER
JOB
CONTROL GROUP: R1
0000
NOP
RENAME JOB
0001
SET B000 0
0002
SET B001 1
COPY JOB
0003
0OVJ VJ=80.00
0004
MOVJ VJ=80.00
0005
DOUT OGH#(13) B002
CREATE NEW JOB
4
Select {COPY JOB} under the
pull-down menu.
5
Input the new job name.
STEP NO: 0003
TOOL: 00
The name of the copy source job is displayed on the input area. It
is possible to partially change this name to enter a new name.
> JOB-B
SUPPLE
-MENT
See section 1.2.6 "Character Input" for information
on letter input operations.
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5.1 Copying Jobs
Operation
6
Press [ENTER].
Explanation
The confirmation dialog box appears.
If “YES” is selected, the job is copied and the new job appears.
If “NO” is selected, the job copy is not executed, and the process
is cancelled.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: JOB-A
CONTROL GROUP: R1
0000
NOP
0001
SET B000 0
0002
SET B001 1
0003
MOVJ VJ=80.00
0004
MOVJ VJ=80.00
Copy?
0005
DOUT OGH#(13) B002
0006
WAIT IF IN#(5)=ON YES
NO
0007
MOVL V=880.0
0008
MOVL V=880.0
0009
MOVL V=880.0
0010
DOUT OGH#(14) B003
0011
DOUT OT#(5) ON
0012
DOUT OT#(6) ON
Main Menu
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STEP NO: 0003
TOOL: 00
ShortCut
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5.1 Copying Jobs
5.1.2
Copying Jobs on the JOB LIST Window
On the JOB LIST window, select the copy source job from the registered jobs and specify the copy
destination directory.
Operation
1
Select {JOB} under the main
menu.
2
Select {SELECT JOB} under
the pull-down menu.
Explanation
The JOB LIST window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB LIST
TEST3A-!
TEST02
Main Menu
3
Move the cursor to the copy
source job.
4
Select {JOB} under the
menu.
5
Select {COPY JOB} under
the pull-down menu.
JOB
TEST03
TEST
TEST3A
TEST01
ShortCut
EDIT
Set tool mass data
DISPLAY
UTILITY
SELECT JOB
CALL MASTER JOB
TEST3A-!
TEST02
CREATE NEW JOB
TEST03
TEST
TEST3A
TEST01
RENAME JOB
COPY JOB
6
Input the new job name.
The name of the copy source job is displayed on the input area.
It is possible to partially change this name to enter a new name.
> JOB-B
SUPPLE
-MENT
See section 1.2.6 "Character Input" for information
on letter input operations.
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5.1 Copying Jobs
Operation
7
Press [ENTER].
Explanation
The confirmation dialog box appears.
If “YES” is selected, the job is copied and the new job appears.
If “NO” is selected, the job copy is not executed, and the
process is cancelled.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: JOB-A
CONTROL GROUP: R1
0000
NOP
0001
SET B000 0
0002
SET B001 1
0003
MOVJ VJ=80.00
0004
MOVJ VJ=80.00
Copy?
0005
DOUT OGH#(13) B002
0006
WAIT IF IN#(5)=ON YES
NO
0007
MOVL V=880.0
0008
MOVL V=880.0
0009
MOVL V=880.0
0010
DOUT OGH#(14) B003
0011
DOUT OT#(5) ON
0012
DOUT OT#(6) ON
Main Menu
5-5
STEP NO: 0003
TOOL: 00
ShortCut
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5.2 Deleting Jobs
5.2
Deleting Jobs
This operation is used to delete jobs that are registered on the NX100. It can be performed in either the
JOB CONTENT window or the JOB LIST window.
5.2.1
Deleting Jobs on the JOB CONTENT Window
On the JOB CONTENT window, the current edit job is deleted.
Operation
Explanation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
The JOB CONTENT window appears.
3
Select {JOB} from the menu.
The pull-down menu appears.
JOB
EDIT
DISPLAY
UTILITY
SELECT JOB
: JOB-A
CALL
MASTER JOB
STEP NO: 0003
TOOL: 00
CONTROL GROUP: R1
CREATE NEW JOB
0000
NOP
0001
SET B000 0
RENAME JOB
0002
SET B001 1
COPY JOB
0003
MOVJ VJ=80.00
0004
MOVJ VJ=80.00
DELETE JOB
0005
DOUT OGH#(13) B002
4
Select {DELETE JOB} under
the pull-down menu.
The confirmation dialog box appears.
When “YES” is selected, the edit job is deleted. When deletion is
completed, the JOB LIST window appears.
When “NO” is selected, the job deletion is cancelled.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: JOB-A
CONTROL GROUP: R1
0000
NOP
0001
SET B000 0
0002
SET B001 1
0003
MOVJ VJ=80.00
0004
MOVJ VJ=80.00
Delete?
0005
DOUT OGH#(13) B002
0006
WAIT IF IN#(5)=ON YES
NO
0007
MOVL V=880.0
0008
MOVL V=880.0
0009
MOVL V=880.0
0010
DOUT OGH#(14) B003
0011
DOUT OT#(5) ON
0012
DOUT OT#(6) ON
Main Menu
STEP NO: 0003
TOOL: 00
ShortCut
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5.2 Deleting Jobs
5.2.2
Deleting Jobs on the JOB LIST Window
On the JOB LIST window, select the job to be deleted from the list of the registered jobs.
Operation
1
Select {JOB} under the main
menu.
2
Select {SELECT JOB}.
Explanation
The JOB LIST window appears.
EDIT
JOB
DISPLAY
UTILITY
JOB LIST
TEST3A-!
TEST02
TEST03
TEST
Main Menu
3
Move the cursor to the job to
be deleted.
4
Select {JOB} from the menu.
TEST3A
TEST01
ShortCut
EDIT
JOB
DISPLAY
UTILITY
SELECT JOB
CALL MASTER JOB
TEST3A-!
TEST02
CREATE NEW JOB
TEST03
TEST
TEST3A
TEST01
RENAME JOB
COPY JOB
DELETE JOB
5
Select {DELETE JOB} under
the pull-down menu.
The confirmation dialog box appears.
JOB
EDIT
DISPLAY
UTILITY
JOB LIST
TEST3A-!
TEST02
TEST03
TEST
TEST3A
TEST01
Delete?
YES
Main Menu
NO
ShortCut
If “NO” or [CANCEL] is selected, the job deletion is cancelled and
the JOB LIST window appears.
6
Select “YES.”
SUPPLE
-MENT
To select all the registered jobs at a time, select {EDIT} from the menu and then select
“SELECT ALL.”
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5.3 Modifying Job Names
5.3
Modifying Job Names
This operation is used to modify the name of a job that is registered. The operation can be performed
in either the JOB CONTENT window or the JOB LIST window.
5.3.1
Modifying Job Names on the JOB CONTENT Window
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
Explanation
The JOB CONTENT window appears.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: JOB-A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
3
Select {JOB} from the menu.
STEP NO: 0003
TOOL: 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
The pull-down menu appears.
JOB
EDIT
DISPLAY
UTILITY
SELECT JOB
JOB
NAME:
CALL
MASTER
JOBJOB-A
CONTROL GROUP: R1
0000 NOP
RENAME
JOB B000 0
0001 SET
0002 SET B001 1
COPY JOB
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
CREATE NEW JOB
4
STEP NO: 0003
TOOL: 00
Select {RENAME JOB} under
the pull-down menu.
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5.3 Modifying Job Names
Operation
5
Input the job name.
Explanation
Input the new job name on the input area.
The name of the source job is displayed on the input area. It is
possible to partially change this name to enter a new name.
SUPPLE
-MENT
See section 1.2.6 "Character Input" for information
on letter input operations.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: JOB-A
CONTROL GROUP: R1
0000
NOP
0001
SET B000 0
0002
SET B001 1
0003
MOVJ VJ=80.00
0004
MOVJ VJ=80.00
0005
DOUT OGH#(13) B002
0006
WAIT IF IN#(5)=ON
0007
MOVL V=880.0
0008
MOVL V=880.0
0009
MOVL V=880.0
0010
DOUT OGH#(14) B003
0011
DOUT OT#(5) ON
0012
DOUT OT#(6) ON
STEP NO: 0003
TOOL: 00
JOB-B
Main Menu
6
Press [ENTER].
ShortCut
The confirmation dialog box appears.
When “YES” is selected, the job name is changed and a new job
name is displayed.
When “NO” is selected, the job name is not changed, and the
process is cancelled.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: JOB-A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
STEP NO: 0003
TOOL: 00
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002 Rename?
WAIT IF IN#(5)=ON
MOVL V=880.0
NO
YES
MOVL V=880.0
MOVL V=880.0
DOUT OGH#(14) B003
DOUT OT#(5) ON
DOUT OT#(6) ON
Main Menu
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5.3 Modifying Job Names
5.3.2
Modifying Job Names on the JOB LIST Window
On the JOB LIST window, select the job whose name is to be modified from the list of the registered
jobs.
Operation
1
Select {JOB} under the main
menu.
2
Select {SELECT JOB}.
Explanation
The JOB LIST window appears.
JOB
EDIT
DISPLAY
UTILITY
JOB LIST
TEST3A-!
TEST02
TEST03
TEST
Main Menu
3
Move the cursor to the name
to be changed.
4
Select {JOB} from the menu.
JOB
TEST3A
TEST01
ShortCut
EDIT
DISPLAY
UTILITY
SELECT JOB
CALL MASTER JOB
TEST3A-!
TEST02
CREATE NEW JOB
TEST03
TEST
TEST3A
TEST01
RENAME JOB
COPY JOB
5
Select {RENAME JOB} under
the pull-down menu.
6
Enter the job name and press
[ENTER].
The confirmation dialog box appears.
Rename?
YES
7
NO
Select “YES.”
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5.4 Editing Comments
5.4
Editing Comments
Comments of up to 32 characters can be affixed to jobs to identify them more specifically. Comments
are displayed and edited on the JOB HEADER window.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Select {DISPLAY} under the
pull-down menu.
4
Select {JOB HEADER}.
Explanation
The JOB HEADER window appears.
DATA
EDIT
DISPLAY
UTILITY
JOB HEADER
JOB NAME: TEST
COMM.
DATE
CAPACITY
LINES
STEPS
EDIT LOCK
TO SAVE TO FD
GROUP SET
:
:
:
:
:
:
:
:
2003/05/20 12:00
1024 BYTES
30 LINES
20 STEPS
OFF
NOT DONE
R1
5
Select “COMM.”
The window for character input appears.
6
Input comments.
For jobs that are already registered, comments are displayed on
the input area. It is possible to partially change comments to
enter new comments.
THIS JOB IS TEST JOB
SUPPLE
-MENT
7
Press [ENTER].
See section 1.2.6 "Character Input" for information
on character input operations.
The input area comment is registered and is displayed in the
“COMM.” area on the JOB HEADER window.
DATA
EDIT
DISPLAY
UTILITY
JOB HEADER
JOB NAME: TEST
COMM.
DATE
CAPACITY
LINES
STEPS
EDIT LOCK
TO SAVE TO FD
GROUP SET
5-11
: THIS JOB IS TEST JOB
: 2003/05/20 12:00
:
1024 BYTES
:
30 LINES
:
20 STEPS
:
OFF
:
NOT DONE
:
R1
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5.5 Setting Edit Lock on Individual Job Units
5.5
Setting Edit Lock on Individual Job Units
In order to prevent inadvertent changes in registered jobs or data, it is possible to apply an edit lock to
individual jobs. When a job is protected from editing, the job cannot be edited or deleted. Edit lock is
set and cancelled on the JOB HEADER window.
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Select {DISPLAY} under the
pull-down menu.
4
Select {JOB HEADER}.
Explanation
The JOB HEADER window appears.
DATA
EDIT
DISPLAY
UTILITY
JOB HEADER
JOB NAME: TEST01
COMM.
DATE
CAPACITY
LINES
STEPS
EDIT LOCK
5
Select “EDIT LOCK” and set
the edit prohibit.
: THIS JOB IS TEST JOB
: 2003/05/20 12:00
:
1024 BYTES
:
30 LINES
:
20 STEPS
:
OFF
Each time [SELECT] is pressed, the setting alternates between
“ON” (edit disabled) and “OFF” (edit enabled).
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5.6 Enabling the Modification of Position Data Only
5.6
Enabling the Modification of Position Data Only
It is possible to set conditions to allow changes of position data only, in jobs which are locked.
Operation
1
Select {SETUP} under the
main menu.
2
Select {TEACHING COND}.
Explanation
The TEACHING CONDITION window appears.
DATA
EDIT
DISPLAY
UTILITY
TEACHING CONDITION
RECT/CYLINDRICAL
LANGUAGE LEVEL
INSTRUCTION INPUT LEARNING
MOVE INSTRUCTION SET
STEP ONLY CHANGING
Main Menu
NOTE
3
Select “STEP ONLY
CHANGING.”
4
Press [SELECT].
RECT
SUBSET
VALID
STEP
PROHIBIT
ShortCut
TEACHING CONDITION window is shown only
when the security mode is edit mode or
management mode.
Each time [SELECT] is pressed, the setting alternates between
“PROHIBIT” and “PERMIT.”
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6 Convenient Functions
6.1 One-touch Operation “Direct Open”
6 Convenient Functions
6.1
One-touch Operation “Direct Open”
The direct open function immediately shows the JOB CONTENT window or condition file contents of a
job called with the CALL instruction. Move the cursor to the desired job name or condition file name and
simply press the direct open key
Direct
open
to display the contents of the file. This function can be used for
the following window:
• JOB CONTENT window for a job name directly specified by a CALL instruction
• CONDITION FILE window for a file name directly specified by a work instruction
• COMMAND POS window for a move instruction
• I/O window with an I/O instruction (when I/O numbers are specified)
<Example> Example Using Direct Open
DATA
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: TEST01
CONTROL GROUP: R1
0008
MONJ VJ=50.00
0009
DOUT OT#(1) ON
0010
WVON WEV#(2)
0011
CALL JOB:JOB-C
UTILITY
EDIT
DISPLAY
UTILITY
COMMAND POS
INTR:**********
SPD: 558 cm/min
[CMD]
TOOL: **
[CURR]
TOOL: **
R1:S
L
U
R
B
T
*
*
*
*
*
*
Main Menu
ShortCut
In the 8th line
STEP NO: 0003
TOOL: 00
Direct
open
In the 9th line
0
0
0
0
0
0
R1:S
L
U
R
B
T
!Turn on servo power
COMMAND POS window
Direct
open
DATA
EDIT
USER OUTPUT
GROUP
OUT#C01
OUT#C02
OUT#C03
OUT#C04
OUT#C05
OUT#C06
OUT#C07
OUT#C08
DISPLAY
OG#01
UTILITY
0: DEC. 00: HEX.








#1010
#1011
#1012
#1013
#1014
#1015
#1016
#1017
In the 10th line
Direct
open
Main Menu
ShortCut
!Turn on servo power
USER OUTPUT window
DATA
EDIT
DISPLAY
UTILITY
WEAVING CONDITION
WEAVING COND NO.: 1/16
MODE
SMOOTH
SPEED
FREQUENCY
<PATTERN>
AMPLITUDE
VERTICAL
HORIZONTAL
ANGLE
TRAVEL ANGLE
<TIMER MODE>
In the 11th line
Direct
open
Main Menu
SINGLE
ON
FREQ
3.5 Hz
2.000 mm
10.000 mm
10.000 mm
45.00
0.00
ShortCut
!Turn on servo power
WEAVING CONDITION window
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: JOB-C
CONTROL GROUP: R1
0000
NOP
0001
END
Main Menu
ShortCut
STEP NO: 0003
TOOL: 00
!Turn on servo power
JOB CONTENT window for "JOB-C"
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6.1 One-touch Operation “Direct Open”
Operation
1
In the JOB CONTENT
window, move the cursor to
the job name or condition
file for which the window is
to be displayed.
2
Press the direct open key
Direct
open
.
Explanation
This key lamp lights and the JOB CONTENT window or the
condition file window appears. When the direct open key
Direct
open
is
pressed once more, the key lamp turns OFF, and the window
returns to the former JOB CONTENT window.
NOTE
• The direct open function cannot be used again while a directly opened window is shown.
• If another window is selected while the direct open function is effective, the function is
automatically cancelled and the lamp on the direct open key goes out.
• Once another JOB CONTENT window is opened by the direct open function, the source
job cannot be continuously operated. (Stopped until the opened JOB CONTENT window
is closed.)
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6 Convenient Functions
6.2 Parallel Shift Function
6.2
6.2.1
Parallel Shift Function
Function Overview
Parallel shift refers to the shifting of an object from a fixed position in such a way that all points within
the object move an equal distance. In the model for parallel shift shown in the following, the shift value
can be defined as the distance L (three-dimensional coordinate displacement). The parallel shift
function is relevant to the actual operation of the manipulator because it can be used to reduce the
amount of work involved in teaching by shifting a taught path (or position).
L
In the example in the figure below, the taught position A is shifted in increments of the distance L (this is
actually a three-dimensional XYZ displacement that can be recognized by the robot) in order to enable
the operation that was taught at position A to also be performed at positions B through G.
B
A
C
D
E
F
G
L
Teaching position
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6 Convenient Functions
6.2 Parallel Shift Function
The block from the SFTON to the SFTOF instructions is subject to the shift operation.
Line (Step)
Instruction
0000
NOP
0001(001)
MOVJ VJ=50.00
0002(002)
MOVL V=138
0003
SFTON PUF# (1)
0004(003)
MOVL V=138
0005(004)
MOVL V=138
0006(005)
MOVL V=138
0007
SFTOF
0008(006)
MOVL V=138
1
2
Shifted block
3
4
5
6
When shifting an entire series of operations, the range to be shifted by the shift instruction can be set
using the method indicated above, but the method shown in the following, in which just the part to be
shifted is made into a separate job, can also be used.
SFTON P 
Job to perform the shifting
CALL JOB: 
SFTOF
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6.2 Parallel Shift Function
6.2.2

Setting the Shift Value
Registering Position Variables
The NX100 has 128 position variables (P000 to P127); these can be used to define parallel shift values.
When using the parallel shift function, it is necessary to measure the distance between the teaching
point and the shift destination position (XYZ displacement of each coordinate) and then register this in
advance as a position variable.
When the shift instruction is executed in playback, the operation is performed at a location shifted from
the taught position by the amount registered for the specified position variable. The POSITION
VARIABLE window is shown in the following.
DATA
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
#P000 ROBOT
R1:X
-200.000
Y
0.000
Z
500.000
Rx
0.00
Ry
0.00
Rz
0.00
Main Menu
ShortCut
NAME:
TOOL: 00
<TYPE>
FRONT
UP
FLIP
Amount of
shift (mm)
S>=180
R>=180
T< 180
Amount of wrist
displacement (° )
!Turn on servo power
SFTON P000

Coordinate Systems
The shift value for parallel shift is X, Y, and Z increment in each coordinates. There are four
coordinates: base coordinates, robot coordinates, tool coordinates, and user coordinates. In systems
with no servo track, the base coordinates and robot coordinates are the same.
Tool coordinates
Robot coordinates
User coordinates
Base coordinates
User coordinates
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6.2 Parallel Shift Function

Setting the Shift Value
When setting the shift value for the position variables, use the current position (coordinates) of the
manipulator in the window.
EDIT
DATA
CUR POS
COORDINATE
R1:
X
Y
Z
<ROBOT TYPE>
FRONT
UP
NO FLOP
DISPLAY
DATA
UTILITY
USER COORD #01
5.360 mm
66.080 mm
316.940 mm
CUR POS
COORDINATE
TOOL: 00
Rx
Ry
Rz
EDIT
-179.91 deg
-2.17 deg
-102.89 deg
R1:
X
Y
Z
<ROBOT TYPE>
FRONT
UP
NO FLIP
S>= 180
R>= 180
T< 180
DISPLAY
UTILITY
USER COORD #01
105.360 mm
66.080 mm
416.940 mm
Rx
Ry
Rz
TOOL: 00
-179.91 deg
-2.17 deg
-102.89 deg
S>= 180
R>= 180
T< 180
Position to be shifted
Teaching position
(Move the manipulator using the programming pendant.)
Differences are assumed to be shift amounts.
DATA
EDIT
DISPLAY
UTILITY
POSITION VARIABLE
#P000 ROBOT
R1:X
-100.000
Y
0.000
Z
-100.000
Rx
0.00
Ry
0.00
Rz
0.00
Main Menu
NAME:
TOOL: 00
<TYPE>
FRONT
UP
FLIP
S>=180
R>=180
T< 180
ShortCut
The shift value is the X, Y, and Z difference between the shift position and teaching position and the
difference in angular displacement RX, RY, and RZ (normally set at “0”). If shifting is executed at equal
pitch intervals, for example for palletizing, find the difference between the teaching position and the final
shift position, then divide by the number of pitch intervals (number of divisions) to calculate the shift
value per pitch.
L1
L2
L2=
L1
Number of pitches
Final shift position
Teaching position
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6.2 Parallel Shift Function
The posture of the wrist is defined by the angular displacement of the coordinates of the wrist axes.
Consequently, if the shift value is specified with X, Y, and Z only (RX, RY, RZ=0), the wrist is shifted
while maintaining the same posture as at the teaching point. Since shifting is normally performed
without changing the posture, there is no need to specify an angular displacement for the wrist. The
motion when a parallel shift is performed is shown in the following:
Shift without changing the wrist posture
(RX,RY,RZ=0)
Teaching posture
Shift with wrist posture change
(RX,RY,RZ ≠ 0)
Shift value
The shift value is calculated on the position data window for the coordinates in which the shift is
performed. Since this is normally performed in the user coordinates, the position data window for the
user coordinates is used.
6.2.3
Registering Shift Instructions
To register the instruction, move the cursor to the address area in the JOB CONTENT window during
teach mode as follows:
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
Explanation
The JOB CONTENT window appears.
Address area
Instruction area
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: TEST01
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
NOP
SET B000 0
SET B001 1
MOVJ VJ=80.00
MOVJ VJ=80.00
DOUT OGH#(13) B002
DOUT OT#(41) ON
MOVL C00002 V=880.0 CV#(1) CTP=0.662
DOUT OT#(44) ON
TIMER T=3.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
MOVL V=880.0
Main Menu
3
STEP NO: 0003
TOOL: 00
ShortCut
!Turn on servo power
Move the cursor to the
address area.
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6.2 Parallel Shift Function

SFTON Instruction
This is the instruction that starts a parallel shift.
Operation
1
2
Move the cursor to the line
immediately before where the
SFTON instruction is to be
registered.
Press [INFORM LIST].
Explanation
0020
0021
0022
Line immediately
before where
SFTON instruction
is to be registered.
MOVL V=138
MOVL V=138
MOVL V=138
The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON
SHIFT
SFTOF
OTHER
MSHIFT
SAME
PRIOR
3
Select {SHIFT}.
4
Select the SFTON instruction. The SFTON instruction is displayed in the input buffer line.
5
Modify the additional items or
number values as required.
<When Nothing is to be Changed>
Proceed to Step 6.
<When Editing Additional Items>
• Adding or modifying additional items
To change the position variable number, move the cursor to the
position variable number and press [SHIFT] + the cursor key to
increase or decrease the value.
SFTON P000
To directly input the value using the Numeric keys, press
[SELECT] to display the input buffer line.
P=
SFTON
After the number is input, press [ENTER] to modify the number
value in the input buffer line.
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6.2 Parallel Shift Function
Operation
5
(cont’d)
Explanation
• Adding the coordinate system in which the shift is performed
Move the cursor to the instruction in the input buffer line and
press [SELECT]. The DETAIL EDIT window appears.
SFTON P001
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
SFTON
P-VAR (RESULT)
COORDINATE
Main Menu
: P000
: BF
ShortCut
Line up the cursor with ”UNUSED” and press [SELECT]. The
selection dialog box appears. Line up the cursor with the
coordinate system to be added, and press [SELECT].
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
SFTON
P-VAR ROBOT
COORDINATE
Main Menu
:
: BF
RF
TF
UF#( )
UNUSED
ShortCut
After the coordinate system addition is completed, press
[ENTER]. The DETAIL EDIT window closes and the JOB
CONTENT window appears.
6
Press [INSERT] and then
[ENTER].
The instruction displayed in the input buffer line is registered.
Line where SFTON
instruction is
registered.
0020
0021
0022
MOVL V=138
SFTON P001 BF
MOVL V=138
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6.2 Parallel Shift Function

SFTOF Instruction
This is the instruction that ends a parallel shift.
Operation
1
Move the cursor to the line
immediately before where the
SFTOF instruction is to be
registered.
2
Press [INFORM LIST].
3
Select {SHIFT}.
4
Select the SFTOF instruction.
Explanation
0030
0031
Line immediately
before where
SFTOF instruction
is to be registered.
MOVL V=138
MOVL V=138
The instruction list dialog box appears.
The SFTOF instruction is displayed in the input buffer line.
SFTOF
5

Press [INSERT] and then
[ENTER].
The SFTOF instruction is registered.
0030
0031
0032
MOVL V=138
SFTOF
MOVL V=138
MSHIFT Instruction
When a parallel shift of the wrist posture is attempted, the manipulator may not be shifted to the target
posture in the following cases.
• Posture displacement (Rx, Ry, Rz) is specified to the shift value set by the user.
• When a displacement between two points is calculated using an INFORM operating
instruction (ADD instruction, SUB instruction, etc.), and a posture displacement (Rx, Ry,
Rz) is specified in the shift value.
In such cases, the MSHIFT instruction can be used to automatically calculate the optimum shift value
for an operation to reach the target shift position and posture. With an MSHIFT instruction, the shift
value between the reference position and target position (shift position) when parallel shift is performed
is determined in the specified coordinate system, and set as the specified position variable.
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6.2 Parallel Shift Function
Operation
1
2
Move the cursor to the line
immediately before where the
MSHIFT instruction is to be
registered.
Press [INFORM LIST].
Explanation
Line immediately
before where
MSHIFT instruction
is registered.
0003
0004
0005
MOVJ VJ=10.00
GETS PX001 $PX000
END
The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SFTON
SHIFT
SFTOF
OTHER
MSHIFT
SAME
PRIOR
3
Select {SHIFT}.
4
Select the MSHIFT instruction. The MSHIFT instruction is displayed in the input buffer line.
5
Change the number data or
additional items as required.
<When Nothing is to be Changed>
Proceed to Step 6.
<When Editing Additional Items>
• Adding or modifying additional items
To change the position variable number, move the cursor to the
position variable number and press [SHIFT] + the cursor key to
increase or decrease the value.
MSHIFT PX000 BF PX001 PX002
To directly input the value using the Numeric keys, press
[SELECT] to display the input buffer line.
PX =
MSHIFT
0 BF PX001 PX002
After the number is input, press [ENTER] to modify the number
value in the input buffer line.
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6.2 Parallel Shift Function
Operation
5
(cont’d)
Explanation
• Changing the coordinate system in which the shift is performed
Move the cursor to the instruction in the input buffer line and
press [SELECT]. The DETAIL EDIT window appears.
MSHIFT PX000 BF PX001 PX002
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
MSHIFT
P-VAR (RESULT)
COORDINATE
P-VAR (BASE)
P-VAR (DEST)
Main Menu
: P000
: BF
: PX001
: PX002
ShortCut
Line up the cursor with “BF” and press [SELECT]. The selection
dialog box appears.
Line up the cursor with the coordinate system to be changed,
and press [SELECT].
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
MSHIFT
P-VAR (RESULT)
COORDINATE
P-VAR (BASE)
P-VAR (DEST)
Main Menu
:
:
:
:
BF
BF
PX001
RF
PX002
TF
UF#( )
MTF
ShortCut
After the coordinate system modification is complete, press
[ENTER]. The DETAIL EDIT window closes and the JOB
CONTENT window appears.
6
Press [INSERT] and then
[ENTER].
The instruction displayed in the input buffer line is registered.
Line where
MSHIFT is
registered.
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0003
0004
0005
MOVJ VJ=10.00
GETS PX001 $PX000
MSHIFT PX000 RF PX001 PX002
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6.2 Parallel Shift Function
6.2.4
Continuation of the Parallel Shift Function
• If the shift function is cancelled through a job editing operation after execution of a parallel shift
instruction, the job must be started again from the beginning.
Because no shift is performed when the operation is restarted, there is a possibility of
interference between the workpiece and fixture.
If any of the following operations are performed after executing a parallel shift instruction, the shift
function is cancelled.
• Job editing operation (changing, deleting, adding)
• Job copy, job name change
• Registering a new job, deleting a job, or modifying a selected job
• Restart after the alarm occurs
• When control power is turned OFF
NOTE
The parallel shift function remains in effect even if the control power supply is turned OFF.
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6.2 Parallel Shift Function
6.2.5

Examples of Use
Example of Use of Shift Addition/Subtraction
Workpiece Stacking Operation
Line
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
Instruction
NOP
SET B000 0
SUB P000 P000
*A
MOVJ
MOVL
’Gripping workpiece
MOVL
MOVL
SFTON P000 UF#(1)
MOVL
’Releasing workpiece
SFTOF
ADD P000 P001
MOVL
MOVL
INC B000
JUMP *A IF B00<6
Make the first shift value zero.
Step 1
Step 2
Step 3
Step 4
Shift start
Shift position Step 5
Shift end
Add the shift value for the next operation.
Step 6
Step 7
SFTON P000 UF#(1)
SFTOF
SUB P000 P001
1,7
Since the shift data is retained in memory,
the same data can be used (with subtraction
instead of addition) to perform a workpiece
unloading operation.
3
4,6
2
Workpiece
5
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6.2 Parallel Shift Function

Example of Use of MSHIFT Instruction
Line
Instruction
Explanation
0000 NOP
0001 MOVJ VJ=20.00
Move the manipulator to the reference position.
0002 GETS PX000 $PX000
Set the reference position as position variable P000.
0003 MOVJ VJ=20.00
Move the manipulator to the target position.
0004 GETS PX001 $PX000
Set the target position as position variable P001.
0005 MSHlFT PX010 BF PX000 PX001 Set shift value and set it as position variable P010.
0006 END
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6.3 Parallel Shift Job Conversion Function
6.3
6.3.1
Parallel Shift Job Conversion Function
Function Overview
If the manipulator and base positions are moved after a job has been taught, the entire job has to be
modified. The parallel shift conversion function shortens the modification time required in cases like this
by shifting all steps of the job by the same value to create a new job.
When parallel shift conversion is performed, all job steps are shifted by the same value.
NOTE
Steps Outside the P-point Maximum Envelope
“/OV” is displayed for steps which result in a position outside the P-point maximum
envelope of the manipulator. When the position is corrected, “/OV” display disappears.
Position Variable
Position variables are not subject to parallel shift job conversion.
Not Converted Job
The following jobs cannot be converted. If conversion is attempted, no operation is
performed.
• Jobs without any group axes
• Concurrent jobs (optional)
NOTE
If a job name after conversion is not specified when executing parallel shift job conversion,
the position data of the job is shifted and converted, then the data is overwritten with a new
position data after the shift. Be sure to save the job in the external memory device or
create the same job by copying before executing conversion.
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6.3 Parallel Shift Job Conversion Function
6.3.2
Coordinate Systems for Conversion
When performing parallel shift job conversion, it is necessary to specify the coordinate systems in
which the conversion is to be performed. The coordinate system can be selected from the following:
• Base coordinates
• Robot coordinates
• Tool coordinates
• User coordinates (24 types)
• Master tool coordinates (R*+R* job)
• Joint coordinates
In the case of an ordinary job for which group axes are registered, shift conversion is performed in
accordance with the selected coordinate system. The relationship between group combinations and
coordinates are shown in the following table.
 to  in the table are followed by their explanations.
Relationship Between Group Combinations and Coordinates at Conversion
Group
Combination
in Job
R
Explanation
Usable Coordinate System
Shift is performed on basis of selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, pulse
coordinates
R(B)
Shift is performed on basis of selected coordinates.
Base
Coordinates
Robot
Coordinates
Tool
Coordinates
User
Coordinates
Pulse
Coordinates
S
Group
Combination
in Job
The base axis is shifted by the specified amount and the TCP
of the manipulator is shifted by the specified amount in the
base coordinates.
The base axis is shifted by the specified amount.
The TCP of the manipulator is shifted by the specified amount
in the robot coordinates. These shifts are carried out
independently.
The base axis is shifted by the specified amount.
The TCP of the manipulator is shifted by the specified amount
in the tool coordinates. These shifts are carried out
independently.
The base axis is shifted by the specified amount and the TCP
of the manipulator is shifted by the specified amount in the
user coordinates.
The taught position of each axis is shifted by the specified
amount on the basis of pulse values.
Shift is performed on the basis of pulse values regardless of the coordinates.
Explanation
Usable Coordinate System
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6.3 Parallel Shift Job Conversion Function
Relationship Between Group Combinations and Coordinates at Conversion
R+S
The manipulator is shifted in the selected coordinates.
The station axis is shifted on the basis of pulse values regardless of the coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, pulse
coordinates
R(B)+S
R+R
The manipulator is shifted in the selected coordinates, as in  to  above.
The station axis is shifted on the basis of pulse values regardless of the coordinates.
Two manipulators are shifted in the selected coordinates.
Base coordinates, robot coordinates, tool coordinates, user coordinates, master
tool coordinates*1, pulse coordinates
R(B)+R(B)
*1
Two manipulators are shifted in the selected coordinate system, as in  to 
above. Two base axes are also shifted.
In the master tool coordinates, conversion only occurs at the “slave” from the standpoint of the SMOV instruction.
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6.3 Parallel Shift Job Conversion Function
 Base Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted by A in the base coordinates.
Base coordinates
A
B
Base
 Robot Coordinates
The base axis is shifted by B. The TCP of the manipulator is shifted by A in the robot coordinates.
These shifts are carried out independently.
Robot coordinates
Base coordinates
A
B
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6.3 Parallel Shift Job Conversion Function
 Tool Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted by A in the tool coordinates.
These shifts are carried out independently.
Base coordinates
Tool coordinates
A
B
 User Coordinates
The base axis is shifted by B and the TCP of the manipulator is shifted by A in the user coordinates.
These shifts are carried out independently.
User
Usercoordinates
coordinates
Base
coordinates
Base
coordinates
A
A
B
B
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6.3 Parallel Shift Job Conversion Function
Converting R*+R* Jobs with Master Tool Coordinates
R*+R* coordinated jobs can be subjected to parallel shift job conversion in the master tool coordinates.
Only steps taken at the “slave” from the standpoint of the SMOV instruction are subject to conversion
(i.e. the steps of R2 in the figure below).
R2 (Slave)
R1 (Master)
X-axis
Y-axis
Master tool coordinates
Z-axis
Displays R2
Displays R1
1
0001 MOV
+MOV
0002 MOV
+MOV
0003 SMOV
+MOV
0004 SMOV
+MOV
0005 SMOV
+MOV
0006 MOV
+MOV
6
5
2
3
4
Motion path
after conversion
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6.3 Parallel Shift Job Conversion Function
6.3.3

Executing the Parallel Shift Job Conversion
Window Display
DATA
EDIT
DISPLAY
UTILITY
PARALLEL SHIFT JOB
SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE>
R1:S
L
U
R
B
T
EXECUTE
:JOB1
: 001 → 010
: *******
: PULSE
: TEACH SETTING
0
0
0
0
0
0






CANCEL
SOURCE JOB
Selects the job before conversion. The job which is shown in the JOB CONTENT window is set
initially. To change the job, perform the following procedure.
Move the cursor to the job name and press [SELECT]. The JOB LIST window appears. Select the
desired job.
STEP SECTION (Start Step  End Step)
Specifies the step section of the source job. All the steps are set initially. If there is no steps in the
source job, “***” is displayed. To change the section, perform the following procedure.
Move the cursor to the step section indication and press [SELECT]. The input buffer line appears.
Input the step number and press [ENTER].
DESTINATION JOB
Specifies the converted job. If this is not specified ( “********” is displayed), the source job is
overwritten with a job after conversion. If the converted job is specified, the source job is copied and
converted. To change the job, perform the following procedure.
Move the cursor to the converted job name indication and press [SELECT]. The character input line
appears. The source job name is displayed in the input line. To enter job name without using the
source job name, press [CANCEL] and then input a job name.
COORDINATES
Selects the conversion coordinates. Move the cursor to the coordinates name and press [SELECT].
The selection dialog box appears. Select the desired coordinates.
When the user coordinates are selected, the input buffer line appears. Input the desired user
coordinate number and press [ENTER].
BASE POINT
Calculates the difference by the two teaching points as a shift value.
SHIFT VALUE
The axis shown is varied according to the setting of “coordinates” above.
Move the cursor to the input box and press [SELECT] to directly input the shift value.
If the shift value is calculated by the two teaching points, the difference is shown as a shift value.
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6.3 Parallel Shift Job Conversion Function
Parallel Shift Job Conversion Operation

There are two methods for specifying the shift value.
• Directly input the shift value by numerical value.
• Calculate the shift value by teaching the original base point and converted base point.
SUPPLE
-MENT
The method using position variables by parameter setting is described in section 6.3.4
"Specifying the Shift Value by Position Variables" other than above two methods.
The following are the operation procedures by each setting of shift value for parallel shift job
conversion.
Numerical Value Input
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Select {UTILITY} under the
pull-down menu.
4
Select {PARALLEL SHIFT
JOB}.
Explanation
The JOB CONTENT window appears.
The PARALLEL SHIFT JOB window appears.
DATA
EDIT
UTILITY
DISPLAY
PARALLEL SHIFT JOB
SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE>
R1:S
L
U
R
B
T
EXECUTE
Main Menu
:JOB1
: 001 → 010
: *******
: PULSE
: TEACH SETTING
0
0
0
0
0
0
CANCEL
ShortCut
5
Specify the conversion items.
Specify each item.
6
Select the shift value to be set. The number can be entered.
DATA
EDIT
DISPLAY
UTILITY
PARALLEL SHIFT JOB
:
SOUCE JOB
:
STEP SECTION
:
DESTINATION JOB
:
COORDINATES
:
BASE POINT
<SHIFT VALUE>
R1:X
Y
Z
EXECUTE
Main Menu
JOB1
001 → 010
JOB2
ROBOT
TEACH SETTING
0.000
0.000
0.000
CANCEL
ShortCut
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6.3 Parallel Shift Job Conversion Function
Operation
7
Type the shift value using the
Numeric keys.
8
Press [ENTER].
Explanation
The shift value is set.
DATA
EDIT
DISPLAY
UTILITY
PARALLEL SHIFT JOB
:
SOURCE JOB
:
STEP SECTION
:
DESTINATION JOB
:
COORDINATES
:
BASE POINT
<SHIFT VALUE>
R1:X
Y
Z
EXECUTE
Main Menu
9
JOB1
001 → 010
JOB2
ROBOT
TEACH SETTING
200.000
0
0
CANCEL
ShortCut
Display the PARALLEL SHIFT The confirmation dialog box appears when the converted job is
JOB window.
not specified. Select “YES” then the conversion is executed. The
Select “EXECUTE.”
JOB CONTENT window appears when the conversion is
completed.
When “CANCEL“ is selected, the display goes back to the JOB
CONTENT window without executing conversion.
DATA
EDIT
DISPLAY
UTILITY
PARALLEL SHIFT JOB
: JOB1
SOURCE JOB
: 001 → 010
STEP SECTION
: JOB2
DESTINATION JOB
COORDINATES
Overwrite?
BASE POINT
<SHIFT VALUE>
R1:X
230.000
NO
YES
Y
20.000
Z
80.000
EXECUTE
Main Menu
NOTE
CANCEL
ShortCut
If an alarm occurs during conversion, conversion is
suspended.
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6.3 Parallel Shift Job Conversion Function
Calculation by Teaching
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Select {UTILITY} under the
pull-down menu.
4
Select {PARALLEL SHIFT
JOB}.
Explanation
The JOB CONTENT window appears.
The PARALLEL SHIFT JOB window appears.
DATA
EDIT
DISPLAY
UTILITY
PARALLEL SHIFT JOB
SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE>
R1:S
L
U
R
B
T
EXECUTE
Main Menu
:JOB1
: 001 → 010
: *******
: PULSE
: TEACH SETTING
0
0
0
0
0
0
CANCEL
ShortCut
5
Specify the conversion items.
Specify each item.
6
Display the PARALLEL SHIFT The BASE POINT window appears.
JOB window.
Select “TEACH SETTING” in
EDIT
DATA
UTILITY
DISPLAY
the item of “BASE POINT.”
PARALLEL SHIFT JOB
BASE POINT (SRC)
R1:X
0.000
R1:Y
0.000
R1:Z
0.000
EXECUTE
Main Menu
7
Select “BASE POINT(SRC).”
8
Move the manipulator to the
original base point by the axis
keys.
BASE POINT (DEST)
R1:X
0.000
R1:Y
0.000
R1:Z
0.000
CANCEL
ShortCut
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6.3 Parallel Shift Job Conversion Function
Operation
9
Press [MODIFY] and
[ENTER].
Explanation
The original base point is set.
EDIT
DATA
DISPLAY
UTILITY
PARALLEL SHIFT JOB
BASE POINT (SRC)
R1:X 230.000
R1:Y
40.000
R1:Z
20.000
EXECUTE
Main Menu
BASE POINT (DEST)
R1:X
0.000
R1:Y
0.000
R1:Z
0.000
CANCEL
ShortCut
10 Select “BASE POINT(DEST).”
11 Move the manipulator to the
converted base point by the
axis keys.
12 Press [MODIFY] and
[ENTER].
The conversion base point is set.
EDIT
DATA
DISPLAY
UTILITY
PARALLEL SHIFT JOB
R1:X
R1:Y
R1:Z
BASE POINT (SRC)
BASE POINT (DEST)
R1:X 460.000
230.000
R1:Y
60.000
40.000
R1:Z 100.000
20.000
EXECUTE
Main Menu
13 Touch “EXECUTE.”
CANCEL
ShortCut
The difference is calculated by the two teaching points and set as
a shift value.
DATA
EDIT
DISPLAY
UTILITY
PARALLEL SHIFT JOB
:
SOUCE JOB
:
STEP SECTION
:
DESTINATION JOB
:
COORDINATES
:
BASE POINT
<SHIFT VALUE>
R1:X
Y
Z
EXECUTE
Main Menu
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JOB1
001 → 010
JOB2
ROBOT
TEACH SETTING
230.000
20.000
80.000
CANCEL
ShortCut
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6.3 Parallel Shift Job Conversion Function
Operation
Explanation
14 Display the PARALLEL SHIFT The confirmation dialog box appears when the converted job is
JOB window.
not specified. Select “YES” then the conversion is executed. The
Select “EXECUTE.”
JOB CONTENT window appears when the conversion is
completed.
When “CANCEL” is selected, the display goes back to the JOB
CONTENT window without executing conversion.
DATA
EDIT
DISPLAY
UTILITY
PARALLEL SHIFT JOB
: JOB1
SOURCE JOB
: 001 → 010
STEP SECTION
: JOB2
DESTINATION JOB
COORDINATES
Overwrite?
BASE POINT
<SHIFT VALUE>
R1:X
230.000
NO
YES
Y
20.000
Z
80.000
EXECUTE
Main Menu
NOTE
CANCEL
ShortCut
If an alarm occurs during conversion, conversion is
suspended.
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6.3 Parallel Shift Job Conversion Function
6.3.4
Specifying the Shift Value by Position Variables
The shift value can be specified using position variables by parameter settings.
Parameter S2C514: SHIFT VALUE FOR PARALLEL SHIFT JOB CONVERSION
0: Shift value by numeral/teaching (Initial setting)
1: Position variable shift value

Window Display
DATA
EDIT
UTILITY
DISPLAY
PARALLEL SHIFT JOB
#P***
#EX***
TEST
SINGLE
ROBOT
COMMON
FILE NO.
SHIFT JOB NAME
MODE
COORDINATES
CONV. METHOD
EXECUTE
Main Menu





CANCEL
ShortCut
FILE NO.
Specifies position variables.
SHIFT JOB NAME
The job which was shown in the JOB CONTENT window is set initially. To change the job, perform
the following procedure.
Move the cursor to the conversion job name and press [SELECT]. The JOB LIST window appears.
Move the cursor to the desired job and press [SELECT]. The PARALLEL SHIFT JOB window
reappears, and the job name which was selected is shown.
MODE
Specifies the conversion mode.
SINGLE (INDEPENDENT JOB CONVERSION)
Only the selected job is converted even if the selected job includes jobs called by JUMP or CALL
instructions. Related jobs are not converted.
RELATIVE (RELATIVE JOB CONVERSION)
Both the selected job and all the related jobs (the jobs called by JUMP or CALL instructions) are
converted.
For details of each conversion mode, refer to "Jobs Targeted for Conversion".
COORDINATES
Selects the conversion coordinates. Move the cursor to the coordinates name and press [SELECT].
The selection dialog box appears. Select the desired coordinates.
When the user coordinates are selected, the input buffer line appears. Input the desired user
coordinate number and press [ENTER].
CONV. METHOD
Specifies the conversion methods of related jobs such as a coordinated job with two manipulators or
the system with multiple stations.
COMMON (COMMON SHIFT)
All the manipulators (or all the bases, or all the stations) are converted by the same shift value.
EACH (INDIVIDUAL SHIFT)
Each manipulator (or each base, or each station) is converted separately by different shift values.
For details of each conversion method, refer to "Conversion of Coordinated Jobs".
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6.3 Parallel Shift Job Conversion Function

Jobs Targeted for Conversion
There are two ways to specify the job to be converted as described in the following:
Independent Job Conversion
Only the selected job is converted even if the selected job includes jobs called by JUMP or CALL
instructions. Related jobs are not converted.
Converted
SELECTED JOB
(EDIT JOB)
JOB
JOB
JOB
JOB
JOB
Related jobs are
not converted.
JOB
Related Job Conversion
Both the selected job and all the related jobs (the jobs called by JUMP or CALL instructions) are
converted.
SELECTED JOB
(EDIT JOB)
JOB
JOB
Converted
JOB
JOB
JOB
JOB
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6.3 Parallel Shift Job Conversion Function

Conversion of Coordinated Jobs
There are two ways to convert a related job such as a coordinated job with two manipulators or the
system with multiple stations as described in the following:
Common Shift
All the manipulators (or all the bases, or all the stations) are converted by the same shift value.
Coordinated job with R1+R2
The system with multiple stations
Individual Shift
Each manipulator (or each base, or each station) is converted separately by different shift values.
The system with multiple stations
Coordinated job with R1+R2
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6.3 Parallel Shift Job Conversion Function
Variables used in an individual shift
NOTE
Be sure to use the variables of which numbers are consecutive after the selected number.
The variables of which numbers are not consecutive are unable to be selected.
Example 1) When selecting P010 for a coordinated job with R1 + R2:
Use P010 for R1.
Use P011 for R2.
JOB R1
JOB R2
P010
P011
Example 2) When selecting EX005 for multiple jobs with four stations:
Use EX005 for S1.
Use EX006 for S2.
Use EX007 for S3.
Use EX008 for S4.
JOB S1
JOB S2
JOB S3
JOB S4
EX005
EX006
EX007
EX008
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6.3 Parallel Shift Job Conversion Function
Relation between variables and jobs for conversion in an individual shift
In case of independent job conversion:
• Coordinated job with R1 + R2
Different shift values can be set for each manipulator and base.
Variables
BP001
P001
JOB
For base R1
For R1
R1 + R2
P002
P002
For base R2
For R2
• Job with R (+ S)
Use one variable for a job with one manipulator.
Variables
JOB
BP001
P001
Ro
For base R1
For R1
In case of related job conversion:
• Different shift values can be set for each manipulator, base, and station.
In a system with R1, R2, and S1 to S12:
Variables
P001
For R1
Job without
group axes
P002
For R2
R1 + R2
R1
R2
S1
S12
BP001
For base R1
P002
For base R2
EX001
For S1
EX002
For S1
EX0012
For S1
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6.3 Parallel Shift Job Conversion Function

Operation Procedure
The following is the operation procedure for parallel shift job conversion using position variables.
Operation
Explanation
1
Set the parameter.
Set the parameter S2C514 (SHIFT VALUE FOR PARALLEL
SHIFT JOB CONVERSION) to 1 (Position variable shift value.)
2
Set the position variable.
Specify a position variable in advance when setting a shift value
by position variables.
For the setting of position variables, refer to section 3.9.4 "User
Variables".
3
Select {JOB} under the main
menu.
4
Select {JOB}.
5
Select {UTILITY} under the
pull-down menu.
6
Select {PARALLEL SHIFT
JOB}.
The JOB CONTENT window appears.
The PARALLEL SHIFT JOB window appears.
DATA
EDIT
UTILITY
DISPLAY
PARALLEL SHIFT JOB
#P**
#EX***
TEST
SINGLE
ROBOT
COMMON
FILE NO.
SHIFT JOB NAME
MODE
COORDINATES
CONV. METHOD
EXECUTE
Main Menu
CANCEL
ShortCut
7
Specify the conversion items.
Specify each item.
8
Select “EXECUTE.”
Select “EXECUTE” then the parallel shift job conversion is
executed. The JOB CONTENT window appears when the
conversion is completed.
When “CANCEL” is selected, the display goes back to the JOB
CONTENT window without executing conversion.
NOTE
NOTE
If an alarm occurs during conversion, conversion is
suspended.
Specify the position variable in advance when using the setting value as a shift value.
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6.4 PAM Function
6.4
PAM Function
6.4.1
Function Overview
The function for position adjustment during playback (PAM: Position Adjustment by Manual) allows
position adjustment by simple operations while observing the motion of the manipulator and without
stopping the manipulator. Positions can be adjusted in both teach mode and play mode.
The following data can be adjusted by key input at the programming pendant.
• Teaching Point (Position)
• Teaching Point (Posture angle): Valid from NS3.00
• Operation Speed
• Position Level
Input Ranges for Adjustment Data

The input ranges for adjustment data are indicated in the following table.
Data
Number of Steps for Adjustment
Input Range
Up to 10 steps can be adjusted at the same time.
Position Adjustment Range (X, Y, Z) Unit: mm, valid to two decimal places, maximum
±10 mm
Posture Angle Adjustment Range
(Rx, Ry, Rz)
Unit: deg, valid to two decimal places, maximum
±10 deg
Speed Adjustment Range (V)
Unit: %, valid to two decimal places, maximum
±50%
PL Adjustment Range
0 to 8
Adjustment Coordinates
Robot coordinates, base coordinates, tool
coordinates, user coordinates (Default
coordinates: robot coordinates)
SUPPLE
-MENT
Valid from
NS3.00
The input ranges for adjustment data can be changed by the following parameters:
S3C806: Position adjustment range (unit: mm)
S3C807: Speed adjustment range (unit: 0.01%)
S3C808: Adjustment coordinate specification
S3C810: Posture angle adjustment range (unit: 0.01 deg) [Valid from NS3.00]
For details, refer to chapter 8 "Parameter"
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6.4 PAM Function
NOTE
• Base axis and station axis data cannot be adjusted.
• Adjustment when a TCP instruction is executed is performed by adjusting the data of the
selected tool.
• When the coordinates for adjustment are user coordinates, an error occurs if teaching
has not been performed in the user coordinates.
• If an attempt is made to adjust “PL” when there is no “PL” in the step subject to the
adjustment, an error occurs.
• Position variable and reference point steps cannot be adjusted. An error occurs if
adjustment is attempted.
• An attempt to adjust the speed at a step that has no speed tag will cause an error.
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6.4 PAM Function
6.4.2

Operating Methods
Setting Adjustment Data
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
3
Select {UTILITY} under the
pull-down menu.
4
Select {PAM}.
Explanation
The JOB CONTENT window (in the teach mode) or the
PLAYBACK window (in the playback mode) appears.
The PAM window appears.
DATA






5
Set adjustment data.
EDIT
DISPLAY
UTILITY
PAM
JOB
STATUS
NOT DONE
INPUT COORD ROBOT
STEP X(mm) Y(mm)
000
000
000
000
000
000
000
000
000
000
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
COMPLETE
Main Menu

Z(mm)
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
Rx(deg) Ry(deg) Rz(deg) V(%)
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
PL
-

CANCEL
ShortCut
Set adjustment data.
JOB
Set the job name to be adjusted.
Line up the cursor and press [SELECT] to display the JOB LIST
window. Move the cursor to the desired job and press [SELECT]
to set the adjusted job.
STATUS
Shows the status of adjustment in the PAM function.
“NOT DONE” appears when adjustment is not executed. “DONE”
appears when the execution of adjustment is completed.
INPUT COORD
Set the desired coordinates.
Line up the cursor and press [SELECT] to display the selection
dialog box. Move the cursor to the desired coordinate system
and press [SELECT] to set the input coordinates.
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6.4 PAM Function
Operation
5
(cont’d)
Explanation
Step Number
Set the step number to be adjusted.
Line up the cursor and press [SELECT] to display the number
input buffer line. Input the step number and press [ENTER] to set
the value.
XYZ Coordinate Adjustment
Set the direction and amount of the X, Y, and Z coordinates.
Line up the cursor with the data to be adjusted and press
[SELECT] to display the number input buffer line. Input the
number data and press [ENTER] to set the adjusted data.
Rx, Ry, Rz Coordinate Adjustment
Set the direction and amount of the Rx, Ry and Rz posture
angles.
Line up the cursor with the data to be adjusted and press
[SELECT] to display the number input buffer line. Input the
number data and press [ENTER] to set the adjusted data.
V Coordinate Adjustment
Set the speed.
Line up the cursor and press [SELECT] to display the number
input buffer line. Input the number data and press [ENTER] to set
the adjusted data.
PL
This is displayed when the position level of the job to be adjusted
for the step set in  is already decided, and the data can be
modified. When the position level is not decided, [-] is displayed,
and cannot be set. To modify the position level, line up the cursor,
press [SELECT], input the number value and press [ENTER].
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6.4 PAM Function

Executing the Adjustment
Executing the Adjustment
Operation
1
Touch “COMPLETE” on the
screen.
Explanation
The confirmation dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
PAM
JOB
TEST
STATUS
NOT DONE
INPUT COORD ROBOT
STEP X(mm) Y(mm)
007
008
009
010
011
012
013
014
015
016
10.00
10.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
Z(mm)
0.00
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
COMPLETE
Main Menu
2
Select “YES.”
R1
Rx(deg) Ry(deg) Rz(deg) V(%)
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
PL
-
CANCEL
ShortCut
In the teach mode, the job adjustment can be immediately
executed. In the play mode, the job can be adjusted just before
execution (move operation).
When the job adjustment is completed, the set data shown in the
PAM window is cleared. However, if the step’s adjusted position
exceeds the software limit, an error occurs, and the data in only
that step cannot be cleared on the window.
DATA
EDIT
DISPLAY
UTILITY
PAM
JOB
TEST
STATUS
NOT DONE
INPUT COORD ROBOT
STEP X(mm) Y(mm)
007
008
009
010
011
012
013
014
015
016
10.00
10.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
COMPLETE
Main Menu
6-38
R1
Z(mm)
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
Rx(deg) Ry(deg) Rz(deg) V(%)
0.00
0.00
0.00
0.00
0.00
YES
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
Correct?
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
NO
0.00
0.00
0.00
0.00
0.00
PL
-
CANCEL
ShortCut
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6.4 PAM Function
Cancelling the Execution
In the play mode, during the adjustment wait status, “STOP” is displayed in the PAM window. To cancel
the adjustment process, touch “STOP” on the screen. Also, if the following occurs before executing,
the process is automatically cancelled.
• If the mode is changed
• If an alarm occurs
• If the power is turned OFF
DATA
EDIT
DISPLAY
UTILITY
PAM
JOB
TEST
STATUS
NOT DONE
INPUT COORD ROBOT
STEP X(mm) Y(mm)
007
008
009
010
011
012
013
014
015
016
10.00
10.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
STOP
Main Menu

0.00
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
R1
Z(mm)
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
Rx(deg) Ry(deg) Rz(deg) V(%)
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
PL
-
CANCEL
ShortCut
Editing Data
Clearing Data
If there is a mistake made when adjusting the data, or if the adjustment of the step becomes
unnecessary, the data can be cleared.
Operation
1
Explanation
Move the cursor to the step of
the data to be cleared.
DATA
EDIT
DISPLAY
UTILITY
PAM
Steps in which
data is to be
cleared.
TEST
JOB
NOT DONE
STATUS
INPUT COORD ROBOT
STEP X(mm) Y(mm)
007
008
009
010
011
012
013
014
015
016
10.00
10.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
R1
Z(mm)
0.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
COMPLETE
Main Menu
Rx(deg) Ry(deg) Rz(deg) V(%)
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
PL
-
CANCEL
ShortCut
2
Select {EDIT} under the menu. The pull-down menu appears.
3
Select {LINE CLEAR}.
The line data is cleared.
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6.4 PAM Function
Copying Data
To input the same data as those set previously, perform the following operation.
Operation
Explanation
1
Move the cursor to the line to
be copied.
2
Select {EDIT} under the menu. The pull-down menu appears.
DATA
PAM
JOB
STATUS
INPUT COORD
EDIT
DISPLAY
LINE CLEAR
TEST
10.00
10.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
Z(mm)
LINE
0.00 PASTE
0.00
0.00
5.00
5.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
COMPLETE
Main Menu
3
Select {LINE COPY} under the
pull-down menu.
4
Move the cursor to the line
where the item is to be copied.
5
Select {EDIT} under the menu.
6
Select {LINE PASTE}.
R1
LINE COPY
STEP X(mm) Y(mm)
007
008
009
010
011
012
013
014
015
016
UTILITY
Rx(deg) Ry(deg) Rz(deg) V(%)
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
PL
-
CANCEL
ShortCut
The desired data is copied to the line. However, if the line where
the data is to be copied does not have a speed value or PL value,
it cannot be copied.
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6.4 PAM Function
Canceling the Adjustment [Valid from NS3.00]
After the position adjustment in the PAM function, the job can be undone to the status before
adjustment only during teaching. To undo the job, perform the following operation.
However, the job cannot be undone during playback.
Operation
1
Move the cursor to the line to
be copied.
Explanation
After the position adjustment, the status shows “DONE.”
EDIT
DATA
DISPLAY
UTILITY
PAM
JOB
TEST
STATUS
DONE
INPUT COORD ROBOT
STEP X(mm) Y(mm)
000
000
2
0.00
0.00
0.00
0.00
R1
Z(mm) Rx(deg) Ry(deg) Rz(deg) V(%)
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
-
Z(mm) Rx(deg) Ry(deg) Rz(deg) V(%)
LINE PASTE
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00 UNDO
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
0.00
PL
Select {EDIT} under the menu. The pull-down menu appears.
EDIT
DATA
PAM
JOB
STATUS
INPUT COORD
DISPLAY
LINE CLEAR
TEST
LINE COPY
UTILITY
R1
STEP X(mm) Y(mm)
000
000
000
000
000
000
000
000
000
000
COMPLETE
Main Menu
3
PL
0.00
0.00
-
CANCEL
ShortCut
Select {UNDO} under the pull- The confirmation dialog box appears.
down menu.
UNDO?
YES
4
Select “YES.”
NO
The status turns “NOT DONE” and the job is undone when
selecting “YES.” The status does not change and the job is not
undone when selecting “NO.”
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6 Convenient Functions
6.5 Mirror Shift Function
6.5
Mirror Shift Function
6.5.1
Function Overview
With the mirror shift function, a job is converted to the job in which the path is symmetrical to that of the
original job. This conversion can be performed for the specified coordinate among the X-Y, X-Z, or Y-Z
coordinate of the robot coordinates and the user coordinates.
The mirror shift function is classified into the following three: the pulse mirror-shift function, the robotcoordinates mirror-shift function, and the user-coordinates mirror-shift function.
Mirror shift
The original path
before the mirror shift
6.5.2
The converted path
after the mirror shift
Pulse Mirror-shift Function
With the pulse mirror-shift function, the mirror shift is performed by reversing the sign (+/-) for the axes
which are specified with the parameter in advance.
R-axis
R-ax is
T-axis
T-axis
S-axis
S-ax is

Parameter Setting
Using the following parameter, specify the axes for which the sign is to be reversed.
S1CxG065: Mirror Shift Sign Reversing Axis Specification
The 1st axis (0:Not reversed, 1:Reversed)
The 6th axis
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6 Convenient Functions
6.5 Mirror Shift Function

Object Job
Jobs without group axes and relative jobs cannot be converted.

Group Axes Specification
When specifying the group axes for the converted job in a multiple group axes system, the group axes
specified in the original and converted jobs must be the same.
• Robot Axis: Same model
• Base Axis: Same configuration
• Station Axis: Same configuration

Position Variables
Position variables are not converted by the mirror shift function.
6.5.3
Robot-coordinates Mirror-shift Function
With the robot-coordinates mirror-shift function, the mirror shift is performed on the X-Z coordinate of
the robot coordinates.
Z
Z
Y
Y
X

X
Object Job
Jobs without group axes cannot be converted.

Group Axes Specification
When specifying the group axes for the converted job in a multiple group axes system, the group axes
specified in the original and converted jobs must be the same.
• Robot Axis: Same model
• Base Axis: Same configuration
• Station Axis: Same configuration
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6 Convenient Functions
6.5 Mirror Shift Function

Position Variables
Position variables are not converted by the mirror shift function.
NOTE
6.5.4
 Mirror shift conversion for the base axis is not performed with the robot-coordinates
mirror shift function.
 With the robot-coordinates mirror shift function, mirror shift conversion for the station axis
is performed by reversing the sign for the axes specified with the parameter S1CxG065
“Mirror Shift Sign Reversing Axis Specification.”
User-coordinates Mirror-shift Function
With the user-coordinates mirror-shift function, the mirror shift is performed on the X-Z, X-Y, or Y-Z
coordinate of the specified user coordinates.
Z

Z
Y
Y
X
X
Object Job
Jobs without group axes cannot be converted.

Group Axes Specification
When specifying the group axes for the converted job in a multiple group axes system, the group axes
specified in the original and converted jobs must be the same.
• Robot Axis: Same model
• Base Axis: Same configuration
• Station Axis: Same configuration

Position Variables
Position variables are not converted by the mirror shift function.
NOTE
With the user-coordinates mirror shift function, mirror shift conversion for the station axis is
performed by reversing the sign for the axes specified with the parameter S1CxG065
“Mirror Shift Sign Reversing Axis Specification.”
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6 Convenient Functions
6.5 Mirror Shift Function
6.5.5
Notes on the Mirror Shift Function
For manipulators, such as a polishing wrist, whose center of S-axis rotation and T-axis rotation are
offset in the X-coordinate direction, the mirror shift cannot correctly be performed by the pulse mirrorshift function. Be sure to use the robot-coordinates mirror-shift function or use the user-coordinates
mirror-shift function with the user coordinates specified on the center of the T-axis rotation.
• Using the Robot-coordinates Mirror-shift Function
When the robot-coordinates mirror-shift function is performed, the mirror shift is
performed on the X-Z coordinate of the robot coordinates. The path of the converted job is
as follows:
R o b o t - c o o r d i n a t e s M i rro r-s h i f t Co n v e rs i o n
After conversion
B e f o re c o n v e rs i o n
• Using the User-coordinates Mirror-shift Function
To use the user-coordinates mirror-shift function, specify the user coordinates on the
center of T-axis rotation in advance.
Us er-c oordinates Mirror-shift Conversi on
User coordinates
After c onv ers ion
Before conversion
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6 Convenient Functions
6.5 Mirror Shift Function
6.5.6

Operation Procedures
Calling Up the JOB CONTENT Window
Call up the JOB CONTENT window of the job to be converted as follows:
For Current Job
Operation
1
Select {JOB} under the main
menu.
2
Select {JOB}.
Explanation
For Another Job
Operation
1
Select {JOB} under the main
menu.
2
Select {SELECT JOB}.
3
Select desired job.

Explanation
The JOB LIST window appears.
Mirror Shift Conversion
Operation
Explanation
1
Display the JOB CONTENT
window.
2
Select {UTILITY} under the
pull-down menu.
The MIRROR SHIFT window appears.
3
Select {MIRROR SHIFT}.
The MIRROR SHIFT window appears.
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6 Convenient Functions
6.5 Mirror Shift Function

Explanation of the Mirror Shift Window
DATA
EDIT
DISPLAY
UTILITY
MIRROR SHIFT








SOURCE JOB
SOURCE CTRL GROUP
STEP SECTION
DESTINATION JOB
DEST CTRL GROUP
COORDINATES
USER COORD NO.
TARGET

EXECUTE
Main Menu
:
:
:
:
:
:
:
:
JOB1
R1
001 →
010
****
****
PULSE
CANCEL
ShortCut
SOURCE JOB
Selects the conversion source job.
To select another job to be converted, move the cursor to the name and press [SELECT] to call
up the list of jobs. Select the desired job and press [SELECT].
SOURCE CTRL GROUP
Displays the control group of the conversion source job.
STEP SELECTION
Specifies the steps to be converted. From the first step to the last step of the selected job are
specified as initial value.
DESTINATION JOB
Specifies the converted job name. To enter the name, move the cursor to the name and press
[SELECT]. The name of the conversion source job is displayed in the input line as initial value.
When "***" is displayed, the name for the converted job is to be the same as that of the
conversion source job.
DEST CTRL GROUP
Selects the control group for the converted job. When the destination job name is entered, the
same control group as the conversion source job is automatically set. To change it, move the
cursor to the control group and press [SELECT] to call up the selection dialog box.
COORDINATES
Specifies the coordinates used for conversion.
"PULSE": Executes the pulse mirror-shift conversion.
"ROBOT": Executes the mirror-shift conversion on the basis of the cartesian coordinates.
"USER": Executes the mirror-shift conversion on the basis of the specified user coordinates.
USER COORD NO.
Specifies the user coordinates number when "USER" is selected in .
This item cannot be set when "PULSE" or "ROBOT" is selected in .
TARGET
Specifies the coordinate where conversion is to be done when "ROBOT" or "USER" is selected
in . "XY," "XZ," or "YZ" can be selected. Always specify "XZ" for "ROBOT."
EXECUTE
Mirror shift conversion is executed when pressing “EXECUTE” or [ENTER]. A job is created
with the name of conversion source job when a job after conversion is not entered.
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7 External Memory Devices
7.1 Memory Devices
7 External Memory Devices
7.1
Memory Devices
The following memory devices can be used in the NX100 to save and load data such as jobs and
parameters.
Device
*1
Function
Media (destination of saved/
loaded data)
Optional function requirement
Compact Flash
Standard
Compact Flash (CF card)
No requirement.
Programming pendant is
equipped with a slot.
FC1
Option*1
2DD floppy disk, personal
computer (FC1 emulator)
“FC1” or personal computer
with “FC1 emulator”
FC2
Option*1
2DD floppy disk,
2HD floppy disk
“FC2”
PC
Option*1
Personal computer
(MOTOCOM32 host)
• Via RS-232C: “Data
transmission function” and
“MOTOCOM32”
• Via Ethernet: “Ethernet
function” plus above two
requirements
FTP
Option*1
FTP server such as personal
computer
“Data transmission function”,
“MOTOCOM32”, and “FTP
function”
For the operation, refer to instruction manuals for each optional function.
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7 External Memory Devices
7.1 Memory Devices
7.1.1
Compact Flash (CF Cards)
The programming pendant is equipped with CF card slot. Use the FAT16 or FAT32 formatted Compact
Flash.
Recommended Compact Flash Cards

Recommended products used for external memory of NX100 are listed below. Model numbers are
subject to be updated due to termination of product and new addition. Contact Yaskawa representative
when necessary.
<Currently Recommended Compact Flash Cards>
No.
Manufacturer
Model
Remarks
Hagiwara Sys-Com
MCF10P-128MS
(A00A II -YE
(128MB)
2
Hagiwara Sys-Com
MCF10P-256MS-YE2
(256MB)
3
Hagiwara Sys-Com
MCF10P-512MS
(512MB)
4
Hagiwara Sys-Com
MCF10P-A01GS
(1GB)
5
Hagiwara Sys-Com
MCF10P-A02GS
(2GB)
1
<Previously Recommended Compact Flash Cards>
No.
Manufacturer
Model
Remarks
1
Hagiwara Sys-Com
CFI-128MDG
(128MB)
2
Hagiwara Sys-Com
CFI-256MDG
(256MB)
Hagiwara Sys-Com
CFC-064MBA
(HOOAA)
(64MB)
Hagiwara Sys-Com
CFI-064MBA
(HOOAA)
(64MB)
SanDisk
SDCFBI-64-EXPP-80
(64MB)
3
4
5
*512 MB (or more) CF cards in the same series can be used as external memory devices. However,
FAT32 formatted CF cards such as high-capacity CF cards cannot be used for upgrading Pendant OS
version.
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7 External Memory Devices
7.1 Memory Devices

Notes on handling Compact Flash
• Do not drop or bend exerting any shock or strong force to the Compact Flash.
• Keep away from water, oil, organic solvent, dust, and dirt.
• Do not use or keep the Compact Flash in places where strong static electricity or
electronic noise may occur.
• To protect the data, back up the data regularly on other media. Damages or loss of data
due to operation errors or accidents can be minimized.
*Compact Flash has a limited life span.
The life span differs depending on products or status of use. However, normal use of Compact Flash as
an external memory device for the NX100 does not adversely affect the Compact Flash. For details,
refer to instruction manuals for each medium.
NOTE
Removing the CF or disconnecting the control power supply while writing data to the CF/
reading data from the CF may cause data corruption in the CF.
Please DO NOT remove the CF or disconnect the control power supply
while
• the remaining bytes indication is switching to the file list window after the data of the
external memory device is saved, loaded, or verified, and the hourglass icon disappears.
• the screen is switching to the file list window after the data of the external memory device
is deleted.
• the folder list is being updated after a folder is created to or deleted from a folder of the
external memory.
• the message "Under running auto backup" is being displayed.
• CMOS.BIN is being saved with the message "Saving system data. Don't turn the power
off" displayed.
• CMOS.BIN is being loaded with the message "Loading system data. Don't turn the power
off" displayed.
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7 External Memory Devices
7.1 Memory Devices

Inserting a Compact Flash
When inserting a Compact Flash, take note of insertion direction. With the notch and clip of the
Compact Flash downward, insert the Compact Flash slowly into the slot of the programming pendant of
which display faces up.
Forcible insertion may result in damage to the Compact Flash or CF card slot. After inserting the card,
be sure to close the cover of the slot before starting operation.
REMOTE
PLAY
TEACH
START
HOLD
Insertion slot for
the Compact Flash
Insertion direction
top surface
LAYOUT
COORD
Multi
MAIN
MENU
SHORT
CUT
X
X
S
S
Y
Y
L
L
Z
Z
U
U
DIRECT
OPEN
SERVO
ON
READY
GO BACK
PAGE
AREA
!?
CANCEL
SELECT
ASSIST
Notch
SERVO ON
HIGH
SPEED
X
X
Y
Y
B
B
Z
Z
R
FAST
R
MANUAL SPEED
SLOW
T
T
SHIFT
INTER
LOCK
7
8
9
ROBOT
INFORM
LIST
4
5
6
BWD
FWD
1
2
3
DELETE
INSERT
.
−
MODIFY ENTER
EX.AXIS
BACK
SPACE
MOTION
TYPE
Click
0

TEST
START
SHIFT
MOTOMAN
Installing the Compact Flash
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7 External Memory Devices
7.2 Handling Data
7.2
7.2.1
Handling Data
Normal Mode Data Classification
For the NX100, data that can be saved in the normal mode are classified into eight categories.
 JOB
 FILE/GENERAL DATA
 BATCH USER MEMORY*1
 PARAMETER*2
 SYSTEM DATA
 I/O DATA
 BATCH CMOS*3
 ALL CMOS AREA*4
Data saved on the external memory device can be loaded again into the NX100.
Each data in the eight categories varies depending on applications or options.
When the device is set to “PC” and “FTP”, data cannot be handled other than “ JOB” and
“ FILE/GENERAL DATA.”
*1
*2
*3
“ BATCH USER MEMORY” includes “ JOB” and “ FILE/GENERAL DATA.”
“PARAMETER BATCH” includes all “ PARAMETER.”
“ BATCH CMOS” includes “ BATCH USER MEMORY”, “ PARAMETER”,
*4
“ALL CMOS AREA” data cannot be loaded in edit mode and management mode.
“ SYSTEM DATA”, and “ I/O DATA.”
NOTE
PARAMETER, I/O DATA, SYSTEM DATA, PARAMETER BATCH, BATCH CMOS, and ALL
CMOS AREA are used for backup.
If those data are loaded by other controllers, unintended data overwriting, unexpected
operation, or abnormal system startup may occur.
Do not load those backup data into other controllers.
If two controllers are loaded with the same job, paths of the two manipulators are different
due to the home positions or mechanical error of the component parts.
Be sure to check the operation instruction before operation.
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7 External Memory Devices
7.2 Handling Data
File Name
(Saved Data)
Data classification
 ALL CMOS AREA
 BATCH CMOS
 BATCH USER MEMORY
Single job
 JOB
Save
EDIT
Load
MAN EDIT
MAN
ALCMSxx.HEX


X
X
CMOSxx.HEX


X

JOBxx.HEX




JOBNAME.JBI




Related job (Job+Condition)
JOBNAME.JBR




Tool data
TOOL.CND




GENERAL Weaving data
DATA
User coordinate data
WEAV.CND




UFRAME.CND




Variable data
VAR.DAT




Arc start condition data
ARCSRT.CND




Arc end condition data
ARCEND.CND




Welding condition auxiliary
data
Power Source characteristic
data
Power Source characteristic
definition data
Shock detection level data
ARCSUP.DAT
















Motor gun pressure power
data
Motor gun dry spot
pressure data
Spot gun characteristic data
SPRESS.CND




















FILE/
WELDER.DAT
WELDUDEF.DAT
SHOCKLVL.CND
SPRESSCL.CND
SGUN.DAT
Spot gun condition auxiliary
data
Spot welding Power Source
characteristic data
Spot I/O allocation data
SGUNSUP.DAT
SPOTIO.DAT




Spot welding condition data
SPOTWELD.DAT








SWELDER.DAT
Short/Full open position data STROKE.DAT
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7 External Memory Devices
7.2 Handling Data
File Name
(Saved Data)
Data classification
   PARAMETER BATCH
Robot matching parameter

ALL.PRM
RC.PRM
PARAMET
 I/O DATA
SYSTEM
DATA
Save
EDIT
Load
MAN EDIT
MAN


X



X



X



X

System definition parameter
SD.PRM
Coordinate home position
parameter
System matching parameter
RO.PRM
SC.PRM


X

ClO parameter
CIO.PRM


X

Function definition parameter FD.PRM


X

Application parameter
AP.PRM


X

Transmission(general)
parameter
Sensor parameter
RS.PRM


X

SE.PRM


X

Servo parameter
SV.PRM


X

Servomotor parameter
SVM.PRM


X

Operation control parameter
AMC.PRM


X

Servo power block
parameter
Motion function parameter
SVP.PRM


X

MF.PRM


X

SERVOPACK parameter
SVS.PRM


X

Converter parameter
SVC.PRM


X

Concurrent I/O program
CIOPRG.LST


X

I/O name data
IONAME.DAT


X

Pseudo input signals
PSEUDOIN.DAT


X

User word registration
UWORD.DAT


X

SV monitor signals
SVMON.DAT


X

Variable name
VARNAME.DAT


X

Second home position
HOME2.DAT


X

Alarm history data
ALMHIST.DAT


X
X
Home position calibrating
data
System information
ABSO.DAT


X

SYSTEM.SYS


X
X
Work home position data
OPEORG.DAT


X

I/O message history data
IOMSGHST.DAT


X
X
Function key allocation data
KEYALLOC.DAT


X

EDIT : Edit Mode, MAN: Management Mode
 : Can be done, X : Cannot be done
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7 External Memory Devices
7.2 Handling Data
7.2.2
Collective Backup
For the NX100, four types of collective backup are available: CMOS.BIN, CMOSBK.BIN,
ALCMSxx.HEX, and CMOSxx.HEX.

CMOS.BIN
For the normal backup, use this data.
Save: Perform in the maintenance mode (the editing mode or higher.)
Load: Perform in the maintenance mode (the management mode.)
As for the load/save procedures, refer to “NX100 INSTRUCTIONS”.
Target Area: All areas of the internally-stored data. (Note that the monitoring time is not loaded.)

CMOSBK.BIN
This data is used in the automatic backup function.
Save: In the normal mode, saves with the preset conditions.
Load: Perform for the system restoration in the maintenance mode (the management mode.)
For details, refer to “NX100 INSTRUCTIONS”.
Target Area: All areas of the internally-stored data. (Note that the monitoring time is not loaded.)

CMOSxx.HEX
This data is loaded/saved in the FD/CF menu of the normal mode.
Save: Perform in the normal mode (the editing mode or higher.)
Load: Perform in the normal mode (the management mode.)
For details, refer to the following pages.
Target Area: The collected data including "Job File", "Data File", "Parameter File", "System
Data", and "I/O Data" which can be individually loaded/saved in the FD/CF menu. Because
the setting information of robot etc. are not included in the collected data, the system cannot
be completely restored.

ALCMSxx.HEX
This data is for the manufacturer only. Users can save but cannot load this data.
In order to save the batch data, the following free space per file is needed in the Compact Flash card.
JZNC-NIF01-1: (The number of stored file + 1) x 7.5 MByte
JZNC-NIF01-2: (The number of stored file + 1) x 11.0 MByte
Note that the free space for one working file is needed in addition to the above mentioned space when
using the automatic backup function.
Besides, it is recommended to store the backup data in two or more Compact Flash cards to minimize
problems if the Compact Flash card is damaged.
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7 External Memory Devices
7.2 Handling Data
7.2.3
File Existence
The following data categories show whether the same file name as a file that is going to be saved is in
the external memory device or not.
• JOB
No mark appears when the selected folder has the file of the same name.
The asterisk (*) appears when the folder does not have the same name file.
• FILE/GENERAL DATA, PARAMETER, SYSTEM DATA, I/O DATA
Black circle (
White circle (
) appears when the selected folder has the file of the same name.
) appears when the folder does not have the same name file.
Whether the job after editing is saved or not can be judged by checking “TO SAVE TO FD”
in the JOB HEADER window. However, the status of “TO SAVE TO FD” does not change
after saving “ BATCH USER MEMORY” and “ BATCH CMOS.”
SUPPLE
-MENT
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (SAVE)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
TEST3A-8
TEST3A-9
TEST3A-B
TEST3A-C
Main Menu
DATA
UTILITY
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
TOOL DATA
WEAVING DATA
USER COORDINATE DATA
VARIABLE DATA
ARC START COND DATA
ARC END COND DATA
ARC AUXILIARY COND DATA
POWER SOURCE COND DATA
USER DEF PWR SRC COND DATA
INTERRUPT JOB
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
TEST3A-A
TEST3A-D
Main Menu
ShortCut
Example of JOB

EDIT
.CND
TOOL
.CND
WEAV
UFRAME .CND
.DAT
VAR
.CND
ARCSRT
ARCEND .CND
ARCSUP .DAT
WELDER .DAT
WELDUDEF.DAT
.DAT
INTJOB
ShortCut
Example of FILE/GENERAL DATA
Saving by Overwriting
“ BATCH USER MEMORY”, “ BATCH CMOS”, and “ ALL CMOS AREA” can be overwritten.
As for “ JOB”, “ FILE/GENERAL DATA”, “ PARAMETER”, “ SYSTEM DATA”, and
“ I/O DATA”, those data cannot be overwritten. Delete the target file in the device before the saving
operation. If Compact Flash is used as the device, the file does not need to be deleted because
another folder can be created to save the data.
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7.3 Operation Flow
7.3
Operation Flow
The following description is the operation flow for external memory devices.
• SELECT DEVICE
Select {FD/PC CARD} --> {DEVICE}, and the destination device for saving.
The device selected is valid after turning the power supply ON again.
*1 Sub menu {FORMAT} appears when selecting FC1 or FC2.
• SELECT FOLDER
Select {FD/PC CARD} --> {DEVICE}, and the destination folder for saving.
The folder selected is invalid after turning the power supply ON again.
*2 {FOLDER} appears when using the Compact Flash as a device.
*3 The settings of {CREATE NEW FOLDER}, {DELETE FOLDER}, and {ROOT FOLDER} can be
set.
• SELECT SUB MENU
Select an operation to be performed from {LOAD}, {SAVE}, {VERIFY}, and {DELETE}.
• SELECT DATA CATEGORY
Select the target data category.
• SELECT DATA
Select the target data.
" BATCH USER MEMORY", " BATCH CMOS", and " ALL CMOS AREA" do not require this
operation.
*4 Individual selection, batch selection, marker (*) selection, and canceling selection can be
performed.
• EXECUTE
Select [ENTER] or {EXECUTE}.
Main Menu
{FD/PC CARD}
Sub Menu
{LOAD}
{SAVE}
{VERIFY}
*1
{FORMAT}
{DEVICE}
*2
{FOLDER}
Select Floppy Type
Select Size
Select
Device
*3
Operate Folder
{DELETE}
Select Data Category
{EXECUTE}
Select Data*4
Select Folder
Select [ENTER] or {EXECUTE}
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7.3 Operation Flow

Operating a Folder
Folders can be used in order to classify and sort out the data such as jobs and condition files when
using the Compact Flash. The folders can be created in hierarchical structure positioning a root folder
at the top.
Restrictions
Folder name: Up to 8 one-byte characters + 3 characters for extension
*Long folder names cannot be used such as the name that exceeds the restricted number of
characters mentioned above as created in PC, etc.
Maximum path length: 64 one-byte characters
*“ERROR 3360: INVALID FOLDER” appears when selecting the folder of which name exceeds the
maximum path length.
Selecting a Folder
Operation
Explanation
1
Select {FD/PC CARD} under
the main menu.
2
Select {FOLDER}.
The FOLDER LIST window appears.
3
Move the cursor to a folder
and press [SELECT].
A folder can be selected.
4
To move the hierarchy from a
child folder to a parent folder,
move the cursor to [..] and
press [SELECT].
DATA
EDIT
DISPLAY
UTILITY
FOLDER LIST
TARGET FOLDER FOLDER 1
FOLDER NUM.
0003
[..]
FOLDER 2
FOLDER 3
Main Menu
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7.3 Operation Flow
Creating a Folder
Operation
Explanation
1
Change the security to
management mode.
Select {FD/PC CARD} under
the main menu.
2
Select {FOLDER}.
The FOLDER LIST window appears.
3
Move the cursor to a folder
and press [SELECT].
Select the higher-level folder where a new folder to be created
should be contained. When creating a folder in top-level, this
step is unnecessary.
4
Select {DATA} --> {CREATE
A folder is created.
NEW FOLDER} under the pulldown menu.
Input folder name using the
keyboard on the screen and
press [ENTER].
Deleting a Folder
Operation
Explanation
1
Change the security to
management mode.
Select {FD/PC CARD} under
the main menu.
2
Select {FOLDER}.
The FOLDER LIST window appears.
3
Move the cursor to a folder
and press [SELECT].
Select the higher-level folder where a folder to be deleted is
contained. When deleting a folder in top-level, this step is
unnecessary.
4
Delete the files and subfolders A folder cannot be deleted if the folder contains files or subfolders
beforehand inside the folder
inside.
that is to be deleted.
5
Move the cursor to the folder
to be deleted.
Select {DATA} --> {DELETE
FOLDER} under the pull-down
menu.
DATA
EDIT
DISPLAY
UTILITY
CREATE NEW
FOLDER
FOLDER 2
0003
DELETE FOLDER
FOLDER 4
FOLDER 5
Main Menu
ShortCut
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7.3 Operation Flow
Initial Folder Setting
The folder that is contained in a deep hierarchy can be selected in a shortened operation.
When selecting {LOAD}, {SAVE}, {VERIFY}, or {DELETE} from the sub menu of {FD/PC CARD}, the
folder that has been set as an initial folder becomes a current folder.
Operation
Explanation
1
Change the security to
management mode.
Select {FD/PC CARD} under
the main menu.
2
Select {FOLDER}.
The FOLDER LIST window appears.
3
Move the cursor to a folder
and press [SELECT].
Select a folder that is to be set as a root folder.
4
Select {DISPLAY} --> {ROOT The INITIAL FOLDER SETTING window appears.
FOLDER} under the pull-down
EDIT
DISPLAY
DATA
UTILITY
menu.
FOLDER LIST
ROOT FOLDER
TARGET FOLDER FOLDER 1
FOLDER NUM.
0003
[..]
FOLDER 2
FOLDER 3
Main Menu
ShortCut
A folder currently selected appears in “CURRENT FOLDER” and
the initial folder appears in “ROOT FOLDER.”
DATA
EDIT
DISPLAY
UTILITY
ROOT ENTRY
AUTO CHANGE
CURRENT FOLDER
C:/FOLDER 1 /FOLDER 2
OFF
ROOT FOLDER
C:/
Main Menu
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7.3 Operation Flow
Operation
5
Explanation
Select {EDIT} --> {SETUP
The initial folder is set in “ROOT FOLDER.”
FOLDER} under the pull-down
DATA
DISPLAY UTILITY
EDIT
menu.
ROOT ENTRY
Move the cursor to “AUTO
CHANGE” and press
[SELECT].
AUTO CHANGE
CURRENT FOLDER
C:/FOLDER 1 /FOLDER 2
ON
ROOT FOLDER
C:/FOLDER 1 /FOLDER 2
Main Menu
ShortCut
“AUTO CHANGE” shows “ON” and the initial folder setting
becomes valid. Subsequently, every time {FD/PC CARD} -->
{FOLDER} is selected, the initial folder that has been set
becomes a current folder.
SUPPLE
-MENT
When the initial folder is missing due to exchange of the Compact Flash, etc., “ERROR
3360: INVALID FOLDER” appears when selecting {LOAD}, {SAVE}, {VERIFY}, {DELETE}
or {FOLDER} menu from {FD/PC CARD}, and simultaneously the initial folder becomes
invalid. Set “ON” in “AUTO CHANGE” when the initial folder setting needs to be valid.
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7.3 Operation Flow

Saving Data
To download data from the memory of the NX100 to the external memory device, perform the following
procedure.
NOTE
Data such as PARAMETER, SYSTEM DATA, I/O DATA, and the batch data such as
PARAMETER BATCH, BATCH CMOS, ALL CMOS AREA, that include PARAMETER,
SYSTEM DATA, I/O DATA, contain the information specific to each robot controller.
Those data are prepared as backup data for reloading into the controller used for saving.
Loading the data from other controller may result in destruction or loss of critical system
information.
Take extra care for the saved data.
Saving a Job
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
3
Select {JOB}.
The JOB LIST window appears.
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (SAVE)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
TEST3A-8
TEST3A-9
TEST3A-B
TEST3A-C
4
Select a job to be saved.
UTILITY
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
TEST3A-A
TEST3A-D
The selected job is marked with “.”
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (SAVE)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
TEST3A-8
TEST3A-9
TEST3A-B
TEST3A-C
Main Menu
7-15
UTILITY
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
TEST3A-A
TEST3A-D
ShortCut
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7.3 Operation Flow
Operation
5
Press [ENTER].
Explanation
The confirmation dialog box appears.
Save?
YES
6
Select “YES.”
NO
The selected job is saved.
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7.3 Operation Flow
Saving a Condition File or General Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Move the cursor to {FILE/
GENERAL DATA} and select.
ShortCut
The selection window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
TOOL DATA
WEAVING DATA
USER COORDINATE DATA
VARIABLE DATA
ARC START COND DATA
ARC END COND DATA
ARC AUXILIARY COND DATA
POWER SOURCE COND DATA
USER DEF PWR SRC COND DATA
SHOCK DETECTION LEVEL
Main Menu
.CND
TOOL
.CND
WEAV
UFRAME .CND
.DAT
VAR
.CND
ARCSRT
ARCEND .CND
ARCSUP .DAT
WELDER .DAT
WELDUDEF.DAT
SHOCKLVL .CND
ShortCut
The content of the display varies in accordance with applications
and options.
4
Select condition files or
general data to be saved.
The selected files are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
TOOL DATA
WEAVING DATA
USER COORDINATE DATA
VARIABLE DATA
ARC START COND DATA
ARC END COND DATA
ARC AUXILIARY COND DATA
POWER SOURCE COND DATA
USER DEF PWR SRC COND DATA
SHOCK DETECTION LEVEL
Main Menu
7-17
.CND
TOOL
.CND
WEAV
UFRAME .CND
.DAT
VAR
.CND
ARCSRT
ARCEND .CND
ARCSUP .DAT
WELDER .DAT
WELDUDEF.DAT
SHOCKLVL .CND
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7.3 Operation Flow
Operation
5
Press [ENTER].
Explanation
The confirmation dialog box appears.
Save?
YES
6
Select “YES.”
NO
The selected files are saved.
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7.3 Operation Flow
Saving a Parameter
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Move the cursor to
{PARAMETER} and select.
The selection window for parameters appears.
DATA
Select parameters to be
saved.
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
 BATCH PARAMETER
 ROBOT MATCH PRMTR
 SYS DEF PRMTR
 COORD ORG PRMTR
 SYS MATCH PRMTR
 CIO PRMTR
 FCTN DEF PRMTR
 APPLI PRMTR
 TRANSMISSION (USER)
 SENSOR PRMTR
 SERVO PRMTR
ALL
RC
SD
RO
SC
CIO
FD
AP
RS
SE
SV
Main Menu
4
ShortCut
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
ShortCut
The selected parameters are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
 BATCH PARAMETER
 ROBOT MATCH PRMTR
 SYS DEF PRMTR
 COORD ORG PRMTR
 SYS MATCH PRMTR
 CIO PRMTR
 FCTN DEF PRMTR
 APPLI PRMTR
 TRANSMISSION (USER)
 SENSOR PRMTR
 SERVO PRMTR
ALL
RC
SD
RO
SC
CIO
FD
AP
RS
SE
SV
Main Menu
7-19
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
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7.3 Operation Flow
Operation
5
Press [ENTER].
Explanation
The confirmation dialog box appears.
Save?
YES
6
Select “YES.”
NO
The selected parameters are saved.
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7.3 Operation Flow
Saving I/O Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
3
Move the cursor to {I/O DATA} The selection window for I/O data appears.
and select.
EDIT
UTILITY
DATA
DISPLAY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
 C.IO PRGM
 IO NAME DATA
 SIMULATED IN DATA
4
Select I/O data to be saved.
CIOPRG .LIST
IONAME .DAT
PSEUDOIN.DAT
The selected I/O data are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
 C.IO PRGM
 IO NAME DATA
 SIMULATED IN DATA
5
Press [ENTER].
CIOPRG .LIST
IONAME .DAT
PSEUDOIN.DAT
The confirmation dialog box appears.
Save?
YES
6
Select “YES.”
NO
The selected I/O data are saved.
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7.3 Operation Flow
Saving System Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Move the cursor to {SYSTEM
DATA} and select.
ShortCut
The selection window for system data appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
 USER WORD
 SV MONITOR SIGNAL
 SECOND HOME POSITION
 ALARM HISTORY DATA
 HOME POS CALIB DATA
 SYSTEM INFORMATION
 OPERATION ORG POS DATA
 I/O MESSAGE HISTORY DATA
 KEY ALLOCATION DATA
Main Menu
4
Select system data to be
saved.
UWORD .DAT
.DAT
SVMON
.DAT
HOME2
ALMHIST .DAT
.DAT
ABSO
SYSTEM .SYS
OPEORG .DAT
IOMSGHST .DAT
KEYALLOC .DAT
ShortCut
The selected system data are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF(SAVE)
FOLDER
 USER WORD
 SV MONITOR SIGNAL
 SECOND HOME POSITION
 ALARM HISTORY DATA
 HOME POS CALIB DATA
 SYSTEM INFORMATION
 OPERATION ORG POS DATA
 I/O MESSAGE HISTORY DATA
 KEY ALLOCATION DATA
Main Menu
UWORD .DAT
.DAT
SVMON
.DAT
HOME2
ALMHIST .DAT
.DAT
ABSO
SYSTEM .SYS
OPEORG .DAT
IOMSGHST .DAT
KEYALLOC .DAT
ShortCut
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7.3 Operation Flow
Operation
5
Press [ENTER].
Explanation
The confirmation dialog box appears.
Save?
YES
6
Select “YES.”
SUPPLE
-MENT
NO
The selected system data are saved.
“BATCH USER MEMORY”, “BATCH CMOS”, and “ALL CMOS AREA” can be overwritten.
As for “JOB”, “FILE/GENERAL DATA”, “PARAMETER”, “SYSTEM DATA”, and “I/O DATA”,
those data cannot be overwritten. In that case, delete the file of the same name in the
folder beforehand or create a new folder so that the data can be stored inside.
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7 External Memory Devices
7.3 Operation Flow
Saving All User’s Programs
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Move the cursor to {BATCH
USER MEMORY} and select.
4
Select “EXECUTE.”
ShortCut
The confirmation dialog box appears.
Save?
YES
5
Select “YES.”
NO
All user’s programs are saved.
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7.3 Operation Flow
Saving All CMOS Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Move the cursor to {BATCH
CMOS} and select.
4
Select “EXECUTE.”
ShortCut
The confirmation dialog box appears.
Save?
YES
5
Select “YES.”
NO
All CMOS data are saved.
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7.3 Operation Flow
Saving All Data in CMOS Area
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {SAVE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (SAVE) UN-USED MEMORY 55.91 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Move the cursor to {ALL
CMOS AREA} and select.
4
Select “EXECUTE.”
ShortCut
The confirmation dialog box appears.
Save?
YES
5
Select “YES.”
NO
All data in CMOS area are saved.
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7.3 Operation Flow

Loading Data
To upload data from the external memory device to the memory of the NX100, follow the procedure in
the following.
NOTE
Data such as PARAMETER, SYSTEM DATA, I/O DATA, and the batch data such as
PARAMETER BATCH, BATCH CMOS, ALL CMOS AREA, that include PARAMETER,
SYSTEM DATA, I/O DATA, contain the information specific to each robot controller.
Those data are prepared as backup data for reloading into the controller used for saving.
Loading the data from other controller may result in destruction or loss of critical system
information.
Take extra care for the saved data.
Loading a Job
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {LOAD}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD) UN-USED MEMORY 55.32 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Select {JOB}.
ShortCut
The job selection window appears.
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
TEST3A-8
TEST3A-9
TEST3A-B
TEST3A-C
Main Menu
7-27
UTILITY
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
TEST3A-A
TEST3A-D
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7.3 Operation Flow
Operation
4
Select a job to be loaded.
Explanation
The selected jobs are marked with “.”
DATA
EDIT
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
TEST3A-8
TEST3A-9
TEST3A-B
TEST3A-C
Main Menu
5
Press [ENTER].
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
TEST3A-A
TEST3A-D
ShortCut
The confirmation dialog box appears.
Load?
YES
6
Select “YES.”
NO
The selected jobs are loaded.
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7 External Memory Devices
7.3 Operation Flow
Loading a Condition File or General Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {LOAD}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD) UN-USED MEMORY 55.32 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA
0
Main Menu
3
Move the cursor to {FILE/
GENERAL DATA} and select.
ShortCut
The selection window for condition file or general data appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
.CND
 TOOL DATA
TOOL
.CND
 WEAVING DATA
WEAV
 USER COORDINATE DATA
UFRAME .CND
.DAT
 VARIABLE DATA
VAR
.CND
 ARC START COND DATA
ARCSRT
 ARC END COND DATA
ARCEND .CND
 ARC AUXILIARY COND DATA
ARCSUP .DAT
 POWER SOURCE COND DATA
WELDER .DAT
 USER DEF PWR SRC COND DATA WELDUDEF.DAT
 SHOCK DETECTION LEVEL
SHOCKLVL .CND
Main Menu
4
Select a condition file or
general data to be loaded.
ShortCut
The selected files are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
 TOOL DATA
 WEAVING DATA
 USER COORDINATE DATA
 VARIABLE DATA
 ARC START COND DATA
 ARC END COND DATA
 ARC AUXILIARY COND DATA
 POWER SOURCE COND DATA
 USER DEF PWR SRC COND DATA
 SHOCK DETECTION LEVEL
Main Menu
7-29
.CND
TOOL
.CND
WEAV
UFRAME .CND
.DAT
VAR
.CND
ARCSRT
ARCEND .CND
ARCSUP .DAT
WELDER .DAT
WELDUDEF.DAT
SHOCKLVL .CND
ShortCut
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7 External Memory Devices
7.3 Operation Flow
Operation
5
Press [ENTER].
Explanation
The confirmation dialog box appears.
Load?
YES
6
Select “YES.”
NO
The selected files are loaded.
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7 External Memory Devices
7.3 Operation Flow
Loading a Parameter
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {LOAD}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD) UN-USED MEMORY 55.32 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
Main Menu
3
Move the cursor to
{PARAMETER} and select.
ShortCut
The selection window for parameters appears.
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
 BATCH PARAMETER
 ROBOT MATCH PRMTR
 SYS DEF PRMTR
 COORD ORG PRMTR
 SYS MATCH PRMTR
 CIO PRMTR
 FCTN DEF PRMTR
 APPLI PRMTR
 TRANSMISSION (USER)
 SENSOR PRMTR
 SERVO PRMTR
Main Menu
4
Select parameters to be
loaded.
UTILITY
ALL
RC
SD
RO
SC
CIO
FD
AP
RS
SE
SV
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
ShortCut
The selected parameters are marked with “.”
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
 BATCH PARAMETER
 ROBOT MATCH PRMTR
 SYS DEF PRMTR
 COORD ORG PRMTR
 SYS MATCH PRMTR
 CIO PRMTR
 FCTN DEF PRMTR
 APPLI PRMTR
 TRANSMISSION (USER)
 SENSOR PRMTR
 SERVO PRMTR
Main Menu
7-31
UTILITY
ALL
RC
SD
RO
SC
CIO
FD
AP
RS
SE
SV
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
.PRM
ShortCut
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7.3 Operation Flow
Operation
5
Press [ENTER].
Explanation
The confirmation dialog box appears.
Load?
YES
6
Select “YES.”
NO
The selected parameters are loaded.
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7 External Memory Devices
7.3 Operation Flow
Loading I/O Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {LOAD}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD) UN-USED MEMORY 55.32 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
3
Move the cursor to {I/O DATA} The selection window for I/O data appears.
and select.
EDIT
DATA
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
 C.IO PRGM
 IO NAME DATA
 SIMULATED IN DATA
4
Select I/O data to be loaded.
The selected I/O data are marked with “.”
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
 C.IO PRGM
 IO NAME DATA
 SIMULATED IN DATA
5
Press [ENTER].
CIOPRG .LIST
IONAME .DAT
PSEUDOIN.DAT
UTILITY
CIOPRG .LIST
IONAME .DAT
PSEUDOIN.DAT
The confirmation dialog box appears.
Load?
YES
6
Select “YES.”
NO
The selected I/O data are loaded.
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7 External Memory Devices
7.3 Operation Flow
Loading System Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {LOAD}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD) UN-USED MEMORY 55.32 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
Main Menu
3
Move the cursor to {SYSTEM
DATA} and select.
ShortCut
The selection window for system data appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
 USER WORD
 SV MONITOR SIGNAL
 SECOND HOME POSITION
 ALARM HISTORY DATA
 HOME POS CALIB DATA
 SYSTEM INFORMATION
 OPERATION ORG POS DATA
 I/O MESSAGE HISTORY DATA
 KEY ALLOCATION DATA
Main Menu
4
Select system data to be
loaded.
UWORD .DAT
.DAT
SVMON
.DAT
HOME2
ALMHIST .DAT
.DAT
ABSO
SYSTEM .SYS
OPEORG .DAT
IOMSGHST .DAT
KEYALLOC .DAT
ShortCut
The selected system data are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD)
FOLDER
 USER WORD
 SV MONITOR SIGNAL
 SECOND HOME POSITION
 ALARM HISTORY DATA
 HOME POS CALIB DATA
 SYSTEM INFORMATION
 OPERATION ORG POS DATA
 I/O MESSAGE HISTORY DATA
 KEY ALLOCATION DATA
Main Menu
UWORD .DAT
.DAT
SVMON
.DAT
HOME2
ALMHIST .DAT
.DAT
ABSO
SYSTEM .SYS
OPEORG .DAT
IOMSGHST .DAT
KEYALLOC .DAT
ShortCut
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7 External Memory Devices
7.3 Operation Flow
Operation
5
Press [ENTER].
Explanation
The confirmation dialog box appears.
Load?
YES
6
Select “YES.”
NO
The selected system data are loaded.
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7 External Memory Devices
7.3 Operation Flow
Loading All User’s Programs
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {LOAD}.
Explanation
The following window appears.
DATA
EDIT
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD) UN-USED MEMORY 55.32 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
Main Menu
3
Move the cursor to {BATCH
USER MEMORY} and select.
4
Select “EXECUTE.”
ShortCut
The confirmation dialog box appears.
Load?
YES
5
Select “YES.”
NO
All user’s programs are loaded.
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7 External Memory Devices
7.3 Operation Flow
Loading All CMOS Data
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {LOAD}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (LOAD) UN-USED MEMORY 55.32 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
Main Menu
3
Move the cursor to {BATCH
CMOS} and select.
4
Select “EXECUTE.”
ShortCut
The confirmation dialog box appears.
Load?
YES
5
Select “YES.”
NO
All CMOS data are loaded.
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7 External Memory Devices
7.3 Operation Flow

Verifying Data
Follow the procedure below to verify data in the memory of the NX100 with data saved in the external
memory device.
NOTE
This function cannot be executed with “BATCH USER MEMORY,” “BATCH CMOS,” or
“ALL CMOS AREA” specified.
Verifying a Job
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {VERIFY}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (VERIFY) UN-USED MEMORY 54.73 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
Main Menu
3
Select {JOB}.
ShortCut
The job selection window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (VERIFY)
SINGLE NO. 33
FOLDER
AA37
AA35
AA36
AA6
AA4
AA5
AA9
AA7
AA8
TEST
N
N1
TEST3A
TEST2
TEST3
TEST3A-(
TEST3A-!
TEST3A-’
TEST3A-1
TEST3A-)
TEST3A-TEST3A-4
TEST3A-2
TEST3A-3
TEST3A-7
TEST3A-5
TEST3A-6
TEST3A-A
TEST3A-8
TEST3A-9
TEST3A-D
TEST3A-B
TEST3A-C
Main Menu
ShortCut
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7.3 Operation Flow
Operation
4
Select a job to be verified.
Explanation
The selected jobs are marked with “.”
DATA
EDIT
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (VERIFY)
SINGLE NO. 33
FOLDER
AA35
AA37
AA36
AA4
AA6
AA5
AA7
AA9
AA8
N
TEST
N1
TEST2
TEST3A
TEST3
TEST3A-!
TEST3A-(
TEST3A-’
TEST3A-)
TEST3A-1
TEST3A-TEST3A-2
TEST3A-4
TEST3A-3
TEST3A-5
TEST3A-7
TEST3A-6
TEST3A-8
TEST3A-A
TEST3A-9
TEST3A-B
TEST3A-D
TEST3A-C
Main Menu
5
Press [ENTER].
ShortCut
The confirmation dialog box appears.
Verify?
YES
6
Select “YES.”
NO
The selected jobs are verified.
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7 External Memory Devices
7.3 Operation Flow
Verifying a File
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {VERIFY}.
Explanation
The following window appears.
DATA
EDIT
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (VERIFY) UN-USED MEMORY 54.73 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
3
Select the group of the file to
be verified.
4
Select a file to be verified.
The selected files are marked with “.”
DATA
EDIT
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (VERIFY)
FOLDER
 TOOL DATA
 WEAVING DATA
 USER COORDINATE DATA
 VARIABLE DATA
 ARC START COND DATA
 ARC END COND DATA
 ARC AUXILIARY COND DATA
 POWER SOURCE COND DATA
 USER DEF PWR SRC COND DATA
 SHOCK DETECTION LEVEL
5
Press [ENTER].
.CND
TOOL
.CND
WEAV
UFRAME .CND
.DAT
VAR
.CND
ARCSRT
ARCEND .CND
ARCSUP .DAT
WELDER .DAT
WELDUDEF.DAT
SHOCKLVL .CND
The confirmation dialog box appears.
Verify?
YES
6
Select “YES.”
NO
The selected files are verified.
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7 External Memory Devices
7.3 Operation Flow

Deleting Data
Follow the procedure below to delete a file or files on an external memory device.
Deleting a Job
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {DELETE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (DELETE) UN-USED MEMORY 54.14 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
3
Select {JOB}.
The job selection window appears.
DATA
EDIT
UTILITY
DISPLAY
FLOPPY DISK/Compact Flash
CF (DELETE)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A 5
TEST3A 6
4
Select a job to be deleted.
The selected jobs are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (DELETE)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
5
Press [ENTER].
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A 7
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
The confirmation dialog box appears.
Delete?
YES
6
Select “YES.”
NO
The selected jobs are deleted.
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7 External Memory Devices
7.3 Operation Flow
Deleting a File
Operation
1
Select {FD/PC CARD} under
the main menu.
2
Select {DELETE}.
Explanation
The following window appears.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (DELETE) UN-USED MEMORY 54.14 MB
FOLDER
 JOB
57
 FILE/GENERAL DATA
0
 BATCH USER MEMORY
0
 PARAMETER
0
 SYSTEM DATA
0
 I/O DATA
0
 BATCH CMOS
0
 ALL CMOS AREA

0
3
Select the group of the file to
be deleted.
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (DELETE)
FOLDER
 TOOL DATA
 WEAVING DATA
 USER COORDINATE DATA
 VARIABLE DATA
 ARC START COND DATA
 ARC END COND DATA
 ARC AUXILIARY COND DATA
 POWER SOURCE COND DATA
 USER DEF PWR SRC COND DATA
4
Select a file to be deleted.
The selected files are marked with “.”
DATA
EDIT
DISPLAY
UTILITY
FLOPPY DISK/Compact Flash
CF (DELETE)
FOLDER
 TOOL DATA
 WEAVING DATA
 USER COORDINATE DATA
 VARIABLE DATA
 ARC START COND DATA
 ARC END COND DATA
 ARC AUXILIARY COND DATA
 POWER SOURCE COND DATA
 USER DEF PWR SRC COND DATA
 SHOCK DETECTION LEVEL
5
Press [ENTER].
.CND
TOOL
.CND
WEAV
UFRAME .CND
.DAT
VAR
.CND
ARCSRT
ARCEND .CND
ARCSUP .DAT
WELDER .DAT
WELDUDEF.DAT
.CND
TOOL
.CND
WEAV
UFRAME .CND
.DAT
VAR
.CND
ARCSRT
ARCEND .CND
ARCSUP .DAT
WELDER .DAT
WELDUDEF.DAT
SHOCKLVL .CND
The confirmation dialog box appears.
Delete?
YES
6
Select “YES.”
NO
The selected files are deleted.
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7 External Memory Devices
7.3 Operation Flow

Job Selection Mode
The method of selecting a job and various data files when loading, saving, verifying, and deleting are
described in the following:
• Individual Selection
Jobs and data files are selected individually one at a time.
• Batch Selection
Jobs and data files are selected all at one time.
• Marker (*) Selection
Loading: selects the files in the external memory device.
Saving: selects the files in the memory of the NX100.
Verifying: selects both the files in the external memory device and in the memory of the
NX100.
Using Individual Selection
Operation
1
In either the external memory
JOB LIST window or the file
selection window, move the
cursor to a job or a file to be
selected.
Explanation
DATA
Press [SELECT].
Move the cursor to a file
needed and press [SELECT]
again.
*To cancel the selected items,
select {EDIT} and then
{CANCEL SELECT}.
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
TEST3A-8
TEST3A-9
TEST3A-B
TEST3A-C
Main Menu
2
EDIT
UTILITY
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
TEST3A-A
TEST3A-D
ShortCut
The selected jobs are marked with “.”
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD)
SINGLE NO.
FOLDER
AA35
AA36
AA4
AA5
AA7
AA8
N
N1
TEST2
TEST3
TEST3A-!
TEST3A-’
TEST3A-)
TEST3A-TEST3A-2
TEST3A-3
TEST3A-5
TEST3A-6
TEST3A-8
TEST3A-9
TEST3A-B
TEST3A-C
Main Menu
7-43
UTILITY
33
AA37
AA6
AA9
TEST
TEST3A
TEST3A-(
TEST3A-1
TEST3A-4
TEST3A-7
TEST3A-A
TEST3A-D
ShortCut
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7 External Memory Devices
7.3 Operation Flow
Using Batch Selection
Operation
1
In either the external memory
JOB LIST window or the file
selection window, select
{EDIT} under the menu.
Explanation
The pull-down menu appears.
FOLDER
UTILITY
DISPLAY UTILITY
DISPLAY
EDIT
EDIT
FLOPPY DISK/Compact
SELECT ALL Flash
CF (LOAD)
SINGLE NO.
FOLDER SELECT MARKER
33
(*)
AA35
AA36
SELECT
AA4 CANCEL AA5
AA7
* AA8
N
* N1
2
Select {SELECT ALL}.
*To cancel the selected items,
select {EDIT} and then
{CANCEL SELECT}.
*
*
AA37
AA6
AA9
TEST
*
*
All jobs are selected.
DATA
EDIT
DISPLAY
FLOPPY DISK/Compact Flash
CF (LOAD) SINGLE
NO.
FOLDER
AA35
AA4
AA7
*
N
*
TEST2
*
TEST3A-! *
TEST3A-) *
TEST3A-2 *
TEST3A-5 *
TEST3A-8 *
TEST3A-B*
Main Menu
AA36
AA5
AA8
*
N1
*
TEST3
*
TEST3A-’ *
TEST3A-- *
TEST3A-3 *
TEST3A-6 *
TEST3A-9 *
TEST3A-C*
UTILITY
33
AA37
AA6
AA9
*
TEST
*
TEST3A *
TEST3A-( *
TEST3A-1 *
TEST3A-4 *
TEST3A-7 *
TEST3A-A *
TEST3A-D *
ShortCut
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7 External Memory Devices
7.3 Operation Flow
Using Marker (*) Selection
Operation
1
In either the external memory
JOB LIST window or the file
selection window, select
{EDIT} under the menu.
Explanation
The pull-down menu appears.
FOLDER
EDIT
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8 Parameter
8.1 Parameter Configuration
8 Parameter
8.1
Parameter Configuration
The parameters of NX100 can be classified into the following seven:
Motion Speed Setting Parameter
Determines the manipulator motion speed for jog operation at teaching, test operation, or playback
operation.
Mode Operation Setting Parameter
Makes the setting for various operations in the teach mode or remote mode.
Parameter according to Interference Area
Limits the P-point maximum envelope of the manipulator or sets the interference area for axis
interference or cubic interference.
Parameter according to Status I/O
Sets the parity check or I/O setting for user input/output signals.
Parameter according to Coordinated or Synchronized Operation
Makes the settings for coordinated or synchronized operations between manipulators or between
manipulators and stations.
Parameter for Other Functions or Applications
Makes the settings for other functions or applications.
Hardware Control Parameter
Makes the hardware settings for fan alarm or relay operation, etc.
S1CxG Parameters
SUPPLE
-MENT
The initial setting of S1CxG parameters depends on the manipulator model.
For a system in which two manipulators are controlled, the following two types of
parameters are used: S1C1G type and S1C2G type.
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8.2 Motion Speed Setting Parameters
8.2
Motion Speed Setting Parameters
These parameters set the manipulator motion speed for jog operation at teaching, test operation, or
playback operation.

S1CxG000: IN-GUARD SAFE OPERATION MAX. SPEED
Units: 0.01%
The upper speed limit is set for in-guard safe operation. While the in-guard safe operation command
signal is being input, the TCP speed is limited to the TCPmax speed.

S1CxG001: DRY-RUN SPEED
Units: 0.01%
This is a dry-run operation speed setting value used when checking the path. Take safety into
consideration when setting changes are unnecessary.
Normal playback operation speed
I n- gu ard safe
oper ation speed
limit
Operation speed under in-guard
safe operation
Teach-speed
Dry-run speed
Operation speed
when dry-run is
specified.

S1CxG002 to S1CxG009: JOINT SPEED FOR REGISTRATION
Units: 0.01%
The value set in these parameters is registered as the joint speed for each speed level when teaching
the position data with the programming pendant. The percentage corresponding to the set value at
each level is registered as 100% of the value set in the playback speed limit. Values greater than those
set as speed limit values cannot be set.

S1CxG010 to S1CxG017: LINEAR SPEED FOR REGISTRATION
Units: 0.1mm/s
The value set in these parameters is registered as the linear speed for each speed level when teaching
the position data with the programming pendant. Values greater than those set as playback speed limit
values cannot be set.
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8.2 Motion Speed Setting Parameters

S1CxG018 to S1CxG025: POSITION ANGLE SPEED
Units: 0.1°/s
The value set in these parameters is registered as the position angle speed for each speed level when
teaching the position data with the programming pendant. Values greater than those set as playback
speed limit cannot be set.

S1CxG026 to S1CxG029: JOG OPERATION ABSOLUTE VALUE
SPEED
Units: 0.1mm/s
These are setting values of jog operation speed set by the programming pendant. Values greater than
those set as jog operation speed limit value cannot be set.

Low level
:
Jog operation speed when “LOW” manual speed is specified.
Medium level
:
Jog operation speed when “MEDIUM” manual speed is specified.
High level
:
Jog operation speed when “HIGH” manual speed is specified.
High-speed-level
:
Jog operation speed when [HIGH SPEED] is pressed.
S1CxG030 to S1CxG032: INCHING MOVE AMOUNT
These parameters specify the amount per move at inching operation by the programming pendant.
The referenced parameter differs according to the operation mode at inching operation.

Joint Operation
:
1 to 10 pulses in units of 1 pulse
Cartesian/cylindrical, user, tool
:
0.01 to 2.55mm in units of 0.01mm
Motion about TCP
:
0.1 to 1.0° in units of 0.1°
S1CxG033 to S1CxG040: POSITIONING ZONE
This parameter value will be referenced when positioning is specified with the “MOVE” instruction:
MOVJ (joint movement) or MOVL (linear movement).
<Example> MOVL V=100.0 PL=1
Positioning level
Positioning specification
The value set in this parameter specifies the range to enter in relation to the teaching point for that step
positioning. After entering the specified positioning zone, the manipulator starts moving to the next
step. The system is also set up so inward turning operation is carried out in the moving section when
moving to the next path; speed changeover is smooth.
Since operation will be turning inward during playback, as shown in the following diagram, use setting
values taking safety aspects into consideration.
P1
l
P1
P1
l4
l3
l2
l1
l8
P1
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8.2 Motion Speed Setting Parameters
NOTE
This process becomes effective when change in direction of steps is between 250° and
155°.
Position Level
SUPPLE
-MENT
Position levels are divided into nine stages of 0 to 8 with the “MOV” instruction.
e.g. MOVL V=500 PL=1 (PL:Position Level)
The functions at each level are as follows:
0: Complete positioning to the target point
1 to 8: Inward turning operation
Following are explanations of the respective processing details and their relations with the
parameter.
• Level 0
Determines positioning completion when the amount of deviation (number of pulses) to
the target point of each axis comes within the position set zone specified by the
parameter.
After the positioning completes, the instruction system starts instruction to the next target
point.
• Level 1 to 8
Recognizes virtual positioning before the target point. The distance of the virtual target
position from the target point is specified at the positioning level.
Distance data corresponding to each level are set in the parameter. Determination of the
virtual target position is carried out in the instruction system.
Set zone: The zone of each positioning level set in the parameter. (μm)

S1CxG044: LOW-SPEED START
Units: 0.01%
This parameter specifies max. speed at low speed start. Specify the starting method for “initial
operation speed of manipulator” (S2C169).

S1CxG045 to S1CxG048: JOG OPERATION LINK SPEED
Units: 0.01%
These parameters prescribe the link speed at jog operation by the programming pendant. Specify the
percentage (%) for the jog operation speed limit, the joint max. speed.
S1CxG045: Jog operation link speed at level “LOW”
S1CxG046: Jog operation link speed at level “MEDIUM”
S1CxG047: Jog operation link speed at level “HIGH”
S1CxG048: Jog operation link speed at level “HIGH SPEED”

S1CxG056: WORK HOME POSITION RETURN SPEED
Units: 0.01%
This parameter specifies the speed for returning to work home position against the maximum speed.
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8 Parameter
8.2 Motion Speed Setting Parameters
S1CxG057: SEARCH MAX. SPEED

Units: 0.1mm/s
This parameter specifies the max. speed for searching.
S2C153: POSTURE CONTROL AT CARTESIAN OPERATION OF
JOG

This parameter specifies whether or not posture control is performed at cartesian operation of “JOG” by
the programming pendant. Use posture control unless a special manipulator model is used.
0:
With posture control
1:
Without posture control
S2C154: OPERATION IN USER COORDINATE SYSTEM (WHEN
EXTERNAL REFERENCE POINT CONTROL FUNCTION USED)

This parameter specifies the TCP or reference point of motion about TCP when the external reference
point control function is used and the user coordinate system is selected by the programming pendant.
0: When manipulator TCP is selected
Manipulator TCP
1: When external reference point is selected
External
reference
point
S2C238: CONTROLLED GROUP JOB TEACHING POSITION
CHANGE

This parameter is used to change only the job teaching position of controlled group axis.
0:
Not changed
1:
Changed
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8.2 Motion Speed Setting Parameters
S2C324, S2C325: OPERATION AFTER RESET FROM PATH
DEVIATION

These parameters specify the method of restarting the manipulator that has deviated from the normal
path such as an emergency stop or jog operation.
0:
Move to the indicated step (initial setting).
1:
After moving back to the deviated position, move to the indicated step.
2:
Move back to the deviated position and stop.
S2C324
Parameter Setting
Value
Movement When Restarting
Move to next step.
Emergency stop
0
Movement
when restarting
Move to next step.
After moving back to the deviated position, move to the indicated
step.
Emergency stop (Servo OFF)
1
Move to the path deviated
position and then move to the
indicated step.
Emergency stop
2
Move to the path deviated
position and stop.
When restarting, move to
the indicated step.
S2C325
Parameter Setting
Value
Movement When Restarting
Move to the next step.
0
Movement
when restarting
JOG
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Move to next step.
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8.2 Motion Speed Setting Parameters
S2C325
Parameter Setting
Value
Movement When Restarting
After moving back to the deviated position, move to the indicated
step.
Emergency stop (Servo OFF)
1
Move to the path deviated
position and then move to
the indicated step.
JOG
Emergency stop (Servo OFF)
Move to the path deviated
position and stop. When
restarting, move to the
indicated step.
2
JOG
NOTE
• To the path deviated position, the manipulator moves in a straight line at low speed
operation (SICxG044).
It is linear movement. After resetting from deviation, the speed becomes the same as
taught speed.
• The initial setting (prior to shipping) is 0: The manipulator moves in a straight line from the
present position to the indicated step.
S2C326: DEVIATED POSITION

This parameter specifies whether deviated position is to be robot current (reference) position or
feedback position.
0:
Return to the feedback position.
1:
Return to the current value (reference) position.
When emergency stop is applied during high-speed motion, the deviated position differs from the robot
current value (reference) position and feedback position as shown in the following.
Current value
(reference) position
Feedback position
Emergency stop
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8 Parameter
8.2 Motion Speed Setting Parameters
S2C327: CIRCULAR INTERPOLATION TOOL POSITION
CONTROL

This parameter selects tool position control methods at circular interpolation operation.
0:
Fixed angle position
Interpolation is performed depending on the position change viewed from the base
coordinate.
As the figure below (left) shows, when tool position viewed from outside is not significantly
changed and that position is mainly taught at teaching, this setting is required.
1:
Rotating position by circular arc path
Interpolation is performed depending on the position change corresponding to circular arc
path.
As the figure below (right) shows, when tool position corresponding to circular arc path (tool
position viewed from the center of the circular arc) is not significantly changed, and that
position is mainly taught at teaching, this setting is required.
1: Rotating position by circular arc path
0: Fixed angle position
P1
P1
P0

P0
P2
P2
S2C515: EMERGENCY STOP CURSOR ADVANCE CONTROL
FUNCTION
This parameter specifies whether to use the cursor advance control function or not.
0: Not use
1: Use
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8.2 Motion Speed Setting Parameters

S2C516: EMERGENCY STOP CURSOR ADVANCE CONTROL
FUNCTION CONT PROCESS COMPLETION POSITION
Units: %
When the manipulator stops during moving inner corner by CONT process, this parameter specifies
which position of the inner corner should be considered as the end of step.
Step 4
100%
B
When 50% is set, moves to Step 3 if the manipulator stops
in A section, and to Step 4 if the manipulator stops in B
section.
50%
A
Step 3
0%

S2C517: EMERGENCY STOP ADVANCE CONTROL
FUNCTION WORK START INSTRUCTION STEP MOTION
COMPLETION DELAY TIME
Units: ms
In order to recognize securely the completion of motion to the step of work start instruction (such as
ARCON instruction), this parameter specifies the delay time for motion completion of the work start
instruction step only.

S2C560: BASE AXIS OPERATION KEY ALLOCATION SETTING
Parameter Setting and Jog Operation Key Allocation
Coordinates/Parameter
S2C560= “0”
S2C560= “1”
Joint
Axis number order
Specified
Cylindrical
Axis number order
Specified
Cartesian
Specified
Specified
Tool
Specified
Specified
User
Specified
Specified
Axis number order: X: First axis, Y: Second axis, Z: Third axis
Specified: X: X-direction (RECT-X), Y: Y-direction (RECT-Y), Z: Z-direction (RECT-Z)
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8.2 Motion Speed Setting Parameters

S3C806 to S3C808: POSITION CORRECTING FUNCTION
DURING PLAYBACK
These parameters specify the necessary data for position correcting function (PAM) during playback
operation.
S3C806
Specifies the limit of position correcting range (Units: μm)
S3C807
Specifies the limit of speed correcting range (Units: 0.01%)
S3C808
Specifies the correcting coordinates
0 : Base
1 : Robot
2 : Tool
3 : User 1
to
26:User 24
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8 Parameter
8.3 Mode Operation Setting Parameters
8.3
Mode Operation Setting Parameters
These parameters set various operations in the teach mode or remote mode.
S2C147: SECURITY MODE WHEN CONTROL POWER SUPPLY
IS TURNED ON

The operation level when the control power supply is turned ON is set.
0:
Operation Mode
1:
Editing Mode
2:
Management Mode
S2C148: SELECTION OF CARTESIAN/CYLINDRICAL

This parameter specifies whether the cartesian mode or cylindrical mode is affected when cartesian/
cylindrical mode is selected by operation (coordinate) mode selection at axis operation of programming
pendant. This specification can be done on the TEACHING CONDITION window.
0:
Cylindrical mode
1:
Cartesian mode
S2C149: COORDINATE SWITCHING PROHIBITED

This parameter prohibits switching coordinates during JOG operation by the programming pendant.
0:
Switching permitted for tool coordinates and user coordinates
1:
Switching prohibited for tool coordinates
2:
Switching prohibited for user coordinates
3:
Switching prohibited for tool coordinates and user coordinates
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8.3 Mode Operation Setting Parameters
S2C150: EXECUTION UNITS AT “FORWARD” OPERATION

This parameter specifies the execution units at step mode of “FORWARD” operation by the
programming pendant.
Parameter Setting
Value
Operation Units
Stops at every instruction
0
MOVL
DOUT
TIMER
DOUT
MOVL
Stops at move instruction
1
MOVL
DOUT
TIMER
DOUT
MOVL
S2C151: INSTRUCTION (EXCEPT FOR MOVE) EXECUTION AT
“FORWARD” OPERATION

This parameter specifies the method of instruction (except for move) execution at “FORWARD”
operation by the programming pendant.
0:
Executed by pressing [FWD] + [INTERLOCK]
1:
Executed by pressing [FWD] only
2:
Instruction not executed
S2C155: CHANGING STEP ONLY

This parameter specifies whether to permit only step changes in an editing-prohibited job. When
permitted, only position data can be changed but additional data such as speed cannot be changed.
This specification can be done on the TEACHING CONDITION window.
0:
Permitted
1:
Prohibited
S2C156: MANUAL SPEED STORING FOR EACH COORDINATE

This parameter specifies whether to assign different manual speeds for the joint coordinates and other
coordinates. If “NOT STORED” is selected, manual speed is not affected by changing the coordinates.
If “STORED” is selected, manual speeds can be selected separately for the joint coordinates and other
coordinates.
0:
Not stored
1:
Stored
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8.3 Mode Operation Setting Parameters
S2C158: ADDITIONAL STEP POSITION

This parameter designates either “before next step” or “after the cursor position (between instructions)”
as additional step position. This specification can be done on the TEACHING CONDITION window.
<Example>
Line
Instruction
10
MOVL V=100
11
TIMER T=1.00
12
13
DOUT OT# (1) ON
MOVL V=50
Cursor position
S2C158-0 (Before the Next Step)
Line
Instruction
10
MOVL V=100
11
TIMER T=1.00
12
DOUT OT#(1) ON
13
MOVL V=100
14
MOVL V=50
Added step
S2C158-1 (Between Instructions)
Line
Instruction
10
MOVL V=100
11
TIMER T=1.00
12
MOVL V=100
13
14
DOUT OT# (1) ON
MOVL V=50
Added step
S2C159: MASTER JOB CHANGING OPERATION

This parameter specifies whether to permit or prohibit master job changing operation. If “PROHIBIT” is
specified, the master job cannot be changed (or registered) easily. The specification can be done on
the OPERATING CONDITION window.
0:
Permitted
1:
Prohibited
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8.3 Mode Operation Setting Parameters
S2C160: CHECK AND MACHINE-LOCK KEY OPERATION IN
PLAY MODE

This parameter specifies whether to permit or prohibit in play mode to change the operation that
changes the operation condition. Even if an error occurs because of the operation with the keys, the
manipulator does not stop. The specification can be done on the OPERATING CONDITION window.
0:
Permitted
1:
Prohibited
S2C161: RESERVED WORK JOB CHANGING OPERATION

This parameter specifies whether to permit reserved work job changing operation.
The designation can be done on the OPERATING CONDITION window.
0:
Permitted
1:
Prohibited
S2C162: MASTER OR SUBMASTER CALL OPERATION IN PLAY
MODE

This parameter specifies whether the master or submaster call operation in play mode is permitted or
not. When the independent control function is valid, the master job for sub-task is specified at the same
time. The specification can be done on the OPERATING CONDITION window.

0:
Permitted
1:
Prohibited
S2C163: LANGUAGE LEVEL
This parameter specifies the level of the robot language (INFORM III). The levels simplify the
instruction registering operation. With NX100, all robot instructions can be executed regardless of
specification of instruction sets. The specification can be done on the TEACHING CONDITION
window.
0: Contracted Level
Only frequently used robot instructions are selected to reduce the number of instructions to be
registered. Robot instructions displayed on the instruction dialog box are also reduced so that
specification is simplified.
1: Standard Level
2: Expanded Level
All the robot instructions are available in standard and expanded levels. The two levels are
distinguished by the number of additional information items (tags) that can be used with robot
instructions. At the expanded level, the flowing functions are available.
• Local Variables and Array Variables
• Use of Variables for Tags (Example: MOVJ VJ=I000)
The above functions are not available at the standard level, however, which reduces the
number of data required to register instructions, thereby simplifying the operation.
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8.3 Mode Operation Setting Parameters
S2C166: INSTRUCTION INPUT LEARNING FUNCTION

This parameter specifies whether to set a line of instructions that has been input on the input buffer line
when pressing the first soft key for each instruction. If “PROVIDED” is selected, the instructions are set.
0:
Without learning function
1:
With learning function
S2C167: ADDRESS SETTING WHEN CONTROL POWER IS
TURNED ON

This parameter specifies the processing of the job name, step No., and line No. that are set when the
control power supply is turned ON.
0:
Reproduces the address when power supply is turned ON.
1:
Lead address (Line”0”) of the master job.
S2C168: JOB LIST DISPLAY METHOD AT JOB SELECTION

These parameters specify the displaying method on the JOB LIST window at job selection.
0:
Order of Names
1:
Order of Date
S2C169: INITIAL OPERATION OF MANIPULATOR

This parameter specifies the operation speed level of the first section when starting. Specify the
operation speed with the low-speed start (S1CxG044). When starting at low-speed, the manipulator
stops after reaching the indicated step regardless of the cycle setting. Once the manipulator is paused
during the low-speed operation, it moves at teaching speed when restarted.
0:
Specified on the SPECIAL PLAY window. Operates at low speed only when low speed start is
set. Operates at taught speed when not instructed.
1:
Starts at low speed after editing regardless of soft key instructions.
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8.3 Mode Operation Setting Parameters
S2C170: PLAYBACK EXECUTION AT CYCLE MODE “1- STEP”

Parameter Setting
Value
NOTE
Operation Units
Stops at every instruction.
0
MOVL
DOUT
TIMER
DOUT
MOVL
Stops at move instruction.
1
MOVL
DOUT
TIMER
DOUT
MOVL
When operating “FORWARD” by the programming pendant, the units for execution are set
in another parameter (S2C150).
S2C171: EXTERNAL START

This parameter specifies whether a start instruction from external input is accepted or not. The
specification can be done on the OPERATING CONDITION window.
0:
Permitted
1:
Prohibited
S2C172: PROGRAMMING PENDANT START

This parameter specifies whether a start instruction from the programming pendant is accepted or not.
0:
Permitted
1:
Prohibited
S2C173: SPEED DATA INPUT FORM

This parameter specifies the units for speed data input and display.
mm/s : in units of 0.1 mm/s
cm/min : in units of 1cm/min
inch/min : in units of 1 inch/min
mm/min : in units of 1 mm/min
The specification can be done on the OPERATING CONDITION window.
0:
mm/sec
1:
cm/min
2:
inch/min
3:
mm/min
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8.3 Mode Operation Setting Parameters
S2C174: RESERVED START

This parameter specifies whether a reserved start instruction from the programming pendant is
accepted or not. The specification can be done on the OPERATING CONDITION window.
0:
Permitted
1:
Prohibited
S2C176: JOB SELECTION AT REMOTE FUNCTION (PLAY
MODE)

This parameter specifies whether a job selection in play mode at remote function is prohibited or not.
0:
Permitted
1:
Prohibited
S2C177: EXTERNAL MODE SWITCH

This parameter specifies whether mode switching from the outside is accepted or not. The
specification can be done on the OPERATING CONDITION window.
0:
Permitted
1:
Prohibited
S2C179: EXTERNAL CYCLE SWITCHING

This parameter specifies whether cycle switching from the outside is accepted or not. The specification
can be done on the OPERATING CONDITION window.
0:
Permitted
1:
Prohibited
S2C180: PROGRAMMING PENDANT CYCLE SWITCHING

This parameter specifies whether cycle switching from the programming pendant is accepted or not.
The specification can be done on the OPERATING CONDITION window.

0:
Permitted
1:
Prohibited
S2C181: SERVO ON FROM EXTERNAL PP PROHIBITION
This parameter specifies whether a servo ON instruction is accepted or not. More than one instruction
can be specified. For example, to permit the servo ON instruction from an external input only, set “6.”
In this case, servo ON instruction from the programming pendant is not accepted.The specification can
be done on the OPERATING CONDITION window.
d7
d0
E xte rn a l in p u t p r o h ib ite d
: 1 (V A L ID )
P ro g ra m m in g p e n d a n t
: 2 (V A L ID )
DSW
: 4 (V A L ID )
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8.3 Mode Operation Setting Parameters
S2C182: PROGRAMMING PENDANT OPERATION WHEN “IO” IS
SELECTED FOR REMOTE MODE

This parameter specifies whether each operation of the following is valid when “IO” is selected for
remote function selection. IO and command are available for remote function selection: “IO” is set prior
to shipping. “Command” is valid when transmission function (optional) is specified.
d7
d0
Programming pendant ([SERVO ON READY] key)
: 1 (VALID)
valid/invalid
Programming pendant (Enable switch)
: 2 (VALID)
Mode switching valid/invalid
: 4 (VALID)
Master call valid/invalid
: 8 (VALID)
Cycle switching valid/invalid
: 16 (VALID)
Start valid/invalid
: 32 (VALID)
S2C186: STEP REGISTRATION AT TOOL NO. CHANGE

The registration of the step when the tool number is changed allows the setting to be made as
prohibited.
If this parameter is set to “1” (prohibited), the following operations are prohibited.
0:
Permitted
1:
Prohibited
• Modification of a step
When the tool number of the teaching step differs from the currently-selected tool number,
the step cannot be modified.
• Deletion of a step
Even if the teaching step position coincides with the current position, the step cannot be
deleted when the tool number of the teaching step differs from the currently-selected tool
number.
• Addition of a step
When the tool number of the teaching step indicated by the cursor differs from the
currently-selected tool number, the step cannot be added.
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8.3 Mode Operation Setting Parameters
S2C211: REMOTE FIRST CYCLE MODE

This parameter sets the cycle that changes from the local mode to the remote mode.
The setting can be made on the OPERATING CONDITION window.
0:
Step
1:
1 cycle
2:
Continuous
3:
Setting retained
S2C212: LOCAL FIRST CYCLE MODE

This parameter sets the cycle that changes from the remote mode to the local mode.
The setting can be made on the OPERATING CONDITION window.
0:
Step
1:
1 cycle
2:
Continuous
3:
Setting retained
S2C230: POWER ON FIRST CYCLE MODE

This parameter sets the first cycle mode for when the power is turned ON.
The setting can be made on the OPERATING CONDITION window.
0:
Step
1:
1 cycle
2:
Continuous
3:
Setting retained
S2C231: TEACH MODE FIRST CYCLE MODE

This parameter sets the cycle that changes from the play mode to the teach mode.
The setting can be made on the OPERATING CONDITION window.
0:
Step
1:
1 cycle
2:
Continuous
3:
Setting retained
S2C232: PLAY MODE FIRST CYCLE MODE

This parameter sets the cycle that changes from the teach mode to the play mode.
The setting can be made on the OPERATING CONDITION window.
0:
Step
1:
1 cycle
2:
Continuous
3:
Setting retained
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8.3 Mode Operation Setting Parameters

S2C297: SIGNAL NAME ALIAS FUNCTION
On the JOB CONTENT window, the name registered to the user input/output signal number can be
displayed as alias instead of the signal number itself.
S2C297
Parameter Setting Value
Valid/Invalid
0
Function invalid
1
Function valid
With this function valid, the confirmation dialog box “Register by name (alias)?” is displayed when a
signal (IN#(), OT#(), IG#(), OG#(), IGH#(), OGH#()) is selected on the DETAIL EDIT window. Select
“YES” and the signal select window appears. Then select the target signal of number and press
[ENTER], and the registered name is displayed instead of the signal number. However, if the signal
number’s name is not yet registered, it is displayed by number as usual.
<Example> Registration of the name of user output OUT#0001 as “OUTPUT 1”
In the case of DOUT instruction:
S2C297=0 : DOUT OT#(1) ON
S2C297=1 : DOUT OT#(OUTPUT 1) ON
SUPPLE
-MENT
Select {IN/OUT}  {UNIVERSAL INPUT/OUTPUT} to edit signal names on the window.
Up to 16 characters can be entered as a signal name. However, when this function is valid,
if the content below is entered, the error message shows and the name cannot be
registered.
• The name already registered
•
•
•
•
Letters beginning with a number
Letters including the signs below:
( , ) , [ , ] , = , < , > , space, comma
Letters beginning with “alphabets representing variables” + “number”
<Example> B0..., I0..., BP1..., LEX2...
Alphabets representing variables: B, I, D, R, S, P, BP, EX, PX,
LB, LI LD, LR, LS, LP, LBP, LEX, LPX
When the name begins with “ ‘ ”, it is regarded as a comment and the same comment can
be registered for two or more signals. In this case, although this function is valid, the
number is displayed on the JOB CONTENT window instead of the name.
<Example> Registration of the name of user output OUT#0002 as “ ‘OUTPUT 2”
S2C297=0 : DOUT OT#(2) ON
S2C297=1 : DOUT OT#(2) ON
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
S2C298: VARIABLE NAME ALIAS FUNCTION
On the JOB CONTENT window, the name registered to the variable (including local variables) can be
displayed as alias instead of the variable number.
S2C298
Parameter Setting Value
Valid/Invalid
0
Function invalid
1
Function valid
With this function valid, the confirmation dialog box “Register by name (alias)?” is displayed when you
select the variable on the DETAIL EDIT window. Select “YES” and the variable select window appears.
Then select the target variable of number and press [ENTER], and the registered name is displayed
instead of the variable number. However, if the variable number’s name is not yet registered, it is
displayed by number as usual.
<Example> Registration of the byte type variable B000 as “WORK KIND”
In the case of SET instruction
S2C298=0 : SET B000 128
S2C298=1 : SET WORK KIND 128
SUPPLE
-MENT
Select {VARIABLE} from the menu to select each variable and edit the variable name. Up
to 16 characters can be entered as a variable name. However, when this function is valid, if
the content below is entered, the error message shows and the name cannot be
registered.
• The name already registered
• Letters beginning with a number
• Letters including the signs below:
•
( , ) , [ , ] , = , < , > , space, comma
• Letters beginning with “alphabets representing variables” + “number”
<Example> B0..., I0..., BP1..., LEX2...
Alphabets representing variables: B, I, D, R, S, P, BP, EX, PX,
LB, LI LD, LR, LS, LP, LBP, LEX, LPX
When the name begins with “ ‘ ”, it is regarded as a comment and the same comment can
be registered for two or more variables. In this case, although this function is valid, the
number is displayed on the JOB CONTENT window instead of the name.
<Example> Registration of the byte type variable B001 as “WORKNUM”
S2C298=0 : SET B001 10
S2C298=1 : SET B001 10
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
S2C299: I/O VARIABLE CUSTOMIZE FUNCTION
This function enables registration of any particular input/output signal/variable. Reference and editing of
signals/variables are possible on the same window.
S2C299
Parameter Setting Value
Valid/Invalid
0
Function Invalid
1
Function Valid
With this function valid, the sub-menu {I/O-VARIABLE CUSTOMIZE} opens under the main menu {ARC
WELDING}, {SPOT WELDING}, {GENERAL}, {HANDLING} (differs by application). Select {I/OVARIABLE CUSTOMIZE}, and the I/O-VARIABLE CUSTOMIZE window appears as shown below.
I/O-VARIABLE CUSTOMIZE
No I/O-VARIABLE
CONTENTS NAME
250 BYTE001
01 B001
02 #10011 OUT#0002
OUT0002
123456789 DOUBLE002
03 D002
04 #82015
05 #00010 IN#0001
CMD REMOTE SEL
SIM
06 I000
IN0001
500 INTEGER000
07
08
09
10
11
12
I/O-VARIABLE CUSTOMIZE Window
On the I/O-VARIABLE CUSTOMIZE window, any of the input/output signals/variables can be selected
and registered (up to 32 items). Registrable signals/variables are as follows:
Registrable Items on the I/O-VARIABLE CUSTOMIZE Window
Input/Output Signals
Variables
USER INPUT SIGNAL
USER OUTPUT SIGNAL
PSEUDO INPUT SIGNAL
BYTE TYPE VARIABLE (B VARIABLE)
INTEGER TYPE VARIABLE (I VARIABLE)
DOUBLE-PRECISION INTEGER TYPE VARIABLE (D VARIABLE)
The contents and names of the registered signals/variables can be checked and edited on this window.
In addition, the data list of registered signals/variables can be loaded, saved, verified or deleted with an
external memory unit.
Only when this function is valid, “I/O-VARIABLE CUSTOMIZE (file name: USRIOVAR.DAT)” is
displayed and can be selected. To display the “I/O-VARIABLE CUSTOMIZE (file name:
USRIOVAR.DAT)”, select {FD/CF}  {LOAD} {SAVE} {VERIFY} {DELETE}  {SYSTEM DATA}
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8.3 Mode Operation Setting Parameters
S2C317 to S2C321: TIME RESET

These parameters specify whether resetting operation of the specified times is permitted or not.
S2C317
: CONTROL POWER ON TIME
S2C318
: SERVO POWER ON TIME
S2C319
: PLAYBACK TIME
S2C320
: WORK TIME
S2C321
: WEAVING TIME
0:
Prohibit Resetting
1:
Permit Resetting
“PERMIT” is set as the initial value for the work time and motion time.
S2C333: TOOL NO. SWITCHING

This parameter specifies whether tool number switching is permitted or not. If “PERMIT” is selected, 24
types of tools from number 0 to 23 can be switched. If “NOT PERMIT” is selected, only number “0” can
be used.
0:
Prohibited
1:
Permitted
S2C335: POSITION TEACHING BUZZER

This parameter specifies whether the buzzer sound at position teaching is used or not.
0:
With buzzer
1:
Without buzzer
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8.3 Mode Operation Setting Parameters
S2C336: JOB LINKING DESIGNATION (When Twin Synchronous
Function Used)

This parameter specifies whether the manipulator at the synchronizing side is to be linked when the
manipulator and the station at the synchronized side are performing FWD/BWD or test run, by using the
twin synchronous function.
0:
Not operating
1:
Linking
0 : Does not operate the synchronizing side
while teaching the synchronized side.
1 : Links the synchronizing side while teaching
the synchronized side.
Synchronizing side
Synchronizing side
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8.3 Mode Operation Setting Parameters

S2C339: PLAYBACK OPERATION CONTINUATION FUNCTION
This function is used to decide where to resume the playback on the start operation after suspending
the playback and moving the cursor or selecting other jobs.
0: Starts operation where the cursor is located in the job displayed at the moment.
1: The playback continuation window appears. Select “YES” and the playback resumes where the
cursor has been located when the playback suspended. If “NO” is selected, the playback
resumes where the cursor is located in the job displayed at the moment.
S2C339
Parameter Setting Value
Where the Playback Resumes
0
Resumes where the cursor is located in the job displayed at
the moment.
Resumes where the cursor has been located when the
playback suspended OR where the cursor is located in the
job displayed at the moment.
<Example>
Suspended at step 0003 during the playback of job A

1
Displays job B

Starts operation

On the playback operation continuation window
• When “YES” selected, the playback resumes from step
0003 of job A
• When “NO” selected, the playback resumes from the
current position in job B
* When this function is valid (S2C339=1), a light blue cursor is displayed at the instruction section of
step where the playback has been stopped. When “YES” is selected, the playback resumes where
this cursor is located.
EDIT
JOB
DISPLAY
FD/CF
JOB
DOUT
MOVE
END
CF
PAINTING
VARIABLE
PARAMETER
SETUP
B001
IN/OUT
In
Out
UTILITY
JOB CONTENT
JOB NAME : TEST4-1
CONTROL GROUP : R1
0000
0001
0002
0003
0004
0005
STEP NO : 001
TOOL : 00
NOP
MOVJ VJ=0.78
TIMER T=2.00
MOVJ VJ=0.78
MOVJ VJ=0.78
END
DISPLAY SETUP
Aa
ROBOT
SYSTEM INFOR
=> MOVJ VJ=0.78
Main Menu
NOTE
Short Cut
If a job has been edited or FWD/BWD/TEST RUN operation(s) have been executed, the
playback cannot resume where it has suspended. Also this function is invalid if the
reserved start function is set valid (S2C174=0).
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8.4 Parameters according to Interference Area
8.4
Parameters according to Interference Area
These parameters limit the P-point maximum envelope of the manipulator or set the interference area
for axis interference or cubic interference.

S1CxG200 to S1CxG215: PULSE SOFT LIMIT
Soft limit is set independently for each axis by pulse value setting. Set current value (pulse value) of
the axis at the soft limit set up position.
Operation area
Soft limit
Limit switch
Mechanical
operation limit
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8.4 Parameters according to Interference Area

S2C001: CUBE SOFT LIMIT CHECK
This parameter specifies whether to check the cube soft limit. More than one soft limit can be specified.
0 : No check
1 : With check
d7
d0
Cube 1 soft limit (base coordinates value of robot 1 TCP)
Cube 2 soft limit (base coordinates value of robot 2 TCP)
Cube 3 soft limit (base coordinates value of robot 3 TCP)
Cube 4 soft limit (base coordinates value of robot 4 TCP)
If “WITH CHECK” is selected, set up the following parameters.
S3C000 to S3C023: Cube Soft Limit
SUPPLE
-MENT
Soft Limit
Soft limit is a software-type function to limit the range of movement of the manipulator.
If the TCP reaches the soft limit during operation, the manipulator automatically stops and
no longer moves in that same direction. An alarm occurs if this soft limit is exceeded
during playback. This soft limit is classified into two types.
• Cube Soft Limit
Soft limit is set with the absolute value on the base coordinates.
z
x
• Pulse Soft Limit (Independent Axis Soft Limit)
Y
Refer to "S1CxG200 to S1CxG215: PULSE SOFT LIMIT."

S2C002: S-AXIS INTERFERENCE CHECK
This parameter specifies whether to check for interference with each manipulator. If “WITH CHECK” is
selected, set up the following parameters.
S3C024 to S3C031: S-axis Interference Area
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8.4 Parameters according to Interference Area
S2C003 to S2C050: CUBE/AXIS INTERFERENCE CHECK

1. Designation of checking
These parameters specify the cube/axis interference to be used by bit.
0 : Cube Interference/Axis Interference Not Used
1 : Robot 1
2 : Robot 2
3 : Robot 3
5 : Base Axis 1
6 : Base Axis 2
7 : Base Axis 3
9 : Station Axis 1
10 : Station Axis 2
11 : Station Axis 3
13 : Station Axis 5
14: Station Axis 6
15: Station Axis 7
17 : Station Axis 9
18: Station Axis 10
19: Station Axis 11
4: Robot 4
8: Base Axis 4
12: Station Axis 4
16: Station Axis 8
20: Station Axis 12
2. Checking method
Designates whether checking is performed by command or feedback.
Designation of checking (data setting)
0: Not used
1: Robot 1,
, 20: Station axis 12
Checking method (bit setting)
0: Command, 1: Feedback
SUPPLE
-MENT
Checking method
The checking method differs according to ON/OFF status of servo power supply.
Checking Method Designation Servo Power Supply ON Servo Power Supply OFF
Command
Command
Feedback
Feedback
Feedback
Feedback
During the servo float function operation, checking is performed by feedback regardless of
the checking method designation.
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8.4 Parameters according to Interference Area
Interference Area
It is possible to output whether the TCP during operation is inside or outside as a status
signal, and to set the area to control the position by parameters S2C003 to S2C114. When
the manipulator attempts to enter this area, the corresponding input signal (e.g. an
“entrance prohibit signal”) is detected. The manipulator stops immediately if there is an
input signal and goes into waiting status until this signal is cleared. This signal is
processed in the I/O section. Three methods of interference area settings are prepared for
manipulators and stations. For a system with one manipulator, use robot 1.
• S-axis Interference Area
Position is controlled by the pulse value of the S-axis.
(-) side
(+) s ide
In left area
In right area
• Cubic Interference Area
Up to 32 cubic areas can be set. The edges of the cubes are set parallel to the robot
coordinates or the user coordinates.
Z
Cube Setting Method
Base coordinates
(robot coordinates,
user coordinates)
S2C003-S2C034
S2C051-S2C114
S3C032-S3C543
X
Y
Thirty two cubic areas can be set,
each cube is set parallel to the set coordinates.
Use cube
intrf. check?
No
Yes
Decide the using
method.
Set the area.
Completed
• Axis Interference Area
Up to 32 areas can be set. Each operation area maximum and minimum value are set for
the robot, base axis, and station axis plus and minus side.
Max value
positive side (+)
0
Min value
negative side (-)
ON
OF F
SUPPLE
-MENT
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8.4 Parameters according to Interference Area
S2C051 to S2C114: CUBE USING METHOD

These parameters specify the coordinates for defining the cube. If the user coordinates are selected,
also specify the user coordinate system numbers. Set cubic area referring to the cubic interference
areas shown below.
Coordinate specification
0 :
Pulse (axis interference)
1 :
Base coordinates
2 :
Robot coordinates
3 :
User coordinates
Coordinate No.: Specify the user coordinate number when selecting “3: User Coordinates.”
Units: 1μm
Precaution When Setting the Interference Area
SUPPLE
-MENT
It will be necessary to consider the following when setting the cubic interference and S-axis
interference areas. The manipulator is processed to decelerate to stop from the point
where it enters in the area. Therefore, set the areas in consideration of the amount of the
manipulator movement in the deceleration section shown in the figure below.
Interference area
Deceleration
Stop
Speed
Movement
Speed reduction section
The move amount in the speed reduction section is dependent on the moving speed of the
manipulator at that time:
V = 1500mm/s  approx. 300mm (Max.)
V = 1000mm/s  approx. 160mm
V = 30mm/s  approx. 3 to 4 mm
V = 20mm/s  approx. 2mm
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Interference Prevention in Interference Area
SUPPLE
-MENT
Processing to prevent interference is executed in the I/O processing section. The relation
between the NX100 I/O signal and manipulator operation is shown below.
Start
Is the TCP within
the cube?
Yes
No
Is the "CUBE
ENTRANCE PROHIBIT"
signal ON?
Yes
No
Outputs "WAIT" signal.
"WAIT" reset
Manipulator stops.
"OPERATING IN CUBE"
signal output
Has it left the check
cube?
No
Yes
In wait status with the entrance prohibit signal, the manipulator just barely enters the area
for speed reduction processing and then stops.
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SUPPLE
-MENT
NX100
Operating inside
CUBE1
Output in cube during
operation.
Operating inside
CUBE2
Output during waiting by
entrance prohibit signal.
Interference waiting
Inside CUBE1
entrance prohibit
These signals are checked
when entering the cube.
Inside CUBE2
entrance prohibit
Manipulator A
Manipulator B
Operating inside
CUBE1
Inside CUBE1
entrance prohibit
Operating inside
CUBE2
Inside CUBE2
entrance prohibit
Inside CUBE1
entrance prohibit
Operating inside
CUBE1
Inside CUBE2
entrance prohibit
Operating inside
CUBE2
Interference waiting
Interference waiting
Alarm signal
Connection Example Where Two Manipulators are Operated in the Same Area

S2C188 to S2C193: ROBOT INTERFERENCE CHECK
This parameter specifies whether to check interference between robots 1, 2, 3, and 4. Interference
check is executed in the spherical range having the TCP in the center. If “provided” is selected, also
select the following parameters.
ROBOT INTERFERENCE CHECK (units: μm)

S3C801
: ROBOT1 SPHERE RADIUS
S3C802
: ROBOT 2 SPHERE RADIUS
S3C803
: ROBOT3 SPHERE RADIUS
S3C804
: ROBOT4 SPHERE RADIUS
S3C000 to S3C023: CUBE SOFT LIMIT
These parameters specify auxiliary functions of S2C001 parameter. For details, see the explanation of
the S2C001 parameter.
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8.4 Parameters according to Interference Area

S3C024 to S3C031: S-AXIS INTERFERENCE AREA
These parameters specify auxiliary functions of S2C002 parameter. For details, see the explanation of
the S2C002 parameter.

S3C032 to S3C543: CUBIC INTERFERENCE AREA
These parameters specify auxiliary functions of S2C003 to S2C034 parameters. For details, see the
explanation of the S2C003 to S2C050 parameters.

S3C801 to S3C804: ROBOT INTERFERENCE AREA
These parameters specify auxiliary functions of S2C188 to S2C193 parameters. For details, see the
explanation of the S2C188 to S2C193 parameters.

S3C805: A SIDE LENGTH OF WORK-HOME-POSITION CUBE
Units: 1μm
This parameter specifies a side length of the cube for the work home position.
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8.5 Parameters according to Status I/O
8.5
Parameters according to Status I/O
These parameters set the parity check or I/O setting for user input/output signals.
S2C187: USER OUTPUT RELAY WHEN CONTROL POWER IS
ON

This parameter specifies the state of the user output relays when the control power is turned ON. Since
the power OFF state, including peripheral devices, cannot be completely reproduced, take note when
restarting.
0:
Reset to the power OFF state
1:
Initialized (all user relays OFF)
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8.5 Parameters according to Status I/O
S4C000 to S4C007: PARITY OF USER INPUT GROUPS

These parameters specify whether to execute priority checks with parameters when instructions
covering the input group (1G#) are executed. The instructions covering the input groups are as shown
below.
• IF Sentence (JUMP, CALL, RET, PAUSE)
• Pattern Jump, Pattern Job Call
• DIN
• WAIT
d15
d0
d15
S4C000
d0
S4C001
d15
IG#01
IG#17
IG#02
IG#18
IG#03
IG#19
IG#04
IG#20
IG#05
IG#21
IG#06
IG#22
IG#07
IG#23
IG#08
IG#09
IG#24
IG#25
IG#10
IG#26
IG#11
IG#27
IG#12
IG#28
IG#13
IG#29
IG#14
IG#30
IG#15
IG#16
IG#31
IG#32
d0
S4C002
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
Parity bits are set as the highest level bits of each input group and are written in even parity. If an error
is detected during parity check, an alarm occurs and the manipulator stops. Remains unchanged if no
parity check is specified.
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8.5 Parameters according to Status I/O

S4C008 to S4C015: PARITY OF USER OUTPUT GROUPS
These parameters specify whether the output group instruction is executed with parity check (even
parity).
d15
d0
d15
S4C008
d0
S4C009
OG#01
OG#17
OG#02
OG#18
OG#03
OG#19
OG#04
OG#20
OG#05
OG#21
OG#06
OG#22
OG#07
OG#23
OG#08
OG#09
OG#24
OG#25
OG#10
OG#26
OG#11
OG#27
OG#12
OG#28
OG#13
OG#29
OG#14
OG#30
OG#15
OG#16
OG#31
OG#32
PARITY CHECK AT BIT-ON (1)
d15
PARITY CHECK AT BIT-ON (1)
d0
S4C010
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
PARITY CHECK AT BIT-ON (1)
Parity bits are set as the highest level bits of each output group. For example, if OG#01 is specified
with parity and DOUT OG# (1) 2 is executed, the result will be 00000010 if 2 is binary converted. Since
there will be only one bit (odd) ON at this time, the parity bit (highest level bit) will be set to ON and
10000010 (130) will be output to OG# (1).
As in the case of a variable such as DOUT OG# (1) B003 parity bits are added to the contents of the
variable data. However, if the contents of the variable exceed 127, as in the case of DOUT OG# (1)
128, an alarm will occur. Remains unchanged if no parity check is specified.
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8.5 Parameters according to Status I/O
S4C016 to S4C023: DATA OF USER INPUT GROUPS

These parameters specify whether to handle the input group data as binary data or as BCD data when
an instruction for the input group (1G#) is executed. The instructions covering the input groups are as
shown below.
• IF Sentence (JUMP, CALL, RET, PAUSE)
• Pattern Jump, Pattern Job Call
• DIN
• WAIT
d15
d0
d15
S4C016
d0
S4C017
IG#01
IG#17
IG#02
IG#18
IG#03
IG#19
IG#04
IG#20
IG#05
IG#21
IG#06
IG#22
IG#07
IG#23
IG#08
IG#09
IG#24
IG#25
IG#10
IG#26
IG#11
IG#27
IG#12
IG#28
IG#13
IG#29
IG#14
IG#30
IG#15
IG#16
IG#31
IG#32
BCD DATA SPECIFICATION AT BIT-ON (1)
d15
BCD DATA SPECIFICATION AT BIT-ON (1)
d0
S4C018
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
BCD DATA SPECIFICATION AT BIT-ON (1)
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8.5 Parameters according to Status I/O

S4C024 to S4C031: DATA OF USER OUTPUT GROUPS
These parameters specify whether the output group instruction is executed with binary data or BCD
data.
d15
d0
d15
S4C024
d0
S4C025
OG#01
OG#17
OG#02
OG#18
OG#03
OG#19
OG#04
OG#20
OG#05
OG#21
OG#06
OG#22
OG#07
OG#23
OG#08
OG#09
OG#24
OG#25
OG#10
OG#26
OG#11
OG#27
OG#12
OG#28
OG#13
OG#29
OG#14
OG#30
OG#15
OG#16
OG#31
OG#32
BCD DATA SPECIFICATION AT BIT-ON (1)
d15
BCD DATA SPECIFICATION AT BIT-ON (1)
d0
S4C026
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
BCD DATA SPECIFICATION AT BIT-ON (1)
Differences Between Binary Data and BCD Data
SUPPLE
-MENT
For the input group and output group, the result will depend on whether the binary or BCD
formula is used.
<Example> When the input function is [10101010]
DATA
EDIT
USER INPUT
GROUP
IN#0001
IN#0002
IN#0003
IN#0004
IN#0005
IN#0006
IN#0007
IN#0008
DISPLAY
IG#01
#10010
#10011
#10012
#10013
#10014
#10015
#10016
#10017
State
0:10 00:16








1
0
1
0
1
0
1
0
Binary
20
=1
21 = 2
22 = 4
23
=8
24 = 16
25 = 32
26 = 64
27 = 128
BCD
Case
1
0
4
0
16
0
64
0
85
20
21 = 2
22 = 4
23
=8
20 = 1
21 = 2
22 = 4
23 = 8
Binary data value
Case
=1
Total
is in
ones.
Total
is in
tens.
1
0
4
0
1
0
4
0
5
5
55
BCD data value
!
However, in the case of BCD data, because the upper bound value is 99, it is not possible
to use any value which exceeds nine in the one or ten digit place.
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8.5 Parameters according to Status I/O

S4C032 to S4C039: USER OUTPUT GROUP TO BE INITIALIZED
AT SWITCHING MODE
Set the user output group with bit to be initialized at switching mode. Use these parameters when using
user output signals as work instructions for peripheral devices.
d15
d0
d15
S4C032
d0
S4C033
OG#01
OG#17
OG#02
OG#18
OG#03
OG#19
OG#04
OG#20
OG#05
OG#21
OG#06
OG#22
OG#07
OG#23
OG#08
OG#09
OG#24
OG#25
OG#10
OG#26
OG#11
OG#27
OG#12
OG#28
OG#13
OG#29
OG#14
OG#30
OG#15
OG#16
OG#31
OG#32
INITIAL VALUE SPECIFICATION AT BIT-ON (1)
d15
INITIAL VALUE SPECIFICATION AT BIT-ON (1)
d0
S4C034
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
INITIAL VALUE SPECIFICATION AT BIT-ON (1)

S4C126: USER OUTPUT NO. WHEN MANIPULATOR DROP
ALLOWABLE RANGE ERROR OCCURS
This parameter specifies the user output number to output the manipulator drop allowable range error
alarm occurrence externally. When this function is not used, set “0.”
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8.6 Parameters according to Coordinated or Synchronized Operation
8.6
Parameters according to Coordinated or
Synchronized Operation
These parameters make the settings for coordinated or synchronized operations between manipulators
or between manipulators and stations.

S2C164: +MOV or +SMOV INSTRUCTION SPEED INPUT
This parameter specifies whether the speed inputting for move instructions of the master robot in a
coordinated job is permitted or not.
<Example> 0: Not Provided
SMOVL
+MOVL
1: Provided
V=100
← Master side
SMOV L
V=100
+MOV L
V=100
Speed specification
not provided

← Master side
Speed specification
provided
S2C165: +MOV INSTRUCTION INTERPOLATION INPUT
This parameter specifies which interpolation is permitted for move instructions for the master robot in a
coordinated job. More than one instruction can be specified.
d7
d0
+ MOVJ : 1(VALID)
+ MOVL: 2(VALID)
+ MOVC : 4(VALID)
+ MOVS: 8(VALID)
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8.6 Parameters according to Coordinated or Synchronized Operation
S2C183: OPERATION METHOD AT FWD/BWD OPERATION OR
TEST RUN BY INDEPENDENT CONTROL

This parameter specifies the operation method at FWD/BWD operation or test run by independent
control.
0:
The job of the task that is currently displayed operates.
1:
Jobs of all the tasks operate.
 When master task is currently displayed:
Master
task
: Not operating
Sub task 1
: Operating
Sub task 2
 When sub task 1 is currently displayed:
Master
task
Sub task 1
Master
task
Sub task 2
Sub task 1
Sub task 2
 When sub task 2 is currently displayed:
Master
task
Sub task 1
Sub task 2
0: One of the task jobs that are currently
displayed operates.
1: All task jobs operate.
S2C184: JOB AT CALLING MASTER OF SUBTASK 1, 2, 3, 4, 5, 6,
7 BY INDEPENDENT CONTROL

This parameter specifies the job which is called up when the master of the subtask is called up by
independent control.
0:
Master job
1:
Root job
Master Job: Job registered in the master control window
Root Job: Job activated by PSTART instruction
S2C194: STATION AXIS CURRENT VALUE DISPLAY FUNCTION

This parameter specifies whether the function to display the current value of the station axis in the
following units is valid/invalid.
• Rotary axis : Angle (deg)
• Servo track : Distance (mm)
0:
Invalid
1:
Valid
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8.6 Parameters according to Coordinated or Synchronized Operation
S2C195 to S2C206: STATION AXIS DISPLAYED UNIT

This parameter specifies the station axis displayed unit (bit specification).
0:
Display angle (deg)
1:
Display in distance (mm)
Setting Method
Set a numerical value (decimal) where the bit of the axis to be displayed in the units of distance
becomes 1.
d7
d6
d5
d4
(32) (16)
d3
d2
d1
d0
(8)
(4)
(2)
(1)
Decimal
Station 1st axis
Station 2nd axis
Station 3rd axis
Station 4th axis
Station 5th axis
Station 6th axis
<Example> When 1st and 3rd axes of station 1 are displayed in the units of distance:
d7
d6
d5
d4
d3
d2
d1
d0
0
0
0
1
(4)
0
1
(1)
4
+
1
Set 1 to axis displayed in
distance.
=
5
Therefore, set parameter S2C195 of station 1 to 5.
S2C322: POSTURE CONTROL OF SYNCHRONIZED
MANIPULATOR (When Twin Synchronous Function Used)

This parameter specifies the posture control method for synchronized manipulator performing
compensation during playback by using the twin synchronous function.
0:
Change posture according to station movement
1:
Fixed in relation to the ground
0 : Change posture according to staion movement
1 : Fixed in relation to the ground
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8.6 Parameters according to Coordinated or Synchronized Operation
S2C323: POSTURE CONTROL OF MANIPULATOR IN MULTI-JOB
(When Twin Synchronous Function Used)

This parameter specifies the posture control method for manipulator executing compensation at the
linking side when job linking is performed during FWD/BWD operation by the twin synchronous
function.
0:
Change posture according to station movement
1:
Fixed in relation to the ground
S2C549: OPERATION OF JOB WITHOUT CONTROL GROUP
SPECIFICATION

When the servo power supply is individually turned OFF where jobs in multiple number of tasks are
operated using the independent control function, the job execution of the control group whose servo
power supply is turned OFF is interrupted. The jobs of other control groups continue their execution.
For the jobs without control group specification such as master job, the conditions for execution can be
set by the parameter.

0:
Execution possible only when servo power supply to all the axes have been turned ON.
1:
Execution possible when servo power supply to any axis is turned ON.
S2C550: EXECUTION OF “BWD” OPERATION
This parameter prohibits step-back operation of a job without a step.
d7
d0
"BWD" operation for a job without a group axis. 0 : Enabled 1 : Disabled
"BWD" operation for concurrent job. 0 : Enabled 1 : Disabled
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8.6 Parameters according to Coordinated or Synchronized Operation
S3C809: MAXIMUM DEVIATION ANGLE OF CURRENT STATION
POSITION (When Twin Synchronous Function Used)

Used when the twin synchronous function is used. This parameter specifies the maximum deviation
between the teaching position and the current station position.
0
:
Other than 0 :
No deviation check
Deviation angle (units : 0.1°)
Sub-task1
Sub-task2
R1
R2
Manipulator at
synchronizing side
Conpensation
Position set when
teaching synchronizing side
Deviation made
at playback
Station S1
Station
In the above figure on the left, the follower R2 executes the job of subtask 2 in synchronization with the
motion of the station axis which is moved by the R1 job. In this procedure, the job of subtask 2 controls
only the R2 robot axis.
If the teaching position of the station in the subtask 2 differs from the station current position (controlled
by the subtask 1 job), the difference is automatically offset so that R2 keeps the taught position in
relation to the station.
Difference between the taught and the station current positions is always monitored. If the difference
exceeds a set value of the parameter, the message “PULSE LIMIT (TWIN COORDINATED)” appears.
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8.7 Parameters for Other Functions or Applications
8.7
Parameters for Other Functions or Applications
These parameters make the settings for other functions or applications.

S1CxG049 to S1CxG051: SMALL CIRCLE CUTTING
These parameters prescribe cutting operation at small circle cutting.

S1CxG049
(Minimum diameter)
:
Set the minimum diameter of a figure in the units of μm that can be
processed by small-circle cutting machine.
S1CxG050
(Maximum diameter)
:
Set the maximum diameter of a figure in the units of μm that can be
processed by small-circle cutting machine.
S1CxG051
(Maximum speed)
:
Set the maximum cutting speed at operation by CUT instruction in the
units of 0.1mm/s.
S1CxG052 to S1CxG053: SMALL CIRCLE CUTTING DIRECTION
LIMIT VALUE
These parameters set the cutting direction limits at small circle cutting.

S1CxG052
(+ direction)
:
Set the limit value in the positive direction of cutting angle DIR set by
CUT instruction, in the units of 0.01°.
S1CxG053
(- direction)
:
Set the limit value in the negative direction of cutting angle DIR set by
CUT instruction, in the units of 0.01°.
S1CxG054 to S1CxG055: SMALL CIRCLE CUTTING OVERLAP
VALUE
These parameters set the overlapped value at small circle cutting.

S1CxG054
(Operation radius)
:
Set the operation radius at inner rotation in the units of 1 μm after
overlapping by CUT instruction.
S1CxG055
(Rotation angle)
:
Set the rotation angle at inner rotation in the units of 0.1° after
overlapping by CUT instruction.
S1CxG063, S1CxG064: PATTERN CUTTING DIMENSION
These parameters set the minimum diameter (S1CxG063) and the maximum diameter (S1CxG064) for
the pattern cutting in units of μm.

S1CxG065: MIRROR SHIFT SIGN INVERSION
This parameter sets which axis to be shifted (mirror-shift: invert the sign).
1st axis (0: Not invert, 1: Invert)
6th axis
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8.7 Parameters for Other Functions or Applications
S2C332: RELATIVE JOB OPERATION METHOD

This parameter specifies how to operate a relative job. A method to convert a relative job into a
standard job (pulse), and a conversion method to calculate the aimed position (pulse position) when a
relative job is operated can be specified.

0:
Previous step with priority (B-axis moving distance minimized.)
1:
Form with priority
2
Previous step with priority (R-axis moving distance minimized.)
S3C819 to S3C898: ANALOG OUTPUT FILTER CONSTANT
(When analog output corresponding to speed function is used)
By setting a constant to filter, a filter processing can be performed for the output analog signal.

S3C899: CUT WIDTH CORRECTION VALUE (When form cutting
function is used)
This parameter specifies the path correction value for pattern cutting operation. A value 1/2 of the cut
width is set in units of μm.
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8.8 Hardware Control Parameters
8.8
Hardware Control Parameters
These parameters make the hardware settings for fan alarm or relay operation, etc.
S2C508: ANTICIPATOR FUNCTION

This parameter specifies anticipation output.
0:
Invalid
1:
Valid
The anticipator function is a function to quicken or slow the ON/OFF timing of four user output signals
and two user output groups. Using this function, signal output can be carried out before or after the
step is reached. As a result, timing deviation due to delayed motion of peripheral devices and robot
motion can be adjusted.
Setting the time to a negative value (-) advances the signal output.
This setting is effective when adjusting timing deviation due to delayed motion of peripheral devices.
Setting the time to a positive value (+) delays the signal output.
This setting is effective when adjusting timing deviation due to delayed robot motion.
<Advanced Signal Output>
Signal output is carried out before the step is reached.
Step
:
n-1
n
n+1
Instructions
:
MOVL
MOVL NWAIT
ANTOUT AT#(1) ON
MOVL
Step
User output
n-1
n
n+1
ON
OFF
Setting time for advanced output
<Delayed Signal Output>
Signal output is carried out after the step is reached.
Step
:
n-1
n
n+1
Instructions
:
MOVL
MOVL NWAIT
ANTOUT AT#(2) ON
MOVL
Step
User output
n-1
n
n+1
ON
OFF
Setting time for delayed output
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8.8 Hardware Control Parameters

S2C646 to S2C648: COOLING FAN ALARM DETECTION
This parameter specifies a detection for cooling fan 1 to 3 with alarm sensor, connected to power ON
unit.
0: No detection
1: Detected with message display
2: Detected with message and alarm display

S4C181 to S4C212: SETTING OF OPERATING RELAY NO.
Up to 32 output signals can be turned ON/OFF with the programming pendant. The object relay No. is
set in these parameters. Although it is possible to set optional values for output No. 1 to 1024 in the
parameters, the following must be taken into consideration.
• Avoid setting duplicate numbers.
• The signal turned ON or OFF with the programming pendant is operated again or remains
unchanged until the instruction is executed.

S4C213 to S4C244: OPERATING METHOD OF RELAYS
These parameters specify the operating method of output signals by the programming pendant. The
operating method can be specified for each output signal.
Parameter Setting
Value
0
Operation of Output Signal
+ON
ON
-OFF
OFF
+ON
1
ON/OFF with the key
ON while the key
is pressed
OFF if the key is
not pressed
ON
OFF

S2C649 to S2C651: COOLING FAN ALARM 1 OPERATION

S2C652 to S2C654: COOLING FAN ALARM 2 OPERATION
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8.8 Hardware Control Parameters

S2C655 to S2C657: COOLING FAN ALARM 3 OPERATION
These parameters specify the operation of cooling fan 1 to 3 with alarm sensor, connected to power ON
unit.
Each bit specifies the power ON unit to which the detecting sensor is connected.
d7
d0
S2C649,S2C652,S2C655
SERVOPACK#1 - Power ON unit 1
SERVOPACK#1 - Power ON unit 2
SERVOPACK#1 - Power ON unit 3
SERVOPACK#1 - Power ON unit 4
SERVOPACK#1 - Power ON unit 5
SERVOPACK#1 - Power ON unit 6
SERVOPACK#2 - Power ON unit 1
SERVOPACK#2 - Power ON unit 2
d7
d0
S2C650,S2C653,S2C656
SERVOPACK#2 - Power ON unit 3
SERVOPACK#2 - Power ON unit 4
SERVOPACK#2 - Power ON unit 5
SERVOPACK#2 - Power ON unit 6
SERVOPACK#3 - Power ON unit 1
SERVOPACK#3 - Power ON unit 2
SERVOPACK#3 - Power ON unit 3
SERVOPACK#3 - Power ON unit 4
d7
d0
S2C651,S2C654,S2C657
SERVOPACK#3 - Power ON unit 5
SERVOPACK#3 - Power ON unit 6
SERVOPACK#4 - Power ON unit 1
SERVOPACK#4 - Power ON unit 2
SERVOPACK#4 - Power ON unit 3
SERVOPACK#4 - Power ON unit 4
SERVOPACK#4 - Power ON unit 5
SERVOPACK#4 - Power ON unit 6

S2C658 to S2C660: FAN ALARM 1 POWER SOURCE STATUS

S2C661 to S2C663: FAN ALARM 2 POWER SOURCE STATUS

S2C664 to S2C666: FAN ALARM 3 POWER SOURCE STATUS
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8.9 TRANSMISSION PARAMETERS
8.9
TRANSMISSION PARAMETERS
RS000: COMMUNICATION PROTOCOL

The protocol of the serial port of the NCP01 circuit board is specified.
0:
No protocol
2:
Basic protocol
3:
FC1 protocol
8.9.1
Basic Protocol
Specify when using Yaskawa data transmission functions.

RS030: NUMBER OF DATA BITS
This parameter specifies the number of data bits.

RS031: NUMBER OF STOP BITS
This parameter specifies the number of stop bits.

RS032: PARITY
This parameter specifies the parity bits.

RS033: TRANSMISSION SPEED
This parameter specifies the transmission speed in units of bauds.

RS034: RESPONSE WAITING TIMER (TIMER A)
Units: 0.1 seconds
This timer monitors the sequence. It specifies the response waiting time for invalid or missing
responses.

RS035: TEXT TERMINATION MONITORING TIMER (TIMER B)
This timer monitors text reception. Specify the monitoring time to wait for text termination character.

RS036: NUMBER OF ENQ RE-TRANSMISSION RETRIES
This parameter specifies the number of re-transmission attempts of the control characters for invalid or
missing responses.

RS037: NUMBER OF DATA RE-TRANSMISSION RETRIES
This parameter specifies the number of re-transmission attempts of text for block check error (NAK
reception).

RS038: BLOCK CHECK METHOD
This parameter specifies the checking method for text transmission errors. Set “0” for this protocol.
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8.9 TRANSMISSION PARAMETERS
8.9.2
FC1 Protocol
The following protocols naturally correspond to the external memory unit, YASNAC FC1 or FC2.

RS050: NUMBER OF DATA BITS
This parameter specifies the number of data bits.

RS051: NUMBER OF STOP BITS
This parameter specifies the number of stop bits.

RS052: PARITY
This parameter specifies the parity bits.

RS053: TRANSMISSION SPEED
This parameter specifies the transmission speed in units of bauds.

RS054: RESPONSE WAITING TIMER (TIMER A)
Units: 0.1 seconds
This timer monitors the sequence. It specifies the response waiting time for invalid or missing
responses.

RS055: TEXT TERMINATION MONITORING TIMER (TIMER B)
This timer monitors text reception. Specify the monitoring time to wait for text termination character.

RS056: NUMBER OF ENQ RE-TRANSMISSION RETRIES
This parameter specifies the number of re-transmission attempts of the control characters for invalid or
missing responses.

RS057: NUMBER OF DATA RE-TRANSMISSION RETRIES
This parameter specifies the number of re-transmission attempts of text for block check error (NAK
reception).

RS058: FC2 FORMAT SPECIFICATION
Specify the format type of the floppy disk used with external memory (YASNAC FC2).
NOTE

720 kilobytes are unconditionally specified for YASNAC FC2 (2DD floppy disk exclusive
use).
RS059: EXTERNAL MEMORY FILE OVERWRITE
SPECIFICATION
Specify whether to accept the file overwrite of the external memory (YASNAC FC2 or FC1).
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8.10 Application Parameters
8.10 Application Parameters
8.10.1

Arc Welding
AxP000: APPLICATION
This parameter specifies the application. Set “0” for arc welding.

AxP003: WELDING ASSIGNMENT OF WELDING START
CONDITION FILE
This parameter specifies the beginning condition number in the welding start condition file to be
assigned to Power Source 2. Condition files of a lower number are automatically assigned to Power
Source 1. For a system with one Power Source, set “49” (maximum value).
Condition file
Power
Source 1
Power
Source 2

AxP004: WELDING ASSIGNMENT OF WELDING END
CONDITION FILES
This parameter specifies the beginning condition number in the welding END condition file to be
assigned to Power Source 2. Condition files of a lower number are automatically assigned to Power
Source 1. For a system with one Power Source, set “13” (maximum value).
Power
Source 1
Power
Source 2

AxP005: WELDING SPEED PRIORITY
This parameter specifies whether the welding speed is specified by the “ARCON” instruction, by the
welding start condition file, or by the additional times of the “MOV” instruction.

AxP009: WORK CONTINUING
This parameter specifies whether to output an “ARCON” instruction to restart after the manipulator
stopped while the “ARCON” instruction is being output.

AxP010: WELDING INSTRUCTION OUTPUT
This parameter specifies the beginning number (0 to 12) of the analog output channel to the Power
Source. “0” indicates that no Power Source exists.
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8.10 Application Parameters

AxP011, AxP012: MANUAL WIRE OPERATION SPEED
These parameters specify the manual wire operation speed as a percentage of the maximum
instruction value. Instruction polarity is determined by the current instruction in the Power Source
characteristic file. The setting range is from 0 to 100.

AxP013, AxP014: WELDING CONTROL TIME
These parameters specify the welding control time in units of minutes. The setting range is from 0 to
999.

AxP015 to AxP017: NUMBER OF WELDING CONTROL
These parameters specify the number of welding controls. The setting range is from 0 to 99.

AxP026 to AxP029: TOOL ON/OFF USER OUTPUT NO. (Jigless
system)
These parameters specify the user output number for the tool open/close operation by specific keys.
8.10.2

Handling Application
AxP002, AxP004: f1 KEY FUNCTION
These parameters set the output signal to assign for f1 key.
0: Not specified
1 to 4: Specific outputs for HAND-1 to HAND4-1
5: User output (No. is specified by AxP004).

AxP003, AxP005: f2 KEY FUNCTION
These parameters set the output signal to assign for f2 key.
0: Not specified
1 to 4: Specific outputs for HAND-2 to HAND4-2
5: User output (No. is specified by AxP005)
8.10.3

Spot Welding
AxP003: MAXIMUM NUMBERS OF CONNECTED POWER
SOURCES
The initial value is set to 4. The value is automatically set at start-up. No modification is needed.

AxP004: GUN FULL OPEN STROKE ON/OFF SIGNAL
This parameter specifies which stroke switching signal is output ON or OFF to make the gun fullyopened for each gun.
Bit specification (1 for 01) for 8 guns. The initial setting is “0.”
0 0 0 0 0 0 0 0
| | | | | | | |
8 7 6 5 4 3 2 1
Gun number
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8.10 Application Parameters

AxP005: STROKE CHANGE ANSWER TIME LIMIT
When using the X2 gear mechanical stopper gun and switching gun stroke, this parameter sets the time
from the stroke-switching-sequence start until the pressure instruction end.
Setting range: 0.0 to 9.9 sec.
The initial setting is “0,” with which the switching signal is output for the “stopper-type stroke switching
time” set in the file, and then the gun pressure instruction is turned OFF.

AxP006: PARITY SPECIFICATION FOR WELDING CONDITIONS
When adding the parity signal to the welding condition signal with the Power Source connected to each
welding gun, this parameter specifies odd or even parity.
Bit specification for 4 Power Sources. (0 : odd number, 1 : even number) The initial setting is “0.”
0 0 0 0 0 0 0 0
| | | |
4 3 2 1

Power Source number
AxP007: ANTICIPATE TIME
When executing the GUNCL or SPOT instruction with NWAIT specified in the previous move instruction
but the time is not specified by ATT in the GUNCL or SPOT instruction, this parameter specifies the
anticipate condition (time). The initial setting is “0,” with which the each instruction is executed as soon
as the taught position of the previous move instruction is reached, as normal operation.

AxP015: WELDING ERROR RESET OUTPUT TIME
This parameter sets the output time of the welding error reset signal to the Power Source when the
alarm reset signal is input.
If the setting is "0," the welding error reset signal is not output to the Power Source even if the alarm
reset signal is input.

AxP016, AxP017: ELECTRODE WEAR AMOUNT ALARM VALUE
These parameters set the electrode wear amount alarm values (AxP016: movable side, AxP017: fixed
side) at the wear detection.
8.10.4

General-purpose Application
AxP009: WORK CONTINUE PROHIBIT
This parameter specifies whether to output TOOLON instruction or not at restarting when the work is
stopped for some reasons during the output of TOOLON instruction.
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9.1 Function Keys
9 Arc Welding Application
9.1
Function Keys
Each function used for arc welding is allocated on the Numeric keys of the programming pendant.
7
8
ARCON
4
WELD
ON/OFF
5
GAS
ARCOFF
2
1
TIMER
FEED
6
RETRACT
3
CUR/VOL
.
0
9
CUR/VOL
REFP
Registers a timer instruction “TIMER” in a job.
1
TIMER
Registers a reference point “REFP” in a job, or modifies the registered
reference point.
0
REFP
[REFP] + [FWD]
Moves the manipulator to the registered reference point.
Registers a welding start instruction “ARCON.”
8
ARCON
Registers a welding end instruction “ARCOFF.”
5
GAS
ARCOFF
INTER
LOCK
+ 5GAS
ARCOFF
[INTERLOCK] + [5/GAS ARCOFF]
Used to turn ON/OFF the user available signal for the gas flow control.
(Refert to section 9.3.2 "Gas Flow Control Function".)
*This function is available for the standard software version NS3.97.00A
()-00 or later.
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9.1 Function Keys
9
FEED
6
RETRACT
3
CUR/VOL
-
Used for wire inching. Press [FEED] to feed the wire, and press
[RETRACT] to retract the wire.
While these keys are pressed, the wire feed motor operates.
When the following are pressed simultaneously, wire inching is performed
in the high speed mode.
[HIGH SPEED] + [FEED]
[HIGH SPEED] + [RETRACT]
Modifies the welding current/voltage while welding during the play mode.
Press [3/CUR/VOL] to increase the current/voltage value, and press
[−/CUR/VOL] to decrease the current/voltage value.
(Refer to section 9.6 "Changing Welding Conditions During Playback" in
this manual.)
CUR/VOL
WELD
ON/OFF
SUPPLE
-MENT
When [WELD ON/OFF] is pressed during teach mode, the LED is lit with a
beep sound, turning ON the system output signal “#50065: PERMISSIBLE
WORK IN TEST RUN“.
Welding can be executed during teach mode by the system output signal.
(Refer to section 9.3.3 "Welding Execution Function During Teach Mode".)
Wire retraction, high-speed inching, or high-speed retraction cannot be performed
depending on the Power Source.
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9.2 General Descriptions of Instructions and Functions
9.2
9.2.1
General Descriptions of Instructions and Functions
Welding Teaching Operation
The following figure is an example of workpiece welding. This section outlines the manipulator arc
welding procedure and the reference job (robot program).
Step1
Step 6
Step 2
Step 3
:Teaching point (Step)
Step 5
Step 4
Welding line
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9.2 General Descriptions of Instructions and Functions
Operating procedure is as follows:
Creating a Job
(Teaching a Welding Line)
Perform the manipulator welding teaching operation. (Refer to the
reference job.)
Setting Welding Conditions
(Registering Work Instruction)
Set the welding conditions (current value, voltage value, welding speed)
for the object workpiece.
Check Operation
(Operation in the Check Mode)
Confirm the manipulator operation in the check mode (welding is not
performed).
Fine Control of Welding Condition
Execute welding, and perform the fine control of the welding condition
from the bead externals.
Production (Automatic Drive)
The teaching operation is completed. Actual production using the
manipulator is performed.
Reference Job
NOP
MOVJ VJ=10.00
MOVJ VJ=80.00
MOVL V=800
ARCON AC=200 AVP=100
Moves to the taught position (welding start point) using
linear interpolation. Speed units: cm/min.
Turns ON the arc start signal to the Power Source.
MOVL V=50
ARCOF AEF#(1)
MOVL V=800
MOVJ VJ=50.00
END
Moves to the taught position (welding end point) using
linear interpolation. Speed units: cm/min.
Turns OFF the arc start signal to the Power Source.
Specifies welding current: 200A, welding voltage: 100%.
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9.2 General Descriptions of Instructions and Functions
9.2.2
Functions Used During Teaching
To decrease teaching procedure time, useful functions are provided.
Torch
Gas check function
Wire inching function
Step 6
Step 1
Step 2
Step5
Step 3
Step 4
9.2.3
Functions Used During Automatic Drive
To increase productivity, convenient functions are provided.
Torch
Step1
Step6
Step2
Automatic wire antisticking function
Arc retry function
Step5
Step3
Arc restart function
Step4
Wire anti-sticking function
9.2.4
Other Functions
The following arc welding usage functions are also available.
• Welding Condition Slope Up/ Down Function
• Changing Welding Conditions During Playback
• Arc Welding Operation Maintenance Function
• Welding Condition File Function
• Enhanced Welding Condition File Function
• Weaving Function Power Source Characteristic File Function
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9.3 Function Outlines
9.3
Function Outlines
9.3.1
Wire Inching Function
Wire Inching
9
FEED
6
The term wire inching refers to gradually feeding or retracting the welding wire
through the torch. [FEED] and [RETRACT] are used to perform wire inching. The
wire inching simply feeds or retracts the wire, it has nothing to do with the job
procedure being taught. The wire inching is performed only in the teach mode when
the arc does not occur.
RETRACT
Wire Feeding
The wire is fed only while [FEED] is pressed.
Wire Retracting
The wire is retracted only while [RETRACT] is pressed.
When [FEED] or [RETARACT] is pressed simultaneously with [HIGH SPEED], the wire inching is
performed in the high speed mode.
[HIGH SPEED] + [FEED]
[HIGH SPEED] + [RETRACT]
SUPPLE
-MENT
9.3.2
Wire retraction, high-speed inching, or high-speed retraction cannot be performed
depending on the Power Source.
Gas Flow Control Function
Gas Flow Control
The Gas Flow Control function is used to adjust the flow amount of shielding gas by opening or closing
the solenoid valve. The solenoid valve can be opened or closed by pressing [INTERLOCK] + [5/GAS
ARCOFF].
This function simply opens or closes the solenoid valve for shielding gas. Therefore, the operation
does not cause any changes in the job contents.
The Gas Flow Control function is enabled in the teach mode only.
One signal from user available signals and user outputs [#11283 (for arc 1), #11273 (for arc 2), #11263
(for arc 3), and #11253 (for arc 4)] turns ON while the [INTERLOCK] + [5/GAS ARCOFF] keys are
pressed simultaneously.
SUPPLE
-MENT
The I/O of the welding power source and the above user outputs need to be assigned by
concurrent I/O. For details on I/O assignment, refer to “NX100 Concurrent I/O”.
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9.3 Function Outlines
9.3.3
Welding Execution Function During Teach Mode
When the [INTERLOCK] + [WELD ON/OFF] keys are pressed simultaneously, the LED is lit with a beep
sound, turning ON the system output signal "#50065: PERMISSIBLE WORK IN TEST RUN". When
pressing these keys once again, the LED goes out and the beep sound stops, then the system output
signal "#50065: PERMISSIBLE WORK IN TEST RUN" turns OFF.
Welding can be executed during teach mode by the system output signal.
*Welding can be executed during a test run only when the security mode is management mode.
*Welding cannot be executed even while the LED is lit unless the security mode is management mode.
*This function is available for the standard software version NS3.97.00A ()-00 or later.
*This function is a parameter option function.
NOTE
During a test run of the teach mode, the manipulator may not move at the actual welding
speed due to the speed limit in some cases. (e.g. at a welding position/point where the
manipulator significantly changes its posture during a coordinated motion with a station)
In these cases, weld bead may be thicker compared with the bead that is formed during
the playback operation, or burn through may occur as the speed of the welding is different
from the speed that is appropriate for the welding conditions (current and voltage).
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9.3 Function Outlines
9.3.4
Arc Retry Function
An attachment to the welding start position of a non-conductive material, such as rust, soot, and oil,
may cause an arc start failure during arc start. An arc start failure stops the manipulator and interrupts
work. This is prevented by using the arc retry function.
When an arc start failure occurs () and this arc retry function is performed, the ARCON process is
repeated () according to the retry condition defined in the Arc Auxiliary Condition File. The
manipulator repeats the ARCON procedure as it slightly shifts its position near the arc starting point.
After that, the manipulator returns to the starting point when an arc starts and continues working ().
Arc Start Failure
The Retry Procedure
Returns toward the previous step and performs a
retract inching, then returns to the teaching starting
point and repeats the ARCON procedure.
Successful Arc Start
After a successful arc start, the manipulator
continues to weld.
Retry Function Example
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9.3 Function Outlines
9.3.5
Arc Restart Function
When the manipulator stops because of an arc failure, a simple start would leave a break in the welding
line. This is prevented by using the arc restart function.
When the arc restart function is executed, the manipulator is restarted using the method specified in the
Arc Auxiliary Condition File*1. There are three methods to restart the manipulator after an arc failure:
• With the arc OFF the controller outputs an error signal
and the message “RESTARTING FOR ARC,” but
continues manipulator’s movement. After exiting the
arc section, the controller outputs the message “END
OF ARC RESTARTING,” and continues the operation.
• With the arc ON trial, the manipulator automatically
returns for the specified overlap length*2, and then
continues welding.
• The manipulator stops and waits for a manual
intervention. After intervention (), the operator
should return the manipulator to the original stop
position (). And then press [START] again. The



manipulator returns for the specified overlap length*2
() and continues the work.
*1
The arc auxiliary condition file defines the following: current, voltage and speed at
restart; method of restart after a gas shortage or wire shortage.
Overlap length
*2
NOTE
The overlap length (the length of the section where welding is repeated after a restart)
can be set as desired (0 to 99.9mm).
A cursor operation resets the “restarting” status. Therefore, the arc restart function cannot
be executed after the cursor operation.
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9.3 Function Outlines
9.3.6
Wire-stick Check Function
Anti-Stick Function
The wire may stick to the workpiece after welding is completed (). As an anti-stick process, the
Power Source temporarily increases the voltage at the end of welding(). After the anti-stick process,
a wire stick check is performed(). If the anti-stick process failed and a wire stick is detected, the
manipulator enters a hold status or performs the automatic sticking release process, depending on the
anti-stick condition specified.
Time required for the anti-stick process differs depending on the Power Sources. The anti-stick process
times for different Power Sources is registered in the Power Source characteristic file. The wire check
is performed after the anti-stick process time has elapsed.
SUPPLE
-MENT
Wire stick
“Wire stick” refers to the contact of the wire to the workpiece as observed after the arcOFF.
Wire stick to workpiece
Welding ends. (Wire Stick
Occurrence)
Anti-stick Process
Voltage increased temporarily
as anti-stick process
Wire Stick Check
Wire stick check is performed after
elapsing of the anti-stick process time
defined in the Power Source
characteristic file.
Anti-Stick Function
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9.3 Function Outlines
9.3.7
Automatic Wire-stick Release Function
Automatic Wire-stick Release Function
The automatic wire-stick release function can be used if wire stick is detected in spite of the anti-stick
process. When this function is used, the manipulator does not immediately output the wire sticking
signal upon detecting a wire stick, but automatically attempts to release the sticking by applying a
certain voltage. Only when the stick release process has failed for a specified number of times, the
manipulator stops and outputs the wire stick signal.
This function is specified in the arc end condition file or the ARCOF instruction’s additional items.
When it is used, the voltage and number of attempts are set in the arc auxiliary condition file.
Automatic Wire-stick Release
Even if a single attempt has failed, the process is repeated
up to the specified maximum repetition count.
Manipulator Stopped by Wire Stick
If a wire stick occurs at the end of welding, the manipulator immediately stops in the hold status. While
the manipulator remains in the hold status, the [HOLD] lamp lights and the external system output
signal “Wire Sticking” is output.
NX100
ON
Sticking
Wire stick occurs
External output signal is turned ON.
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9.3 Function Outlines
9.3.8
Slope Up/Down Function
The slope up/down function is used during welding to gradually change the welding condition. This
function is extremely effective in conducting heat for such operations on workpieces such as the one
shown below.
During the welding of a workpiece as shown below, especially during the period before the end of
welding, the tearing and dropping of metal can occur quite frequently due to heat conduction.
However, even in this example, if the welding condition is gradually decreased before the end of
welding, tearing and dropping of metal can be prevented.
Welding start point (P1) and welding
end point (Pn) must be the same.
Reference Job
NOP

MOVL V=500
ARCON AC=210 AVP=100
MOVC V=80
MOVC V=80
MOVC V=80
MOVC V=80
ARCCTE AC=180 AVP=100 DIS=20.0
MOVC V=80
ARCOF AC=160 AVP=80 T=0.30

END
Current
Moves to welding start point P1.
Arc starts.
Moves to taught point Pn-1.
Gradually decreases the current from the point 20mm
short of the welding end point.
Moves to welding end point Pn.
Arc ends.
Welding condition
gradually decreases.
(Slope Up/Down Func.)
Main condition
210
End condition
180
160
Manipulator
stop (0.3s)
20mm
P1
P2
Pn-1
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9.4 Registering Arc Welding Instructions
9.3.9
Enhanced Welding Condition File Function
The enhanced welding condition file function improves the method of setting the welding condition file.
This function can be used as follows:
• Changing the welding start condition to the main condition can be performed during
manipulator operation using the enhanced arc start condition file.
• The crater processing can be set to two stages using the enhanced arc end condition file.
• Analog output to the Power Source increases by 2 channels. Therefore, Power Sources
with polarity ratio control can be used.
NOTE
9.4
Enhanced Welding Condition File
Parameter setting is necessary to use the enhanced welding condition file.
(Refer to section 9.5.2 "Selecting Welding Condition Files".)
Select either the standard welding condition file or the enhanced welding condition file as
for the welding condition file.
Registering Arc Welding Instructions
9.4.1
ARCON
This is the instruction to turn ON the arc start signal to the Power Source to start welding.
The function key [ARCON] can be used for registration.
Function key to register the welding start instruction (ARCON)
8
ARCON
SUPPLE
-MENT

To register the ARCON instruction using [INFORM LIST], select “DEVICE” from the
instruction group list.
Registering the ARCON Instruction
Operation
1
Press [ARCON].
2
Press [ENTER].
Explanation
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9.4 Registering Arc Welding Instructions

Setting Welding Start Conditions
The ARCON instruction can be registered in any of the following three ways:
• With additional items to specify conditions
ARCON AC=200 AVP=100 T=0.50 V=60 RETRY
• With an arc start condition file
ARCON ASF# (1)
In this case, the welding condition is set using the arc start condition file. (Refer to section
9.5 "Welding Condition Files")
• Without additional items
ARCON
In this case, the welding condition must be set using the welding condition set instruction
(ARCSET) before the ARCON instruction is executed. (Refer to section 9.4.3
"ARCSET".”)
With Additional Items to Specify Conditions
Operation
1
Select the ARCON instruction
in the instruction area.
Explanation
The ARCON instruction appears in the input buffer line.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
END
ARCON
Main Menu
2
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears. Select “UNUSED.”
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCON
SET METHOD
: UNUSED
ARCON
Main Menu
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9.4 Registering Arc Welding Instructions
Operation
3
Select “UNUSED.”
Explanation
The selection dialog box appears.
DETAIL EDIT
ARCON
SET METHOD
4
Select “AC=.”
: ASF#()
AC=
UNUSED
When the welding conditions have been set in the ARCON
instruction with an arc start condition file, the DETAIL EDIT
window appears.
DETAIL EDIT
ARCON
SET METHOD
5
Select “ASF#( ).”
: ASF#()
1
The selection dialog box appears.
DETAIL EDIT
ARCON
SET METHOD
6
Select “AC=.”
7
Input the welding condition.
: ASF#()
AC=
UNUSED
Set each welding condition.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCON
WELDING CURR
WELDING VOLT
TIMER
SPEED
RETRY
MODE
: AC= 180
: AVP= 100
: T= 0.30
: V= 80
: RETRY
: REPLAY
ARCON AC=180 AVP=100 V=80 RETRY REPLAY
Main Menu
ShortCut
! Turn on servo power
DETAIL EDIT
ARCON
WELDING CURR
WELDING VOLT
TIMER
8
Press [ENTER].
: AC= 200
: AVP= 100
: T= 0.30
The set contents are displayed in the input buffer line.
ARCON AC=200 AVP=100 V=80 RETRY REPLAY
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9.4 Registering Arc Welding Instructions
Operation
9
Press [ENTER].
Explanation
The set contents are registered in the job.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
STEP NO: 0003
CONTROL GROUP: R1
TOOL: 00
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
ARCON AC=200 AVP=100 V=80 RETRY REPLAY
0003
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
ARCON AC=200 AVP=100 V=80 RETRY REPLAY
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
EDIT
JOB
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
UTILITY
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
MOVL V=50
MOVL V=50
ARCOF
MOVL V=800
MOVJ VJ=80.00
END
ARCON
Main Menu
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9.4 Registering Arc Welding Instructions
With an Arc Start Condition File
Operation
1
Select the ARCON instruction
in the instruction area.
Explanation
The ARCON instruction appears in the input buffer line.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
END
ARCON
Main Menu
2
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCON
SET METHOD
: UNUSED
ARCON
Main Menu
3
Select “UNUSED.”
ShortCut
! Turn on servo power
The selection dialog box appears.
DETAIL EDIT
ARCON
SET METHOD
4
Select “ASF#( ).”
: ASF#()
AC=
UNUSED
When the welding conditions have been set in the ARCON
instruction additional items, the DETAIL EDIT window appears.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCON
WELDING CURR
WELDING VOLT
TIMER
SPEED
RETRY
MODE
: AC= 180
: AVP= 100
: T= 0.30
: V= 80
: RETRY
: REPLAY
ARCON AC=180 AVP=100 V=80 RETRY REPLAY
Main Menu
ShortCut
! Turn on servo power
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9.4 Registering Arc Welding Instructions
Operation
5
Select “AC=.”
Explanation
The selection dialog box appears.
DETAIL EDIT
ARCON
:
:
:
:
:
WELDING CURR
WELDING VOLT
TIMER
SPEED
RETRY
6
Select “ASF#( ).”
7
Set the file number.
AC=
180
ASF#()
AVP=
AC= 100
T=
0.30
UNUSED
V= 80
RETRY
Specify the file number (1 to 64). Move the cursor to the file
number and press [SELECT].
DETAIL EDIT
ARCON
SET METHOD
: ASF#()
1
Type the file number using the Numeric keys and press [ENTER].
DETAIL EDIT
ARCON
SET METHOD
8
Press [ENTER].
: ASF#() 10
The set contents are displayed in the input buffer line.
ARCON ASF# (10)
9
Press [ENTER].
The set contents are registered in the job.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON ASF# (10)
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
STEP NO: 0003
TOOL: 00
ARCON ASF# (10)
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
EDIT
JOB
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
UTILITY
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
MOVL V=50
MOVL V=50
ARCOF
MOVL V=800
MOVJ VJ=80.00
END
ARCON
Main Menu
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9.4 Registering Arc Welding Instructions
Without Additional Items
NOTE
When an additional item is not provided for the ARCON instruction, set the welding
conditions in advance with the welding condition setting instruction (ARCSET) before
executing the ARCON instruction. (Refer to “section 9.4.3 "ARCSET".”)
Operation
1
Select the ARCON instruction
in the instruction area.
Explanation
The ARCON instruction appears in the input buffer line.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
STEP NO: 0003
CONTROL GROUP: R1
TOOL: 00
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
ARCON ASF#(10) T=0.30 RETRY REPLAY
0003
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
ARCON ASF#(10) T=0.30 RETRY REPLAY
Main Menu
2
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
DETAIL EDIT
ARCON
SET METHOD
: ASF#()
1
DETAIL EDIT
ARCON
WELDING CURR
WELDING VOLT
TIMER
3
Select “ASF#( )” or “AC=.”
: AC= 180
: AVP= 100
: T= 0.30
V 80
The selection dialog box appears.
ASF#()
AC=
UNUSED
4
Select “UNUSED.”
5
Press [ENTER].
The set contents are displayed in the input buffer line.
ARCON
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Operation
6
Press [ENTER].
Explanation
The set contents are registered in the job.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
UTILITY
STEP NO: 0003
TOOL: 00
ARCON
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
9.4.2
ARCOF
This is the instruction to turn OFF arc start signal to the Power Source to end welding.
The function key [ARCOF] can be used for registration.
5
Function key to register the arc end instruction (ARCOF)
GAS
ARCOFF
SUPPLE
-MENT

To register the ARCOF instruction using [INFORM LIST], select “DEVICE” from the
instruction group list.
Registering the ARCOF Instruction
Operation
1
Explanation
Press [ARCOF].
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
SET METHOD
: UNUSED
ARCOF
Main Menu
2
ShortCut
!Turn on servo power
Press [ENTER].
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
UTILITY
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
MOVL V=50
MOVL V=50
ARCOF
MOVL V=800
MOVJ VJ=80.00
END
ARCOF
Main Menu
ShortCut
!Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions

Setting Welding End Conditions
The ARCOF instruction can be registered in any of the following four ways:
• With additional items to specify conditions
ARCOF AC=160 AVP=70 T=0.50 ANTSTK
• With an arc end condition file
ARCOF AEF#(1)
In this case, the welding condition is set using the arc end condition file. (Refer to section
9.5 "Welding Condition Files".”)
• Without additional items
ARCOF
When the crater process is performed by changing the welding condition when welding is
completed, before the ARCOF instruction is executed, the welding condition needs to be
set using the welding condition setting instruction. (Refer to section 9.4.3 "ARCSET").
With Additional Items to Specify Conditions
Operation
1
Select the ARCOF instruction
in the instruction area.
Explanation
The ARCOF instruction appears in the input buffer line.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
END
STEP NO: 0003
TOOL: 00
ARCOF
Main Menu
2
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
SET METHOD
: UNUSED
ARCOF
Main Menu
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! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Operation
3
Select “UNUSED.”
Explanation
The selection dialog box appears.
EDIT
DATA
UTILITY
DISPLAY
DETAIL EDIT
ARCOF
SET METHOD
4
Select “AC=.”
: AEF#()
AC=
UNUSED
When the welding conditions have been set in the ARCOF
instruction with arc end condition file, the DETAIL EDIT window
appears.
In such a case, select “AEF#( ).”
DATA
EDIT
UTILITY
DISPLAY
DETAIL EDIT
ARCOF
SET METHOD
: AEF#()
1
The selection dialog box appears.
Select “AC=.”
EDIT
DATA
UTILITY
DISPLAY
DETAIL EDIT
ARCOF
SET METHOD
5
Input the welding condition.
: AEF#()
AC=
UNUSED
Set each welding condition.
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
: AC= 180
: AVP= 100
: T= 0.30
: ANTSTK
WELDING CURR
WELDING VOLT
TIMER
ANTI-STICKING
ARCOF AC=180 AVP=100 T=0.30 ANTSTK
Main Menu
DATA
ShortCut
EDIT
DISPLAY
! Turn on servo power
UTILITY
DETAIL EDIT
ARCOF
WELDING CURR
WELDING VOLT
TIMER
6
Press [ENTER].
: AC= 200
: AVP= 100
: T= 0.30
: ANTSTK
The set contents are displayed in the input buffer line.
ARCOF AC=200 AVP=100 T=0.30 ANTSTK
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Operation
7
Press [ENTER].
Explanation
The set contents are registered in the job.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
STEP NO: 0003
CONTROL GROUP: R1
TOOL: 00
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF AC=200 AVP=100 T=0.30 ANTSTK
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
ARCOF AC=200 AVP=100 T=0.30 ANTSTK
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
UTILITY
STEP NO: 0003
TOOL: 00
ARCOF
Main Menu
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! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
With an Arc End Condition File
Operation
1
Select the ARCOF instruction
in the instruction area.
Explanation
The ARCOF instruction appears in the input buffer line.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
END
STEP NO: 0003
TOOL: 00
ARCOF
Main Menu
2
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
SET METHOD
: UNUSED
ARCOF
Main Menu
3
Select “UNUSED.”
ShortCut
! Turn on servo power
The selection dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
SET METHOD
: AEF#()
AC=
UNUSED
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Operation
4
Select “AEF#( ).”
Explanation
When the welding conditions have been set in the ARCOF
instruction additional items, the DETAIL EDIT window appears.
In such a case, select “AC=”.
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
: AC= 180
: AVP= 100
: T= 0.30
: ANTSTK
WELDING CURR
WELDING VOLT
TIMER
ANTI-STICKING
ARCOF AC=180 AVP=100 T=0.30 ANTSTK
Main Menu
ShortCut
! Turn on servo power
The selection dialog box appears.
Select “AEF#( ).”
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
WELDING CURR
WELDING VOLT
TIMER
ANTI-STICKING
5
Set the file number.
: AC=
180
AEF#()
: AVP=
AC= 100
: T=
0.30
UNUSED
: ANTSTK
Specify the file number (1 to 12). Move the cursor to the file
number and press [SELECT].
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
SET METHOD
: AEF#()
1
Type the file number using the Numeric keys and press [ENTER].
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
SET METHOD
6
Press [ENTER].
: AEF#() 10
The set contents are displayed in the input buffer line.
ARCOF AEF# (10)
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9.4 Registering Arc Welding Instructions
Operation
7
Press [ENTER].
Explanation
The set contents are registered in the job.
JOB
EDIT
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF AEF# (10)
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
STEP NO: 0003
TOOL: 00
ARCOF AEF# (10)
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
NOP
0001
MOVJ VJ=80.00
0002
MOVL V=800
0003
ARCON
0004
MOVL V=50
0005
MOVL V=50
0006
MOVL V=50
0007
ARCOF
0008
MOVL V=800
0009
MOVJ VJ=80.00
0010
END
UTILITY
STEP NO: 0003
TOOL: 00
ARCOF
Main Menu
ShortCut
! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Without Additional Items
Operation
1
Select the ARCOF instruction
in the instruction area.
Explanation
The ARCOF instruction appears in the input buffer line.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
MOVL V=50
MOVL V=50
ARCOF AC=200 AVP=100 T=0.30 ANTSTK
MOVL V=800
MOVJ VJ=80.00
END
ARCOF AC=200 AVP=100 T=0.30 ANTSTK
Main Menu
2
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCOF
SET METHOD
DATA
EDIT
: AEF#()
DISPLAY
1
UTILITY
JOB CONTENT
DETAIL
EDIT
A
ARCOF
WELDING CURR
WELDING VOLT
TIMER
3
Select “AEF#( )” or “AC=.”
: AC= 180
: AVP= 100
: T= 0.30
: ANTSTK
The selection dialog box appears.
AEF#()
AC=
UNUSED
4
Select “UNUSED.”
5
Press [SELECT].
The set contents are displayed in the input buffer line.
ARCOF
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9.4 Registering Arc Welding Instructions
Operation
6
Press [ENTER].
Explanation
The set contents are registered in the job.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
MOVL V=50
MOVL V=50
ARCOF
MOVL V=800
MOVJ VJ=80.00
END
ARCOF
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
MOVL V=50
MOVL V=50
ARCOF AC=200 AVP=100 T=0.30 ANTSTK
MOVL V=800
MOVJ VJ=80.00
END
ARCOF AC=200 AVP=100 T=0.30 ANTSTK
Main Menu
ShortCut
! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
9.4.3
ARCSET
This is the instruction to set the welding conditions (current, voltage, etc.) individually.
The ARCSET instruction can be registered in any of the following two ways:
• With additional items to specify conditions
ARCSET AC=200 AVP=100
• With an arc start condition file
ARCSET ASF# (1)
In this case, the welding condition is set using the arc start condition file.
(Refer to section 9.5 "Welding Condition Files")

Registering the ARCSET Instruction
With Additional Items to Specify Conditions
Operation
1
Move the cursor to the
address area.
2
Press [INFORM LIST].
Explanation
The instruction list dialog box appears.
IN/OUT
ARCON
ARCCTE
ARCOF
CONTROL
DEVICE
VWELD
MOTION
AWELD
ARITH
ARCSET
WVON
SHIFT
WVOF
OTHER
SAME
ARCCTS
PRIOR
3
Select “DEVICE.”
4
Select the ARCSET
instruction.
The ARCSET instruction appears in the input buffer line.
EDIT
JOB
DISPLAY
JOB CONTENT1
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
UTILITY
IN/OUT
STEP
NO: 0003
ARCCTE
CONTROL
TOOL: 00
ARCON
ARCOF
VWELD
AWELD
ARCSET
DEVICE
MOTION
ARITH
WVON
SHIFT
WVOF
OTHER
ARCCTS
SAME
PRIOR
ARCSET AC=200 AVP=100
Main Menu
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! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Operation
5
Press [SELECT].
Explanation
The DETAIL EDIT window appears.
ARCSET AC=200 AVP=100
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCSET
: AC= 200
: AVP= 100
: UNUSED
: UNUSED
: UNUSED
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
ARCCTS AC=200 AVP=100
Main Menu
6
Set the welding condition.
ShortCut
! Turn on servo power
Move the cursor to the item to be set, and press [SELECT]. Type
the welding conditions using the Numeric keys, and press
[ENTER].
EDIT
DATA
UTILITY
DISPLAY
DETAIL EDIT
ARCSET
: AC= 134
: AVP= 100
: UNUSED
: UNUSED
: UNUSED
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
To add the additional items, select “UNUSED.” The selection
dialog box appears.
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCSET
: AC=
AC=134
: AVP=
100
UNUSED
: UNUSED
: UNUSED
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
To delete the additional items, line up the cursor with the
additional items and press [SELECT] to select “UNUSED.”
7
Press [ENTER].
The set contents are displayed in the input buffer line.
EDIT
JOB
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
UTILITY
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
ARCSET AC=134 AVP=100
Main Menu
ShortCut
! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Operation
8
Press [ENTER].
Explanation
The set contents are registered in the job.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
ARCCTS AC=134 AVP=100
END
ARCSET AC=134 AVP=100
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
EDIT
JOB
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
UTILITY
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
ARCSET AC=200 AVP=100
Main Menu
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! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
With an Arc Start Condition File
Operation
1
Explanation
Select the ARCSET instruction The ARCSET instruction appears in the input buffer line.
in the instruction area.
EDIT
JOB
UTILITY
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0007
0008
0009
0010
0011
0012
0013
0014
STEP NO: 0003
TOOL: 00
MOVL V=100
ARCSET
MOVL V=100
ARCOF AC=100 AVP=100 ANTSTK
MOVJ VJ=5.00
MOVJ VJ=5.00
MOVJ VJ=5.00
END
ARCSET
Main Menu
2
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
DATA
EDIT
UTILITY
DISPLAY
DETAIL EDIT
ARCSET
: UNUSED
: UNUSED
: UNUSED
: UNUSED
: UNUSED
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
3
Select “UNUSED.”
The selection dialog box appears.
DATA
EDIT
UTILITY
DISPLAY
DETAIL EDIT
ARCSET
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
4
Select “ASF#( )”.
5
Set the file number.
: UNUSED
AC=
: UNUSED
ASF#()
: UNUSED
: UNUSED
: UNUSED
Specify the file number (1 to 396). Move the cursor to the file
number and press [SELECT].
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCSET
SET METHOD
CONDITION SET
: ASF#() 1
: ACOND=0
Type the file number using the Numeric keys and press [ENTER].
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCSET
SET METHOD
CONDITION SET
: ASF#() 10
: ACOND=0
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
Operation
6
Set the condition set.
Explanation
Specify the number for the condition set (0 or 1). Move the cursor
to the ACOND number at the condition set, and press [SELECT].
EDIT
DATA
UTILITY
DISPLAY
DETAIL EDIT
ARCSET
SET METHOD
CONDITION SET
: ASF#() 10
: ACOND=1
Type the file number using the Numeric keys and press [ENTER].
*Select 1 for standard arc welding (when the enhanced welding
condition file function is not used).
*When the enhanced welding condition file function is used, either
one of the “start condition” or “main condition” in the condition
file can be specified by selecting the condition set number.
ACOND=0 : Sets the welding current and voltage which are
specified in the “start condition”.
ACOND=1 : Sets the welding current and voltage which are
specified in the “main condition”.
7
Press [ENTER].
The set contents are displayed in the input buffer line.
ARCSET ASF# (10) ACOND=1
Press [ENTER]. The set contents are registered in the job.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0006
0007
0008
0009
0010
0011
0012
0013
0014
STEP NO: 0003
TOOL: 00
MOVL V=100
MOVL V=100
ARCSET ASF#(10) ACOND=1
MOVL V=100
ARCOF AC=100 AVP=100 ANTSTK
MOVJ VJ=5.00
MOVJ VJ=5.00
MOVJ VJ=5.00
END
ARCSET ASF# (10) ACOND=1
Main Menu
ShortCut
! Turn on servo power
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0006
0007
0008
0009
0010
0011
0012
0013
0014
STEP NO: 0003
TOOL: 00
MOVL V=100
MOVL V=100
ARCSET
MOVL V=100
ARCOF AC=100 AVP=100 ANTSTK
MOVJ VJ=5.00
MOVJ VJ=5.00
MOVJ VJ=5.00
END
ARCSET
Main Menu
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! Turn on servo power
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions
9.4.4
ARCCTS
The ARCCTS instruction is used with a move instruction to gradually change the welding current and
voltage during welding. A gradual change in the current or voltage is specified by an aimed value and
the length of the slope up/down section. The length of the slope up/down section is set from the move
start point. If no length is specified, the entire section of the move instruction is used.
<Example>
The current and voltage are gradually changed as the manipulator moves toward the move end point
specified by the move instruction. The aimed current and voltage values are 150A and 16.0V
respectively. The slope up/down section length is 100mm from the move start point.
ARCCTS
AC=150
Aimed welding
current value
MOVL
AV=16.0
DIS=100.0
Aimed welding
voltage value
Slope up/down section length
(distance from move start point)
V=80
Gradually Decreasing Current or Voltage
Value im m ediately before executi on
of move instructi on
ARCCTS aimed val ue
ARCCTS executed
DIS =xxx
M ove di stance specified
by move instructi on
We lding c ontinues
Gradually Increasing Current or Voltage
ARCCTS aimed val ue
Value im m ediately before
ex ec ution of m ov e ins truc tion
ARCCTS executed
DIS=xxx
Move distance specified
by move instructi on
Welding c ontinues
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions

Registering the ARCCTS Instruction
Operation
1
Move the cursor to the
address area.
2
Press [INFORM LIST].
Explanation
The instruction list dialog box appears.
IN/OUT
ARCCTE
ARCON
ARCOF
CONTROL
DEVICE
VWELD
MOTION
AWELD
ARITH
ARCSET
WVON
SHIFT
WVOF
OTHER
SAME
ARCCTS
PRIOR
3
Select “DEVICE.”
4
Select the ARCCTS
instruction.
The ARCCTS instruction appears in the input buffer line.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
IN/OUT
STEP NO: 0003
ARCCTE
TOOL: 00
CONTROL
ARCON
ARCOF
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
VWELD
AWELD
ARCSET
DEVICE
MOTION
ARITH
WVON
SHIFT
WVOF
OTHER
ARCCTS
SAME
PRIOR
ARCCTS AC=200 AVP=100
Main Menu
5
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
ARCCTS AC=200 AVP=100
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
ARCCTS
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
: AC= 200
: AVP= 100
: UNUSED
: UNUSED
: UNUSED
ARCCTS AC=200 AVP=100
Main Menu
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! Turn on servo power
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9.4 Registering Arc Welding Instructions
Operation
6
Set the welding condition.
Explanation
Move the cursor to the item to be set and press [SELECT]. Type
the welding conditions using the Numeric keys and press
[ENTER].
EDIT
DATA
UTILITY
DISPLAY
DEITAL EDIT
ARCCTS
: AC= 134
: AVP= 100
: UNUSED
: UNUSED
: UNUSED
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
To add the additional items, select “UNUSED.” The selection
dialog box appears.
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCCTS
: AC=
AC=134
: AVP=
100
UNUSED
: UNUSED
: UNUSED
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
DATA
EDIT
DISPLAY
UTILITY
To delete the additional items, line up the cursor with the
additional items and press [SELECT] to select “UNUSED.”
7
Press [ENTER].
The set contents are displayed in the input buffer line.
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
ARCCTS AC=134 AVP=100
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9.4 Registering Arc Welding Instructions
Operation
8
Press [ENTER].
Explanation
The set contents are registered in the job.
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
ARCCTS AC=134 AVP=100
END
ARCCTS AC=134 AVP=100
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
ARCCTS AC=200 AVP=100
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9.4 Registering Arc Welding Instructions
9.4.5
ARCCTE
The ARCCTE instruction is used with a move instruction to gradually change the welding current and
voltage during welding. A gradual change in the current or voltage is specified by an aimed value and
the length of the slope up/down section. The length of the slope up/down section is measured from the
move end point. If no length is specified, the entire section of the move instruction is used.
<Example>
The current and voltage are gradually changed as the manipulator moves toward the move end point
specified by the move instruction. The aimed current and voltage values are 150A and 16.0V
respectively. The slope up/down section length is 100mm from the move end point.
ARCCTE
AC=150
AV=16.0
Aimed welding
current value
MOVL
DIS=100.0
Aimed welding
current value
Slope up/down section length
(distance from move end point)
V=80
Gradually Decreasing Current or Voltage
Value immediately before execution of move instruction
ARCCTE aimed val ue
ARCCTE executed
DIS=xxx
M ov e distance specified
by m ov e instructi on
We l d i n g c ontinues
Gradually Increasing Current or Voltage
ARCCTE ai med val ue
Value immediately before
execution of move instruction
ARCCTE executed
DIS=xxx
Move di stance specified
by move i nstructi on
Welding c ontinues
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9 Arc Welding Application
9.4 Registering Arc Welding Instructions

Registering the ARCCTE Instruction
Operation
1
Move the cursor to the
address area.
2
Press [INFORM LIST].
Explanation
The instruction list dialog box appears.
IN/OUT
ARCCTE
ARCON
ARCOF
CONTROL
DEVICE
VWELD
MOTION
AWELD
ARITH
ARCSET
WVON
SHIFT
WVOF
OTHER
SAME
ARCCTS
PRIOR
3
Select “DEVICE.”
4
Select the ARCCTE
instruction.
The ARCCTE instruction appears in the input buffer line.
EDIT
JOB
DISPLAY
UTILITY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
IN/OUT
STEP NO: 0003
ARCCTE
TOOL: 00
CONTROL
ARCON
ARCOF
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
VWELD
AWELD
ARCSET
DEVICE
MOTION
ARITH
WVON
SHIFT
WVOF
OTHER
ARCCTS
SAME
PRIOR
ARCCTE AC=200 AVP=100
Main Menu
5
Press [SELECT].
ShortCut
! Turn on servo power
The DETAIL EDIT window appears.
ARCCTE AC=200 AVP=100
DATA
EDIT
DISPLAY
UTILITY
DEITAL EDIT
ARCCTE
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
: AC= 200
: AVP= 100
: UNUSED
: UNUSED
: UNUSED
ARCCTE AC=200 AVP=100
Main Menu
9-40
ShortCut
! Turn on servo power
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9.4 Registering Arc Welding Instructions
Operation
6
Set the welding condition.
Explanation
Move the cursor to the item to be set and press [SELECT]. Type
the welding conditions using the Numeric keys and press
[ENTER].
EDIT
DATA
DISPLAY
UTILITY
DEITAL EDIT
ARCCTE
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
ANALOG OUTPUT4
: AC= 134
: AVP= 100
: UNUSED
: UNUSED
: UNUSED
To add the additional items, select “UNUSED.” The selection
dialog box appears.
EDIT
DATA
DISPLAY
UTILITY
DETAIL EDIT
ARCCTE
WELDING CURR
WELDING VOLT
SPEED
ANALOG OUTPUT3
: AC=
AC=134
: AVP=
100
UNUSED
: UNUSED
: UNUSED
To release, line up the cursor with the additional items and press
[SELECT] to select “UNUSED.”
7
Press [ENTER].
The set contents are displayed in the input buffer line.
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
ARCCTE AC=134 AVP=100
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9.4 Registering Arc Welding Instructions
Operation
8
Press [ENTER].
Explanation
The set contents are registered in the job.
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
0006
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
ARCCTE AC=134 AVP=100
END
ARCCTE AC=134 AVP=100
Press [CANCEL] to return to the JOB CONTENT window when
the set contents are not to be registered.
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000
0001
0002
0003
0004
0005
STEP NO: 0003
TOOL: 00
NOP
MOVJ VJ=80.00
MOVL V=800
ARCON
MOVL V=50
END
ARCCTE AC=200 AVP=100
NOTE
• The ARCCTS or ARCCTE instruction is valid for only one step.
• If the move section specified by the move instruction is shorter than the distance
specified by additional item (DIS=XXX), the change is performed equally in the entire
section of the move instruction.
• If the ARCCTS or ARCCTE instruction specifies the distance as zero (DIS=0.0), the
change is performed equally in the entire section of the move instruction.
• A pair of ARCCTS and ARCCTE instructions can be used on one move instruction. In
that case, the ARCCTS instruction is executed first, and the ARCCTE instruction is
executed in the remaining part of the move section. If the remaining part of the move
section is 0mm, the ARCCTE instruction is not executed.
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9.5 Welding Condition Files
9.5
9.5.1
Welding Condition Files
Welding Condition Files
A welding condition file stores welding conditions. Welding instructions can be easily programmed
using these files. There are the following three types of welding condition files.
• Arc start condition file (max. 396 files)
This file stores arc start conditions. Up to 396 arc start condition files can be registered.
• Arc end condition file (max. 396 files)
This file stores arc end conditions. Up to 396 arc end condition files can be registered.
• Arc auxiliary condition file (max. 4 files for each Power Source)
This file stores other conditions (Retry Func., Restart Func. and Wire Anti-stick Func.) for
each Power Source (up to 4 Power Sources can be connected).
The arc start condition file is set using the ARCON instruction and the arc end condition file is set using
the ARCOF instruction. Various function defined in the arc auxiliary condition file are referred to by
ARCON/ARCOF instructions or in arc start/end condition files. Also, the arc auxiliary files are shown in
three separate displays.
Welding condition files
Arc start condition file
Condition No.1
Arc end condition file
Condition No.1
Arc auxiliary condition file
Arc retry function setting
Arc restart function setting
Condition No.396
Condition No.396
Automatic wire anti-stick
function setting
Welding Condition File
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9.5 Welding Condition Files
9.5.2
Selecting Welding Condition Files
There are two types of the welding start/end condition file: standard type and enhanced type.
To change the type of a welding condition file, perform the setting following the procedures below.
NOTE
SUPPLE
-MENT
When the type of the file changes, the welding start/end condition file is initialized.
To load a welding condition file that has been saved on an external memory device, files
that are different type than those being used cannot be loaded. Load files of the same
type.
Change the setting of the welding condition files in the management mode.
In the operation mode or editing mode, the setting status can be only referred to.
Operation
1
While pressing [MAIN MENU],
turn ON the power.
2
Change the security mode to
the management mode.
3
Select {SYSTEM} from the
main menu.
Explanation
SECURITY
SYSTEM
SETUP
FILE
VERSION
TOOL
SECURITY
CF
DISPLAY SETUP
Aa
Main Menu
4
Select {SETUP}.
ShortCut
! Turn on servo power
The SETUP window appears.
DATA
EDIT
DISPLAY
UTILITY
SETUP
LANGUAGE
CONTROL GROUP
APPLICATION
IO MODULE
OPTION BOARD
CMOS MEMORY
DATE/TIME
OPTION FUNCTION
5
Select “OPTION FUNCTION.” The OPTION FUNCTION window appears.
DATA
EDIT
DISPLAY
UTILITY
OPTION FUNCTION
ARC WELDING
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9.5 Welding Condition Files
Operation
6
Select “ARC WELDING.”
Explanation
The selection dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
OPTION FUNCTION
ARC WELDING
7
Select either “STANDARD” or
“ENHANCED.”
STANDARD
ENHANCED
The confirmation dialog box appears. Selecting “YES” changes
the file type and initializes the related files (welding start/end
condition files).
DATA
EDIT
DISPLAY
UTILITY
OPTION FUNCTION
ARC WELDING
STANDARD
Modify?
YES
NO
Selecting “NO” does not change the file type or initialize the
related files.
8
Select “YES.”
9
Turn ON the power supply
again.
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9.5 Welding Condition Files
9.5.3
Arc Start Condition File
DATA










EDIT
UTILITY
DISPLAY
ARC START CONDITION
COND NO.: 1/396
COMM.: 1
CURRENT
VOLTAGE
ROBOT PAUSE TIME
SPEED
RETRY
MODE
ARC FAILURE RESTART
WELDER CONTROL PRMTR
:
:
:
:
:
:
:
:
100 A
100 %
0.03 sec
80 cm/min
OFF
REPLAY
ARC AUX. COND
NOT USED
DIRECT PAGE
Main Menu
ShortCut
! Turn on servo power
COND NO. (1 to 396)
Displays a condition file number between 1 and 396.
COMM.
Displays a comment of 32 characters or less.
CURRENT (1 to 999A)
Welding current output value.
VOLTAGE (0 to 50.0V, 50 to 150%)
Welding voltage output value.
ROBOT PAUSE TIME (0 to 10.00 seconds)
The period at the beginning of welding when the manipulator is stopped.
SPEED (1 to 600 cm/min)
Set manipulator speed during welding.
However, if a move instruction specifies a particular speed in a welding section, it is given
priority. For details, refer to “section 9.5.9 "Welding Speed Specifications".”
RETRY
Specifies whether the arc retry function is used or not.
MODE
Selects arc retry function mode (REPLAY).
ARC FAILURE RESTART (ARC AUX. COND / NO RESTART)
Selects whether the restart motion specified in the arc auxiliary condition file is executed or
not.
WELDER CONTROL PRMTR (0000 to 9999, 10000: NOT USED)
At the beginning of welding, the value (0 to 9999) specified in the “WELDER CONTROL
PRMTR” is output to the following system register. At the end of welding, the same welder
control parameter can be specified, overwriting the same system register.
System register for each application “WELDER CONTROL PRMTR”
M468: device 1 (--> register for arc 1)
M478: device 2 (--> register for arc 2)
M488: device 3 (--> register for arc 3)
M498: device 4 (--> register for arc 4)
*Set the value to 10000 when “WELDER CONTROL PRMTR” is not used.
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9.5 Welding Condition Files
9.5.4
Arc End Condition File
DATA








EDIT
UTILITY
DISPLAY
ARC END CONDITION
COND NO.: 1/396
COMM.
weld1
CURRENT
VOLTAGE
ROBOT PAUSE TIME
ANTI-STICK
MONITORING
WELDER CONTROL PRMTR
:
:
:
:
:
:
120 A
80 %
0.01 sec
OFF
0.2 sec
NOT USED
COND NO. (1 to 396)
Displays a condition number between 1 and 396.
COMM.
Displays a comment of 32 characters or less.
CURRENT (1 to 999A)
Welding current output value at the end of welding.
VOLTAGE (0 to 50.0V, 50 to 150%)
Welding voltage output value at the end of welding.
ROBOT PAUSE TIME (0 to 10.00 seconds)
The period during arc end when the manipulator is stopped.
ANTI-STICK
Specifies whether the automatic wire anti-stick function is used or not.
MONITORING(0 to 9.9 seconds)
Wire stick monitoring time at the end of welding.
WELDER CONTROL PRMTR (0000 to 9999, 10000: NOT USED)
At the beginning of welding, the value (0 to 9999) specified in the “WELDER CONTROL
PRMTR” is output to the following system register. At the end of welding, the same welder
control parameter can be specified, overwriting the same system register.
System register for each application “WELDER CONTROL PRMTR“
M468: device 1 (--> register for arc 1)
M478: device 2 (--> register for arc 2)
M488: device 3 (--> register for arc 3)
M498: device 4 (--> register for arc 4)
*Set the value to 10000 when “WELDER CONTROL PRMTR” is not used.
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9.5 Welding Condition Files
9.5.5
Arc Auxiliary Condition File
An arc auxiliary condition file has the following three parts:
• Arc Retry Function Setting
• Arc Restart Function Setting
• Automatic Wire Anti-stick Function Setting

Arc Retry Function Setting
DATA
EDIT
DISPLAY
UTILITY
ARC AUXILIARY COND
COND NO.: 1






<RETRY FUNCTION SET>
NO.
RETRACT TIME
REPLAY DISTANCE
SPEED
CURRENT
VOLTAGE
Main Menu
:
:
:
:
:
:
ShortCut
1 times
1.50 sec
10.0 mm
30 cm/min
100 A
100 %
! Turn on servo power
NO. (0 to 9 times)
Maximum repetition count for the arc retry process.
RETRACT TIME (0 to 2.50 seconds)
Wire retracting time in the arc retry process.
REPLAY DISTANCE (0 to 99.9 mm)
Manipulator moving distance for an arc retry process at the replay mode.
SPEED (1 to 600 cm/min)
Speed of the manipulator when it returns to the welding start point at arc retry.
CURRENT (1 to 999A)
Welding current output when the manipulator returns to the welding start point at arc retry.
VOLTAGE (0 to 50.0V, 50 to 150%)
Welding voltage output when the manipulator returns to the welding start point at arc retry.
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9.5 Welding Condition Files

Arc Restart Function Setting
DATA
EDIT
DISPLAY
UTILITY
ARC AUXILIARY COND
COND NO.: 1






<RESTART FUNCTION SET>
NO.
LAP DISTANCE
SPEED
CURRENT
VOLTAGE
:
:
:
:
:
RESTART MODE
1.ARC FAILURE
2.GAS FAILURE
: NO RESTART
: NO RESTART
1 times
10.0 mm
30 cm/min
100 A
100 %
NO. (0 to 9 times)
Maximum repetition count for the arc restart process regarding the same welding section.
LAP DISTANCE (0 to 99.9mm)
Overlapped welding distance in a restart process.
SPEED (1 to 600 cm/min)
Speed of the manipulator as it moves backward in an arc restart process.
CURRENT (1 to 999A)
Welding current output when the manipulator moves backward in an arc restart process.
VOLTAGE (0 to 50.0V, 50 to 150%)
Welding voltage output when the manipulator moves backward in an arc restart process.
RESTART MODE
1. ARC FAILURE
NO RESTART :
Arc restart function is not used. The manipulator stops with
the arc failure alarm.
ARCOF CONTINUE :
With the arc OFF, the controller outputs the “Restarting for
Arc” message and the manipulator keeps moving. After
moving through the arc section, the controller outputs the
“End of Arc Restarting” message and resumes a normal
welding operation. The message is reset when OUT
#1021 is turned ON and OFF.
AUTO RESTART :
The manipulator automatically restarts.
SEMI-AUTO RESTART :
The manipulator stops and waits for manual intervention.
The manipulator restarts as the operator presses [START]
again. The restart status is reset when OUT #1022 is
turned ON and OFF.
2. GAS FAILURE
NO RESTART :
Arc restart function is not used. The manipulator moves
with the gas shortage alarm.
ALARM AT ARC END :
The manipulator continues the welding operation until it
reaches the welding end point, where it stops with an
alarm.
SEMI-AUTO RESTART :
The manipulator stops and waits for manual intervention.
The manipulator restarts as the operator presses [START]
again. The restart status is reset when OUT #1022 is
turned ON and OFF.
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9.5 Welding Condition Files
3. WIRE FAILURE

NO RESTART:
Arc restart function is not used. The manipulator moves
with the wire shortage alarm.
ALARM AT ARC END :
The manipulator continues the welding operation until it
reaches the welding end point, where it stops with an
alarm.
SEMI-AUTO RESTART :
The manipulator stops and waits for manual intervention.
The manipulator restarts as the operator presses [START]
again. The restart status is reset when OUT #1022 is
turned ON and OFF.
Automatic Wire Anti-stick Function Setting
DATA
EDIT
DISPLAY
UTILITY
ARC AUXILIARY COND
COND NO.; 1




<WIRE ANTI-STICKING FUNCTION SET>
: 1 times
NO.
: 110 A
CURRENT
: 120 %
VOLTAGE
: 0.30 sec
CLOCK
Main Menu
ShortCut
! Turn on servo power
NO. (0 to 9 times)
Maximum repetition count for the wire-sticking release process.
CURRENT (1 to 999A)
The welding current output in the wire-sticking release process.
VOLTAGE (0 to 50.0V, 50 to 150%)
The welding voltage output in the wire-sticking release process.
CLOCK (0 to 2.00 seconds)
Sticking release process duration.
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9.5 Welding Condition Files
9.5.6
Enhanced Arc Start Condition File
DATA










2
3
EDIT
DISPLAY
UTILITY
ARC START CONDITION
COND NO.: 1/396
COMMENT: AL. Tig Welding
<STARTING CONDITION>
CURRENT
VOLTAGE
ANALOG OUTPUT 3 CMD
ANALOG OUTPUT 4 CMD
ROBOT PAUSE TIME
ROBOT MOVE DISTANCE
<MAIN CONDITION>
CURRENT
VOLTAGE
ANALOG OUTPUT 3 CMD
ANALOG OUTPUT 4 CMD
SPEED
RETRY
MODE
ARC FAILURE RESTART
WELDER CONTROL PRMTR
:
:
:
:
:
:
200
100
0.00
0.00
0.00
5.0
A
%
V
V
sec
mm
: 200 A
: 100 %
: 0.00 V
: 0.00 V
: 80 cm/min
: OFF
: REPLAY
: ARC AUX. COND
: NOT USED
COND.NO. (1 to 396)
Displays a condition file number between 1 and 396.
COMMENT
Displays a comment of 32 characters or less.
CURRENT (1 to 999A)
Welding current output value. Different values can be specified for “START CONDITION”
and “MAIN CONDITION.”
VOLTAGE (0 to 50.0V, 50 to 150%)
Welding voltage output value. Different values can be specified for “START CONDITION”
and “MAIN CONDITION.”
ANALOG OUTPUT 3 CMD (-14.0 to 14.0V)
The reference value to the Power Source through the analog output 3. Different values can
be specified for “START CONDITION” and “MAIN CONDITION.”
ANALOG OUTPUT 4 CMD (-14.0 to 14.0V)
The reference value to the Power Source through the analog output 4. Different values can
be specified for “START CONDITION” and “MAIN CONDITION.”
ROBOT PAUSE TIME (0 to 10.00 seconds)
The duration which the manipulator pauses at the beginning of welding while retaining the
specified “START CONDITION.”
ROBOT MOVE DISTANCE (0 to 25.5mm)
The distance which the manipulator moves at the beginning of welding while retaining the
specified “START CONDITION.”
SPEED (1 to 600 cm/min)
Set manipulator speed during welding.
However, if a move instruction specifies a particular speed in the welding section, it is given
priority. For details, refer to section 9.5.9 "Welding Speed Specifications".
RETRY
Specifies whether the arc retry function is used or not.
11
MODE
Select arc retry function mode (REPLAY).
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12
13
ARC FAILURE RESTART
Selects whether the restart motion specified in the arc auxiliary condition file is executed or
not.
WELDER CONTROL PRMTR (0000 to 9999, 10000: NOT USED)
At the beginning of welding, the value (0 to 9999) specified in the “WELDER CONTROL
PRMTR” is output to the following system register. At the end of welding, the same welder
control parameter can be specified, overwriting the same system register.
System register for each application “WELDER CONTROL PRMTR”
M468: device 1
M478: device 2
M488: device 3
M498: device 4
*Set the value to 10000 when “WELDER CONTROL PRMTR” is not used.
The timing chart at execution of the Enhanced arc start condition file is shown below.
ARCON executed
Arc start
confirmation signal
Manipulator move section
Start condition
Main condition
Current, voltage and analog
output specifications
Waiting for arc start
Manipulator move distance
confirmation signal Manipulator pause time
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9.5 Welding Condition Files
9.5.7
Enhanced Arc End Condition File
DATA










EDIT
DISPLAY
UTILITY
ARC END CONDITION
COND NO.: 1/396
COMM.: AL Tig Welding
<CRATER CONDITION 1>
CURRENT
VOLTAGE
ANALOG OUTPUT 3 CMD
ANALOG OUTPUT 4 CMD
ROBOT PAUSE TIME
<CRATER CONDITION 2>
CURRENT
VOLTAGE
ANALOG OUTPUT 3 CMD
ANALOG OUTPUT 4 CMD
ROBOT PAUSE TIME
ANTI-STICK
MONITORING
WELDER CONTROL PRMTR
:
:
:
:
:
200
100
0.00
0.00
0.00
A
%
V
V
sec
:
:
:
:
:
:
:
:
200 A
100 %
0.00 V
0.00 V
0.00 sec
OFF
0.2 sec
NOT USED
COND.NO.(1 to 396)
Displays a condition file number between 1 and 396.
COMM.
Displays a comment of 32 characters or less.
CRATER CONDITION 1, CRATER CONDITION 2
Crater condition referred to at the end of welding. “CRATER CONDITION 1” is executed
before “CRATER CONDITION 2.”
CURRENT (1 to 999A)
Welding current output value at the end of welding.
VOLTAGE (0 to 50.0V, 50 to 150%)
Welding voltage output value at the end of welding.
ANALOG OUTPUT 3 CMD (-14.0 to 14.0V)
The reference value to the Power Source through the analog output 3.
ANALOG OUTPUT 4 CMD (-14.0 to 14.0V)
The reference value to the Power Source through the analog output 4.
ROBOT PAUSE TIME(0 to 10.00 seconds)
The duration at the end of welding when the specified “CRATER CONDITION” is retained.
ANTI-STICK
Specifies whether the automatic wire anti-stick function is used or not.
MONITORING(0 to 9.9 seconds)
Specifies wire stick monitoring time at the end of welding.
11
WELDER CONTROL PRMTR (0000 to 9999, 10000: NOT USED)
At the beginning of welding, the value (0 to 9999) specified in the “WELDER CONTROL
PRMTR” is output to the following system register. At the end of welding, the same welder
control parameter can be specified, overwriting the same system register.
System register for each application “WELDER CONTROL PRMTR“
M468: device 1
M478: device 2
M488: device 3
M498: device 4
*Set the value to 10000 when “WELDER CONTROL PRMTR” is not used.
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9.5 Welding Condition Files
The timing chart at execution of the Enhanced arc end condition file is shown below.
ARCOF executed
Arc start
confirmation signal
(Manipulator retreat motion section)
Manipulator move section
Current, voltage and analog
output specifications
Crater
condition 1
Crater
condition 2
Wire stick monitoring time
Manipulator pause time of
crater condition 1
Wire stick release time
Manipulator pause time of
crater condition 2
Shown below is the timing chart of when the automatic wire anti-stick function is set to invalid with the
standard software version NS3.97.00A ()-00 or later.
ARCOF executed
Arc start
confirmation signal
Manipulator move section
Current, voltage and analog
output specifications
(Manipulator retreat motion section)
Crater
condition 1
Crater
condition 2
Wire stick monitoring time
Manipulator pause time of
crater condition 1
Wire stick release time
Manipulator pause time of
crater condition 2
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9 Arc Welding Application
9.5 Welding Condition Files
9.5.8

Editing Welding Condition File
Displaying the Welding Condition File
Operation
1
Explanation
Select {ARC WELDING} under
the main menu.
PARAMETER
JOB
DOUT
MOVE
END
ARC WELDING
SETUP
VARIABLE
B001
IN/OUT
In
Out
ROBOT
SYSTEM INFO
EDIT
JOB
DISPLAY
UTILITY
PARAMETER
JOB
DOUT
MOVE
END
ARC START COND.
ARC WELDING
ARC END COND.
VARIABLE
B001
ARC AUX COND.
IN/OUT
In
Out
POWER SOURCE
COND.
ROBOT
ARC WELD DIAG.
SYSTEM INFO
WEAVING
Main Menu
2
Select {ARC START COND},
{ARC END COND}, or {ARC
AUX COND}.
ShortCut
EDIT
JOB
DISPLAY
Set tool mass data
UTILITY
PARAMETER
JOB
DOUT
MOVE
END
ARC START COND.
ARC WELDING
ARC END COND.
VARIABLE
B001
ARC AUX COND.
IN/OUT
In
Out
POWER SOURCE
COND.
ROBOT
ARC WELD DIAG.
SYSTEM INFO
WEAVING
Main Menu
ShortCut
Set tool mass data
If {ARC START COND} is selected, a setting window appears.
DATA
EDIT
DISPLAY
UTILITY
ARC START CONDITION
COND NO.: 1/396
COMMENT
CURRENT
VOLTAGE
ROBOT PAUSE TIME
:
: 200 A
: 100 %
: 0.00 sec
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9.5 Welding Condition Files
Operation
3
Display the desired file
number.
Explanation
<For Arc Start Condition Files and Arc End Condition Files>
The following two methods are available.
• Using the page key
GO BACK
PAGE
Pressing the page key
GO BACK
PAGE
calls the next file number.
Pressing [SHIFT]+ the page key
GO BACK
PAGE
calls the previous file
number.
• Using the Numeric keys
Press [DIRECT PAGE]. Type the desired file number using the
Numeric keys and press [ENTER].
<For Arc Auxiliary Condition Files>
Pressing the page key
GO BACK
PAGE
calls the next file number. The file
number is called in the order of “1” → “2” → “3” → “1.”
Pressing [SHIFT] + the page key
GO BACK
PAGE
calls the previous file
number. The file number is called in the order of “1” → “3” → “2”
→ “1.”
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9.5 Welding Condition Files

Editing the Arc Start Condition File
Editing COMMENT
Operation
1
Select “COMM.”
2
Input characters.
Explanation
Editing RETRY
Operation
1
Select “RETRY.”
Explanation
Each time [SELECT] is pressed, the indication alternates
between “ON” and “OFF.”
Editing MODE
Operation
1
Select “MODE.”
Explanation
Each time [SELECT] is pressed, the indication alternates
between “REPLAY” and “SHIFT.”
Editing Other Items
Operation
1
Select an item to be edited.
2
Input the number using the
Numeric keys.
Explanation
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9.5 Welding Condition Files

Editing the Arc End Condition File
Editing COMMENT
Operation
1
Select “COMM.”
2
Input characters.
Explanation
Editing ANTI-STICK
Operation
1
Select “ANTI-STICK.”
Explanation
Each time [SELECT] is pressed, the indication alternates
between “ON” and “OFF.”
Editing Other Items
Operation
1
Select an item to be edited.
2
Input the number using the
Numeric keys.
9.5.9
Explanation
Welding Speed Specifications
The welding speed is determined by one of the following:
• Welding speed specified by play speed of the move instruction
• Welding speed specified by the ARCON instruction or arc start condition file
When the move instruction does not specify a speed
Welding is performed at the ARCON instruction or arc start condition file speed.
When the move instruction and ARCON instruction specify different speeds
Priority is given to one according to the parameter values described below. To switch the priorities,
change the parameter setting.
Parameter
Contents
AxP005
x: Application number
Move instruction speed is priority : 0
ARCON instruction speed is priority : 1
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Initial Value
0
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9.6 Changing Welding Conditions During Playback
9.6
NOTE
9.6.1
Changing Welding Conditions During Playback
Changing the welding conditions during playback is enabled only when the command
condition is analog type.
Function Keys
While the ARC COND ADJUSTMENT window is displayed in the play mode, the welding current and
voltage can be changed using the function keys. The arc welding performance during playback
changes with the welding current and voltage. The changed data of the current and voltage values can
be reflected in the associated instructions or welding condition files.
3
CUR/VOL
-
When [CUR/VOL ] is pressed, the welding current and voltage increase.
When [CUR/VOL ] is pressed, the welding current and voltage decrease.
Each time the key is pressed, the current changes in increments of 1A, and the voltage
changes in increments of 1% or 0.1V.
CUR/VOL
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9.6 Changing Welding Conditions During Playback
9.6.2
Changing Welding Conditions
Operation
1
Select {UTILITY} on the JOB
CONTENT window in the play
mode.
2
Select {WELD COND.
ADJUST.}.
Explanation
The ARC COND ADJUSTMENT window appears.
The last instruction that sets the welding current or voltage is
displayed.
The instruction includes the following:
• ARCON
• ARCSET
DATA
EDIT
DISPLAY
UTILITY
ARC COND ADJUSTMENT
CURR(A)
VOLT(%)
: 200 INST : ARCON
: 100 INST : ARCON
DATA
: No change data
Main Menu
ShortCut
! Turn on servo power
3
Line up the cursor with the
current or voltage condition to
be modified.
4
Adjust the value using [CUR/ • The current and voltage can be independently changed.
VOL ] or [CUR/VOL].
• Units of Increase/Decrease: If the key is pressed once, the
current value increases/decreases in units of ± 1A, and the
voltage value increases/decreases in units of ± 0.1V or in
percentages of ± 1%.
DATA
EDIT
DISPLAY
UTILITY
ARC COND ADJUSTMENT
CURR(A)
VOLT(%)
DATA
: 200 INST : ARCON
: 100 INST : ARCON
EDIT
DISPLAY
UTILITY
ARC COND ADJUSTMENT
CURR(A)
VOLT(%)
9-60
: 200 INST : ARCON
: 100 INST : ARCON
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9.6 Changing Welding Conditions During Playback
Operation
5
Line up the cursor with “No
change data” and press
[SELECT].
Explanation
Each time [SELECT] is pressed, the setting alternates between
“No change data” and “Change data.”
• To rewrite the modified condition file or additional item data, set
“Change data.”
The data are rewritten when the execution of the instruction
which includes the changed condition data ends.
• If “No change data” is set before execution ends, the data is not
rewritten.
DATA
EDIT
DISPLAY
UTILITY
ARC COND ADJUSTMENT
CURR(A)
VOLT(%)
: 200 INST : ARCON
: 100 INST : ARCON
DATA
: No change data
SELECT
DATA
EDIT
DISPLAY
UTILITY
ARC COND ADJUSTMENT
NOTE
9.6.3

CURR(A)
VOLT(%)
: 200 INST : ARCON
: 100 INST : ARCON
DATA
: Change data
Even if control jumps from one job to another job,
rewriting of the arc condition for the former job is
performed.
Notes on Modification of Welding Conditions
When Condition Data cannot be Modified
In the following cases, the window returns to the previous window of the ARC COND ADJUSTMENT
window. Even if the function keys are pressed, current and voltage cannot be modified.
• The mode is switched (to the teach mode, for example).
• An emergency stop is ON.
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9.6 Changing Welding Conditions During Playback
NOTE
The maximum current and voltage values are determined according to the voltage and
current characteristics of the Power Source.
< Example >
When using a Power Source with the current characteristics as shown in the following
table:
When the data points are interpolated on the graph, it can be observed that the maximum
reference value (14.0V) is reached when the welding current specified by the ARCON
instruction is 395 A. This becomes the maximum value.
Measured value
(A)
400
300
200
100
0
2
4
6
8
10
12
14
Max
Welding Current Output Characteristics

Command
Value
(V)
Measurement
Value
(A)
1.80
4.40
6.40
8.30
10.50
0
0
0
110
165
220
265
315
0
0
0
16 (V)
Reference
value
ARCON Instruction
The ARCON instruction without an additional item is not subject to arc condition rewriting.
ARCON ASF#(1)
: Current and voltage values can be rewritten.
ARCON AC=220 AVP=100: Current and voltage values can be rewritten.
ARCON
: Conditions cannot be rewritten.

ARCOF Instruction
The conditions of the ARCOF instruction cannot be rewritten.
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9.6 Changing Welding Conditions During Playback

ARCCTS and ARCCTE Instructions
The arc condition adjustment operation is invalid while the slope up/down instruction ARCCTS or
ARCCTE is executed.
Even if “Change data” is set on the ARC COND ADJUSTMENT window, rewriting cannot be done after
the ARCCTS or ARCCTE instruction.
No Rewriting
SUPPLE
-MENT
:
ARCON ASF#(1)
ARCCTE AC=150 AVP=100
MOVL
ARCSET AC=200
MOVL
:
Refer to section 9.3.8 "Slope Up/Down Function" for details regarding the ARCCTS and
ARCCTE instructions.
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9.7 Editing Condition Files During the Play Mode
9.7
NOTE
9.7.1
Editing Condition Files During the Play Mode
To utilize the function, set the parameter to A1P20=1.
Function
The following condition files can be edited during the play mode.
• Arc start condition
• Arc end condition
• Arc auxiliary condition
Operation
1
Select the condition file
window during the play mode.
Select {ARC WELDING} -->
{ARC START COND.} under
the main menu.
Explanation
JOB
EDIT
DISPLAY
PARAMETER
ARC START COND.
JOB
DOUT
MOVE
END
UTILITY
ARC MONITOR
(SAMPL)
ARC END COND.
ARC WELDING
ARC AUX COND.
VARIABLE
B001
POWER SOURCE
COND.
IN/OUT
In
Out
ARC WELD DIAG.
ROBOT
WEAVING
SYSTEM INFO
ARC MONITOR
Main Menu
2
Move the cursor to each item
and edit the data.
3
Select {DATA} --> {MODIFY
COMARC COND} under the
pull-down menu.
DATA
ShortCut
EDIT
MODIFY
COMARC
JOB
COND
DIPSLAY
PARAMETER
DOUT
MOVE
END
ARC WELDING
SETUP
VARIABLE
DISPLAY SETUP
B001
Aa
IN/OUT
In
Out
ROBOT
UTILITY
ARC START CONDITION
COND NO.: 1/396
COMMENT : CONDITION1DONE
CURRENT
: 199 A
VOLTAGE
: 99 %
ROBOT PAUSE TIME
: 0.99 sec
SPEED
: 99 cm/min
RETRY
: OFF
MODE
: REPLAY
ARC FAILURE RESTART
: NO RESTART
WELDER CONTROL PRMTR : NOT USED
SYSTEM INFO
PAGE
Main Menu
ShortCut
* {MODIFY COMARC COND} is shown after editing the data.
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9.7 Editing Condition Files During the Play Mode
SUPPLE
-MENT
Edited contents are destroyed if the following operations are performed before executing
{DATA REGISTRATION}.
1.
2.
3.
4.
Changing the pages while editing
Changing to the teach mode while editing
Switching to another file edit menu
Turning OFF while editing
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9.8 Arc Welding Management and Maintenance
9.8
Arc Welding Management and Maintenance
9.8.1
ARC WELD DIAGNOSIS Window
An optimum arc welding requires timely contact-tip replacement and nozzle cleaning. It is also
recommended that the user check how often such functions as arc retry, arc restart, and automatic
anti-stick have been used and adjust the operating environment and work conditions accordingly.
The usage of the above-mentioned functions can be controlled or confirmed on the ARC WELD
DIAGNOSIS window. For example, contact-tip replacement is initially set at 180 minutes. When the
welding time reaches 180 minutes, an external output signal (system output) is output. The operator
can then replace the tip or adjust as necessary.
DATA
EDIT
DISPLAY
UTILITY
ARC WELD DIAGNOSIS
NO.: 1/1



WORK CONTINUE
TIP REPLACE
NOZZLE CLEAN
RETRY
RESTART (ARC)
ANTI-STICK
Main Menu
ShortCut
: CONT
<ACCUM.>
: 72 min
: 12 min
:
5 times
:
2 times
:
0 times
<SETTING>
180 min
30 min
10 times
10 times
10 times
In this example, an external output
signal (system output) is output
when the accumlated welding time
reaches 180 minutes.
!Turn on servo power
WORK CONTINUE(CONT, STOP)
When the manipulator is restarted after it stops in the middle of a work section, the
manipulator either performs welding over the remaining part of the section or moves without
performing welding.
TIP REPLACE, NOZZLE CLEAN (0 to 999 minutes)
In the “SETTING” fields, specify the optimum timings for contact-tip replacement and nozzle
cleaning. The initial values are 180 minutes for contact-tip replacement; 30 minutes for
nozzle cleaning. The “ACCUM.” fields display an accumulated service duration.
RETRY, RESTART (ARC), ANTI-STICK
In each of the “SETTING” fields, specify a reference value for the number of times each
function is used. As an initial setting, 10 is specified for each function. Each of the
“ACCUM.” fields displays the accumulated count, showing how many times the function has
been used.
SUPPLE
-MENT
ARC RETRY, ARC RESTART, and ANTI-STICK counts:
These counts are different from the maximum repetition counts specified in the arc
auxiliary condition file. These counts show how many times these functions have actually
been used.
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9.8 Arc Welding Management and Maintenance
9.8.2
Editing the ARC WELD DIAGNOSIS Window
Operation
1
Explanation
Select {ARC WELDING} under
the main menu.
PARAMETER
JOB
DOUT
MOVE
END
SETUP
ARC WELDING
VARIABLE
B001
IN/OUT
In
Out
ROBOT
SYSTEM INFO
2
Select {ARC WELD DIAG.}.
JOB
EDIT
DIPSLAY
UTILITY
PARAMETER
JOB
DOUT
MOVE
END
ARC START COND.
ARC WELDING
ARC END COND.
VARIABLE
B001
ARC AUX COND.
IN/OUT
In
Out
POWER SOURCE
COND.
ROBOT
ARC WELD DIAG.
SYSTEM INFO
WEAVING
Main Menu
3
Line up the cursor with each
set item and press [SELECT]
to edit it.
ShortCut
Set tool mass data
<Setting the Work Continue Specification>
When [SELECT] is pressed, the setting alternates between
“CONT” and “STOP.”
DATA
EDIT
DISPLAY
UTILITY
ARC WELD DIAGNOSIS
NO.: 1/1
WORK CONTINUE
TIP REPLACE
NOZZLE CLEAN
DATA
EDIT
: CONT
<ACCUM.>
: 72 min
: 12 min
5
2
0 SELECT
DISPLAY
<SETTING>
180 min
30 min
10
10
10
UTILITY
ARC WELD DIAGNOSIS
NO.: 1/1
WORK CONTINUE
TIP REPLACE
NOZZLE CLEAN
RETRY
RESTART (ARC)
ANTI-STICK
: STOP
<ACCUM.>
: 72 min
: 12 min
: 5 times
: 2 times
: 0 times
<SETTING>
180 min
30 min
10 times
10 times
10 times
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9.9 Displaying Welding Alarm History
Operation
3
(cont’d)
Explanation
<Setting the Control Value>
Move the cursor to the setting value to be changed and press
[SELECT].
Input the desired value using the Numeric keys and press
[ENTER].
DATA
EDIT
DISPLAY
UTILITY
ARC WELD DIAGNOSIS
NO.: 1/1
WORK CONTINUE
TIP REPLACE
NOZZLE CLEAN
RETRY
RESTART (ARC)
ANTI-STICK
Main Menu
SUPPLE
-MENT
ShortCut
: CONT
<ACCUM.>
: 72 min
: 12 min
:
5 times
:
2 times
:
0 times
<SETTING>
180 min
30 min
10 times
10 times
10 times
!Turn on servo power
The accumulated value can be cleared by either of the following:
• ARC WELD DIAGNOSIS window
• External input signal (system input signal)
9.9
Displaying Welding Alarm History
The historical records of welding-related alarms can be viewed on the user alarm (system section)
window. To view the detailed information about alarm occurrence, use the alarm detailed window.

Alarm History Windows
There are 5 types of alarm history windows: “MAJOR ALARM,” “MINOR ALARM,” “USER ALARM
(SYSTEM),” “USER ALARM (USER),” and “OFF-LINE ALARM.” In each window, the alarm code,
occurrence date, time, and detailed information are displayed.
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9.9 Displaying Welding Alarm History
Operation
1
Explanation
Select {SYSTEM INFO} under The sub-menu for the system information appears.
the main menu.
JOB
EDIT
UTILITY
DISPLAY
FD/PC CARD
JOB
DOUT
MOVE
END
CF
ARC WELDING
PARAMETER
VERSION
VARIABLE
B001
MONITORING TIME
IN/OUT
In
Out
ALARM HISTORY
ROBOT
IO MSG HISTORY
SYSTEM INFO
SECURITY
Main Menu
2
Select {ALARM HISTORY}.
ShortCut
Set tool mass data
The alarm history window appears. (The MAJOR ALARM window
is used for this example.)
DATA
EDIT
MAJOR ALARM
CODE
DATE
01
02
03
04
05
06
07
08
1030
0060
UTILITY
DISPLAY
CLOCK
1998/05/12 12:00
1998/06/15 15:25
Memory error (Parameter file)
[5]
JOB: TEST0001 Line: 0010 STEP: 010
Main Menu
3
Using the page key
change the window.
GO BACK
PAGE
ShortCut
!Turn on servo power
GO BACK
to Each time the page key
PAGE
is pressed, the window alternates
between “MAJOR ALARM,” “MINOR ALARM,” “USER
ALARM (SYSTEM),” “USER ALARM (USER),” and “OFF-LINE
ALARM.”
DATA
EDIT
DISPLAY
USER ALARM (USER)
CODE
DATE
UTILITY
CLOCK
01
02
03
04
05
06
07
08
09
10
11
Main Menu
ShortCut
!Turn on servo power
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9.10 Notes on Arc Welding
9.10 Notes on Arc Welding

Notes on Restarting
If the manipulator stops during welding, the arc is automatically turned OFF. When restarted, the arc is
automatically turned ON, and the manipulator starts welding towards the step where the cursor is
located on the screen. The welding current and voltage when arc is turned ON again are the same as
those before stopping.
P1
Arc ON
P2
Arc OFF
Manipulator stops.
Welding
Welding
Arc OFF as manipulator stops.
Arc ON as manipulator restarts.
NOTE
• If the manipulator is moved from the stopped position using the axis keys, return the
manipulator to the stopped position before restarting for safe operation.
• It is possible to move the manipulator to the stopped position automatically at restarting
and start welding again by the parameter setting (S2C323, S2C324).
• [FWD] or [BWD] can be used for moving to the stopped position.
S2C324: Restart Operation after E-Stop (Set 2.)
S2C325: Restart Operation after Jog Operation (Set 2.)
• Refer to “NX100 Concurrent IO • Parameter” for details of the parameter setting.
P1
Arc ON
Arc OFF as
manipulator stops.
Manipulator
Stops
is
Ax
Welding
P2
Arc OFF
mo
nt
me
ve
DANGER!
Arc ON as manipulator restarts.
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9.11 Weaving Condition File
9.11 Weaving Condition File
9.11.1
Weaving Basic Coordinate System
Weaving is performed based on the following coordinate system. This coordinate system is
automatically generated when weaving is executed.
Wall direction
Direction of travel
Horizontal direction
Weaving Basic Coordinate System
Wall Direction:
Z-direction of the robot axis
Horizontal Direction:
The direction to the approach point from the wall
Direction of Travel:
The direction in which the manipulator moves from the weaving start
point to the end point
SUPPLE
-MENT
The approach point is a point indicated by a step immediately before the step where
weaving starts.
Z-axis
Wall direction
Approach point
Horizontal
direction
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9.11 Weaving Condition File
NOTE
Depending on the mounting status and shape of the workpiece, a definition of the above
coordinate system may not be sufficient to generate a weaving pattern. In that case,
register the reference point REFP 1 or REFP 2. For details, refer to “ " Cases that
Require the Registration of Reference Points " in section 9.11.3 "Editing the Weaving
Condition Files".
9.11.2
WEAVING CONDITION Window
DATA
EDIT
WEAVING CONDITION
COND NO. 1/255
MODE
:
SMOOTH
:
SPEED TYPE
:
FREQUENCY
:
<PATTERN>
AMPLITUDE
:
VERTICAL
:
HORIZONTAL
:
ANGLE
:
TRAVEL ANGLE
:
<TIMER MODE>
POINT1
:
POINT2
:
POINT3
:
POINT4
:
<MOTION TIME>
SECTION1
:
SECTION2
:
SECTION3
:
SECTION4
:
<STOP TIMER>
POINT1
:
POINT2
:
POINT3
:
POINT4
:
<HOVER WEAVING COND.>
SET
:
TIMER
:
INPUT SIGNAL
:










UTILITY
DISPLAY
SINGLE
ON
MOVING TIME
3.5 Hz
2.000 mm
10.000 mm
10.000 mm
45.00 deg.
5.00 deg.
WEAV STOP
WEAV STOP
WEAV STOP
WEAV STOP
0.1
0.1
0.1
0.1
sec
sec
sec
sec
0.0
0.0
0.0
0.0
sec
sec
sec
sec
OFF
0.0 sec
IN#000
DIRECT PAGE
Main Menu
ShortCut
!Turn on servo power
COND NO. (1 to 255)
Displays a weaving condition file number between 1 and 255.
SUPPLE
-MENT
The number of weaving condition files
• Standard software version Ver. 4.00.00A ()-00 or greater: 255
• Version previous to above mentioned Version
: 16
MODE, SMOOTH
There are three weaving modes: single oscillation, triangle oscillation, and L-type
oscillation. Each mode can be specified with or without smoothing.
0: With smoothing
Single
oscillation
Triangle
oscillation
L-type
oscillation
Weaving Modes
1: Without smoothing
Smoothing
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9.11 Weaving Condition File
SPEED TYPE (FREQUENCY, MOTION TIME)
Specifies how the oscillation speed is defined.
There are two methods to set the oscillation speed: setting by frequency and setting by
weaving time in weaving sections.
FREQUENCY
Specifies the weaving frequency if “SPEED TYPE” is set to “FREQUENCY.” Note that the
maximum frequency is determined by the amplitude as illustrated in the graph below.
Specify a frequency within the allowable range.
A m plitude
(m m )
60
50
40
30
20
10
0
1
2
3
4
5
Frequency(Hz)
M ax im um Frequencies for Di fferent Ampl i tudes
PATTERN
• AMPLITUDE
Specifies the amplitude size at weaving when “MODE” is set to “SINGLE.”
Single-amplitude
• VERTICAL, HORIZONTAL
If “MODE” is set to “TRIANGLE” or “L-TYPE,” the data for the triangle must be set to
define the weaving pattern.
Wall direction
Vertical/horizontal distance: 1.0 to 25.0mm
Vertical
distance
Horizontal direction
Horizontal
distance
MODE: TRIANGLE, L-TYPE
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9.11 Weaving Condition File
• ANGLE
Specifies the oscillation angle.
Wall direction
Angle
Horizontal
direction
Angle : 0.1 to 180.0°
MODE: SINGLE
Wall direction
Angle: 0.1 to 180.0°
Angle
Vertical
distance
Horizontal direction
Horizontal
distance
MODE: TRIANGLE, L-TYPE
• TRAVEL ANGLE
Specifies the direction of travel for oscillation.
Direction of travel
View A
Travel angle
+
0
Travel angle
-
View A
TIMER (MODE)
As shown below, a single weaving cycle is divided into three or four sections. A timer mode
can be specified for each section.
Wall direction
Wall direction
Wall direction





Single
oscillation
Horizontal
direction


Triangle
oscillation
9-74

Horizontal
direction



L-type
oscillation
Horizontal
direction
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9.11 Weaving Condition File
Set one of the following timer modes:
WEAV STOP : Weaving stops but manipulator moves.
ROBOT STOP : Manipulator stops.
WEAV STOP: Weaving stops but manipulator moves.
ROBOT STOP: Manipulator pauses.
MOTION TIME
If “SPEED TYPE” is set to “MOTION TIME,” the weaving time specified here determines the
moving speed in each of the weaving sections.
STOP TIMER
Specifies the timer to determine weaving stop or manipulator stop for each section.
HOVER WEAVING COND. (option)
• SET (ON/OFF)
Specifies whether hover weaving is used or not.
• TIMER
Finishes hover weaving when this timer specified here expires.
• INPUT SIGNAL
Finishes hover weaving when the set input signal is input.
Reference Job
NOP
MOVJ VJ=10.00
MOVJ VJ=25.00
REFP 3
ARCON ASF#(1)
WVON WEV#(1)
MOVL V=60
Welding start point.
Reference point for defining the direction of travel.
*Teaching by interpolation instruction, not by joint
interpolation.
The same point with the welding start point.
WVOF
ARCOF
MOVJ VJ=25.00
MOVJ VJ=25.00
END
NOTE
In hover weaving, the start and end points are the same. Therefore, the weaving vector
cannot be determined. For this reason, the user needs to register a reference point
(REFP 3) to define the direction of travel.
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9.11 Weaving Condition File
Wall direction
REFP 3
Direction of Travel
Weaving start point
Weaving end point
Horizontal direction
Hover W eaving
Wall Direction:
Robot axis Z+ direction
Horizontal Direction:
Direction from the wall to approach point
Direction of Travel:
Direction from weaving start point to REFP3
NOTE
In hover weaving, the start and end points are the same, therefore there are following
limitations.
• Arc retry function and arc restart function are not available.
9.11.3

Editing the Weaving Condition Files
Displaying a Weaving File
Operation
1
Select {ARC WELDING} under
the main menu.
Explanation
JOB
EDIT
DISPLAY
UTILITY
PARAMETER
JOB
DOUT
MOVE
END
ARC START COND.
ARC WELDING
ARC END COND.
VARIABLE
B001
ARC AUX COND.
IN/OUT
In
Out
POWER SOURCE
COND.
ROBOT
ARC WELD DIAG.
SYSTEM INFO
WEAVING
Main Menu
9-76
ShortCut
Set tool mass data
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9.11 Weaving Condition File
Operation
2
Explanation
Select {WEAVING}.
DATA
EDIT
UTILITY
DISPLAY
WEAVING CONDITION
COND NO. 1/255
MODE
SMOOTH
SPEED TYPE
FREQUENCY
<PATTERN>
AMPLITUDE
VERTICAL
HORIZONTAL
ANGLE
TRAVEL ANGLE
<TIMER MODE>
POINT1
POINT2
POINT3
:
:
:
:
SINGLE
ON
FREQUENCY
3.5 Hz
: 2.000 mm
: 10.000 mm
: 10.000 mm
: 45.00 deg.
:
5.00 deg.
: WEAV STOP
: WEAV STOP
: WEAV STOP
DIRECT PAGE
Main Menu
3
Display the desired file
number.
ShortCut
The desired file can be called up by using the page key
Press the page key
GO BACK
PAGE
.
GO BACK
PAGE
to call the previous file.
Editing the Condition Data
Operation
1
GO BACK
to call the next file.
PAGE
Press [SHIFT]+ page key

!Turn on servo power
Select the item to be edited.
Explanation
DATA
EDIT
DISPLAY
UTILITY
WEAVING CONDITION
COND NO. 1/255
MODE
SMOOTH
SPEED TYPE
FREQUENCY
<PATTERN>
AMPLITUDE
VERTICAL
HORIZONTAL
ANGLE
TRAVEL ANGLE
<TIMER MODE>
2
Input the value using the
Numeric keys.
DATA
EDIT
:
:
:
:
SINGLE
ON
FREQUENCY
3.5 Hz
: 2.000 mm
: 10.000 mm
: 10.000 mm
: 45.00 deg.
: 5.00 deg.
DISPLAY
UTILITY
WEAVING CONDITION
COND NO. 1/255
MODE
SMOOTH
SPEED TYPE
FREQUENCY
<PATTERN>
AMPLITUDE
VERTICAL
HORIZONTAL
ANGLE
TRAVEL ANGLE
<TIMER MODE>
:
:
:
:
SINGLE
ON
FREQUENCY
5.0 Hz
: 2.000 mm
: 10.000 mm
: 10.000 mm
: 45.00 deg.
: 5.00 deg.
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9.11 Weaving Condition File

Cases that Require the Registration of Reference Points
The registration of the reference point REFP1 or REFP2 is not usually required. They are required only
with a special workpiece condition, etc.
The REFP1, that defines the wall direction, is a point on the wall surface or its expansion plane. The
REFP2, which defines the horizontal direction, is a point at the right or left side of the wall.
REFP1
REFP2
On the wall surface or
its expansion plane
At the right or left side of the wall
Wall
Wall
REFP2
REFP1
Wall direction
Wall direction
REFP2
REFP1
Direction
of travel
Direction
of travel
Horizontal
direction
SUPPLE
-MENT
For information on registering REFP, refer to “ " Registering Reference Point Instructions
"”.
< Example 1 > REFP1 is registered because the wall direction is not parallel to the Z-axis of the
robot coordinates.
Z-axis
Example
Wall direction
0003
0004
0005
0006
0007
REFP1
9-78
MOVL V=120
WVON WEV#(1)
REFP 1
MOVL V=50
WVOF
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< Example 2 > REFP2 is registered because the approach point is at another side of the wall.
Example
Wall
Approach point
Approach point
0009
0010
0011
0012
0013
0014
REFP2
9.11.4
MOVJ VJ=25.00
MOVL V=120
WVON WEV#(1)
REFP 2
MOVL V=50
WVOF
Prohibiting Weaving
If the weaving instruction is registered during the “CHECK” operation in the play mode or “TEST RUN”
or [FWD] key operation in the teach mode, weaving is executed as well as other move instructions.
However, in some cases when weaving is not wanted because a workpiece collides, etc., follow the
procedure below to prohibit weaving.

Method to Prohibit Weaving During a “CHECK” operation
Operation
1
Press [AREA]
Explanation
on the
AREA
PLAYBACK window.
2
Select {UTILITY}.
EDIT
UTILITY
DISPLAY
UTILITY
SETUP SPECIAL
RUN
PARALLEL SHIFT
JOB
MIRROR SHIFT
PAM
3
Select {SETUP SPECIAL
RUN}.
The SPECIAL PLAY window appears.
DATA
EDIT
DISPLAY
UTILITY
SPECIAL PLAY
LOW SPEED START
SPEED LIMIT
DRY-RUN SPEED
MACHINE LOCK
CHECK-RUN
WEAV PROHIBIT IN CHK-RUN
: INVALID
: INVALID
: INVALID
: INVALID
: INVALID
: INVALID
COMPLETE
Main Menu
ShortCut
!Turn on servo power
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Operation
4
Select “WEAV PROHIBIT IN
CHK-RUN.”
Explanation
Each time [SELECT] is pressed, “VALID” and “INVALID”
alternate.
DATA
EDIT
DISPLAY
UTILITY
SPECIAL PLAY
LOW SPEED START
SPEED LIMIT
DRY-RUN SPEED
MACHINE LOCK
CHECK-RUN
WEAV PROHIBIT IN CHK-RUN

Method to Prohibit Weaving During the “TEST RUN” or FWD
Operation
Operation
1
: INVALID
: INVALID
: INVALID
: INVALID
: INVALID
: VALID
Press [AREA]
Explanation
on the
AREA
JOB CONTENT window in the
TEACH mode.
2
Select {UTILITY}.
UTILITY
EDIT
DISPLAY
UTILITY
SETUP SPECIAL
RUN
PARALLEL SHIFT
JOB
MIRROR SHIFT
PAM
3
Select {SETUP SPECIAL
RUN}.
The SPECIAL TEACH window appears.
DATA
EDIT
DISPLAY
UTILITY
SPECIAL TEACH
WEAV PROHIBIT IN TEST RUN/NEXT
: INVALID
COMPLETE
Main Menu
4
Select “WEAV PROHIBIT IN
TEST RUN/NEXT.”
DATA
ShortCut
EDIT
DISPLAY
!Turn on servo power
UTILITY
SPECIAL TEACH
WEAV PROHIBIT IN TEST RUN/NEXT
9-80
: VALID
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9.11 Weaving Condition File

Method to Prohibit Weaving by Means of a System Input Signal
The system input signal 40047 is used.
The system input signal can prohibit weaving at any time during a play operation, regardless of whether
or not it is a check operation.
9.11.5

Registering Weaving Instructions
WVON Instruction
This is the weaving start operation.
Operation
1
Move the cursor to the
address area.
2
Press [INFORM LIST].
Explanation
The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
3
Select “DEVICE.”
IN/OUT
ARCON
ARCCTE
ARCOF
CONTROL
DEVICE
VWELD
MOTION
AWELD
ARITH
ARCSET
WVON
SHIFT
WVOF
OTHER
SAME
ARCCTS
PRIOR
4
Select the WVON instruction.
The “WVON” instruction appears in the input buffer line.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000 NOP
0001 MOVJ VJ=80.00
0002 MOVL V=800
0003 ARCON
0004 MOVL V=50
0005 MOVL V=50
0006 ARCOF
0007 END
UTILITY
IN/OUT
STEP NO: 0003
ARCCTE
CONTROL
TOOL: 00
ARCON
ARCOF
VWELD
AWELD
ARCSET
DEVICE
MOTION
ARITH
WVON
SHIFT
WVOF
OTHER
ARCCTS
SAME
PRIOR
WVON WEV#(1)
Main Menu
ShortCut
!Turn on servo power
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9.11 Weaving Condition File
Operation
5
Press [SELECT], and set the
file number in the DETAIL
EDIT window.
Explanation
Select the file number (1 to 16). Move the cursor to the file
number and press [SELECT]. Input the file number using the
Numeric keys and press [ENTER].
WVON WEV#(1)
DATA
EDIT
DISPLAY
UTILITY
DETAIL EDIT
WVON
: WEV#() 1
: WEV#(1)
: UNUSED
WEAVING FILE
SET METHOD
DIRECTION
WVON WEV#(1)
Main Menu
6
Press [ENTER].
ShortCut
!Turn on servo power
The set contents are displayed in the input buffer line. Press
[ENTER] again to register the set contents in the job.
When the set contents are not to be registered, press [CANCEL]
to return to the JOB CONTENT window.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000 NOP
0001 MOVJ VJ=80.00
0002 MOVL V=800
0003 ARCON
0004 WVON WEV#(1)
0005 MOVL V=50
0006 MOVL V=50
0007 ARCOF
0008 END
UTILITY
IN/OUT
ARCON
ARCOF
VWELD
AWELD
ARCSET
ARCCTE
CONTROL
DEVICE
MOTION
ARITH
WVON
SHIFT
WVOF
OTHER
ARCCTS
SAME
PRIOR
WVON WEV#(1)
Main Menu
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ShortCut
!Turn on servo power
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9.11 Weaving Condition File

WVOF Instruction
This is the weaving end instruction.
Operation
1
Move the cursor to the
address area.
2
Press [INFORM LIST].
Explanation
The instruction list dialog box appears.
IN/OUT
CONTROL
DEVICE
MOTION
ARITH
SHIFT
OTHER
SAME
PRIOR
3
Select “DEVICE.”
IN/OUT
ARCON
ARCCTE
ARCOF
CONTROL
DEVICE
VWELD
MOTION
AWELD
ARITH
ARCSET
WVON
SHIFT
WVOF
OTHER
SAME
ARCCTS
PRIOR
4
Select the “WVOF” instruction.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000 NOP
0001 MOVJ VJ=80.00
0002 MOVL V=800
0003 ARCON
0004 MOVL V=50
0005 MOVL V=50
0006 ARCOF
0007 END
UTILITY
IN/OUT
ARCON
ARCOF
VWELD
AWELD
ARCSET
ARCCTE
CONTROL
DEVICE
MOTION
ARITH
WVON
SHIFT
WVOF
OTHER
ARCCTS
SAME
PRIOR
WVOF
Main Menu
ShortCut
!Turn on servo power
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9.11 Weaving Condition File
Operation
5
Press [ENTER].
Explanation
The set contents are registered in the job.
JOB
EDIT
DISPLAY
JOB CONTENT
JOB NAME: WORK A
CONTROL GROUP: R1
0000 NOP
0001 MOVJ VJ=80.00
0002 MOVL V=800
0003 ARCON
0004 WVON WEV#(1)
0005 MOVL V=50
0006 MOVL V=50
0007 ARCOF
0008 END
UTILITY
IN/OUT
ARCON
ARCOF
VWELD
AWELD
ARCSET
ARCCTE
CONTROL
DEVICE
MOTION
ARITH
WVON
SHIFT
WVOF
OTHER
ARCCTS
SAME
PRIOR
WVOF
Main Menu
9-84
ShortCut
!Turn on servo power
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9.12 Power Source Condition File
9.12 Power Source Condition File
9.12.1
About Power Source Condition File
This is the file where the Power Source characteristics: voltage characteristic, etc., is registered. This
file contains the information for Power Source control.
For precise control of the welding current and voltage, the control signals sent from the controller to the
Power Source must be properly adjusted.
The voltage of the current control signal is called the welding current reference value; the voltage of the
voltage control signal is called the welding voltage reference value. A reference value is in the range
between 0 and 14V (or between 0 and -14 depending on Power Sources).
How the output of the welding current or voltage changes with the reference value depends on the
Power Source model, and this relationship between the reference value and output value is called an
output characteristics. Each Power Source condition data file contains the output values (measured
values) associated with several reference values. The figure below is an example of the welding
current output characteristic curve.
Welding current
output value
(A)
Correction value = 1.2
The inclination between the last
two points is extended beyond
the last point
Welding current output characteristics
230
Correction value = 0.8
200
170
140
100
: Data point
0
1
2.2
3
4
5
(V)
Welding current reference value
Welding Current Output Characteristics (Example)
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Note that the data points (points of measurement) are automatically connected by straight lines, which
define the output values of any points off these data points. The inclination between the last two data
points is extended as a straight line beyond the last point until it reaches the end of the measuring
range. If the intended welding current or voltage is not output due to a fluctuation in the Power Source’s
power supply voltage, adjust the output by specifying a correction value. The figure (welding current
output characteristics) shows how a correction value works.
The following are the three types of the Power Source condition files. Each file consists of two
windows.
Execution File
(4 files: for Connectable Power Source)
User Registered File (64 files)
Initial Value File (24 files: Maker Offer)
Power Source Characteristics
Power Source Characteristics
Power Source Characteristics
Power Source Characteristics
Power Source Characteristics
<Current> <Voltage>
<Current> <Voltage>
Power Source Characteristics
<Current> <Voltage>
Power Source Condition Files
The execution file is used to set the condition file of the Power Source being used. The user registered
file is used by the user to save the Power Source condition files, and the data for eight models can be
registered. Yaskawa also offers initial value files which contain common Power Source characteristics.
Data for 64 models have already been registered. A Power Source condition file can be set only by
reading from either the user registered file or initial value file to the execution file. When it is necessary
to make adjustments to the data, refer to section 9.12.4 "Editing the Power Source Condition Files".
9.12.2
Specifying Welding Voltage when Synergic Power
Supply is Used
When a synergic power supply is used, the NX100 requests the user to specify the welding voltage by
a ratio against the proper output value (not by the output value as conventionally done).
For that, the voltage characteristics associated with a certain welding current output value must be
determined by measurement, and the results should be stored in the Power Source condition data file
as representative values. The welding current output value for the measurement should be a value that
is assumed relatively often in actual situations. Each of the provided Power Source condition data files
already contains the representative values for the associated Power Source model.
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< Example >
An example is shown with the ARCON instruction.
If the welding current output is 250A, the welding voltage can be specified as follows:
ARCON
AC=250
AVP=100
Welding
current
250A
100% of proper output,
assuming the use of
synergic power supply.
With the voltage characteristics with the following Figure A, the above instruction causes the output of
7.5V control signal to the Power Source
If the welding current output value is changed to 220A, a minor correction to the ARCON instruction
causes the output of the control signal associated with 100% of the proper output value at 220A. (Fig.B)
ARCON
AC=220
AVP=100
100% output
Also note that a minor adjustment of the welding voltage can be instructed easily. (Fig.C)
e.g. The control signal is output 110% of the proper output value at 220A.
ARCON
AC=220
AVP=110
110% output
or
e.g. The control signal is output 94% of the proper output value at 220A.
ARCON
AC=220
AVP=94
94% output
Welding voltage
output value
Welding voltage
output value
(%)
Welding voltage
output value
(%)
(%)
100
110
100
94
100
Voltage characteristics
at 250A
0
7.5
(V)
Welding voltage reference value
Figure A
Voltage characteristics
at 220A
0
7.5
(V)
Welding voltage reference value
Figure B
0
7.5
(V)
Welding voltage reference value
Figure C
This setting method enables easy adjustment without calculating the voltage output.
This method can be also applied to condition data files and instructions other than ARCON. Another
advantage is that a single welding job can be used with more than one Power Source with a synergic
power supply by changing the welder condition data file.
NOTE
If welding current output is significantly different from the voltage characteristics
measurement used, voltage output may vary. Write the welding current value used for the
voltage characteristics measurement as a comment for reference.
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9.12 Power Source Condition File
9.12.3
POWER SOURCE CONDITION Window
A Power Source condition data file has the following two windows:
• POWER SOURCE CONDITION Window
• POWER SOURCE CONDITION Window (for current/voltage output)

POWER SOURCE CONDITION Window
DATA










EDIT
DISPLAY
UTILITY
POWER SOURCE CONDITION
POWER SOURCE NO.: 1/1
SETTING
POWER SOURCE NAME
COMM.
POWER SUPPLY
SHIELDING GAS
WIRE DIA.
WIRE STICKOUT
WIRE ANTI-STICKING
ARC FAILURE STOP
:
:
:
:
:
:
:
:
:
DONE
MOTOWELD-E350
STC CONTROL NONE
A/%
CO2
0.1 mm
15 mm
0.1 sec
1.50 sec
POWER SOURCE NO. (1 to 4)
Displays a Power Source number between 1 and 4 (for each welder).
SETTING
If this file is modified, the status automatically changes to “NONE,” indicating that the
modification is not saved yet. To save the modification to the file, move the cursor to
“SETTING” and press [SELECT]. Then the status changes to “DONE.”
POWER SOURCE NAME
Displays a Power Source name of 16 characters or less.
COMMENT
Displays a comment of 32 characters or less.
POWER SUPPLY (A/V, A/%)
When “A/%” is displayed: Measured values of voltage can be input by the unit of “%” for “
MEASURE” in the POWER SOURCE CONDITION window for
current/voltage output shown in the next page.
When “A/V” is displayed: Measured values of voltage can be input by the unit of “V” for “
MEASURE” in the POWER SOURCE CONDITION window for
current/voltage output shown in the next page.
*To switch between “A/%” and “A/V” in the POWER SOURCE CONDITION window, select
[DATA] -> [READING] to read the initial value file (maker offer) or user registered file once
again.
*This function is available for the standard software version NS4.00.00A ()-00 or later.
SHIELDING GAS (CO2,MAG)
Specifies the shielding gas type.
WIRE DIA. (0 to 9.9mmΦ)
Specifies the wire diameter.
WIRE STICKOUT (0 to 99mm)
Specifies the length of the welding wire protruding from the torch tip.
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WIRE ANTI-STICKING (0 to 9.9 seconds)
Specifies the duration of the wire anti-stick process at the end of welding.
ARC FAILURE STOP (0 to 2.55 seconds)
Specifies the time between the detection of arc failure and the stopping of the manipulator
movement.

POWER SOURCE CONDITION Window for Current/Voltage Output
DATA
EDIT
DISPLAY
UTILITY
POWER SOURCE CONDITION
POWER SOURCE NO.: 1/1



<CURRENT OUTPUT CHAR.> <WELDING VOLTAGE OUTPUT CHAR.>
RANGE: +
+
ADJUST: 1.00
1.00
NO.
REF.(V) MEASURE (A) REF.(V) MEASURE (%)
01
0.00
30
0.00
50

02
1.35
62
7.20
99
03
2.70
94
7.50
100
04
10.80
286
7.80
101
05
12.15
318
14.00
150
06
13.50
350
0.00
0
07
0.00
0
0.00
0
08
0.00
0
0.00
0
Main Menu
ShortCut
!Turn on servo power
RANGE
Indicates the polarity of the reference value for the welding current and voltage. If the range
is positive (+), the reference value is in the range between 0 and 14.00V. If the range is
negative (-), the reference value is in the range between 0 and -14.00V.
ADJUST (0.80 to 1.20)
A correction value to adjust the welding current/voltage output.
REF. (V) (0 to 14.00V)
Welding current/voltage reference values.
MEASURE (0 to 999A, 0 to 50.0V, or 50 to 150%)
The welding current/voltage output values measured at the reference values as given under
.
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9 Arc Welding Application
9.12 Power Source Condition File
9.12.4
NOTE

Editing the Power Source Condition Files
When the Power Source condition file is modified or the file is read in, the SETTING status
in the POWER SOURCE CONDITION window changes from “DONE” to “NONE.” After
editing, move the cursor to SETTING then press [SELECT] to save the modification. Then
the SETTING status changes from “NONE” to “DONE.”
Displaying a Power Source Condition File
Operation
1
Select {ARC WELDING} under
the main menu.
2
Select {POWER SOURCE
CONDITION}.
Explanation
The POWER SOURCE CONDITION window appears.
DATA
EDIT
DISPLAY
UTILITY
POWER SOURCE CONDITION
POWER SOURCE NO.: 1/1
SETTING
POWER SOURCE NAME
COMM.
POWER SUPPLY
SHIELDING GAS
WIRE DIA.
WIRE STICKOUT
WIRE ANTI-STICKING
ARC FAILURE STOP
:
:
:
:
:
:
:
:
:
DONE
MOTOWELD-E350
STC CONTROL NONE
A/%
CO2
0.1 mm
15 mm
0.1 sec
1.50 sec
<CURRENT OUTPUT CHAR.> <WELDING VOLTAGE OUTPUT CHAR.>
RANGE: +
+
ADJUST: 1.00
1.00
NO.
REF.(V) MEASURE (A) REF.(V) MEASURE (%)
01
0.00
30
0.00
50
Main Menu
9-90
ShortCut
!Turn on servo power
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9 Arc Welding Application
9.12 Power Source Condition File

Reading a Power Source Condition File
Operation
Explanation
1
Select {DATA} from the menu.
2
Select {READING}.
DATA
EDIT
DISPLAY
UTILITY
READING
WRITING
3
Press the page key
GO BACK
PAGE
to
GO BACK
Each time the page key
PAGE
is pressed, the window alternates
switch between the user
between MAKER INITIAL VALUE window and USER INITIAL
registered file list and the initial VALUE window.
value file list.
On the MAKER INITIAL VALUE window, the registered initial
value file list (1 to 24) appears.
On the USER INITIAL VALUE window, the registered user
registration file list (1 to 4) appears.
DATA
EDIT
DISPLAY
UTILITY
MAKER INITIAL VALUE
NO.
NAME
POWER DIA. GAS
01
02
03
04
05
06
07
08
09
10
11
12
13
14
2 A/%
2 A/V
A/%
A/%
A/V
A/V
A/%
A/%
A/V
A/V
A/%
A/V
A/%
A/V
MOTOWELD-E350
MOTOWELD-E350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
MOTOWELD-S350
1.2
1.2
1.2
1.2
1.2
1.2
0.9
0.9
0.9
0.9
1.2
1.2
0.9
0.9
MAG
MAG
CO2
MAG
CO2
MAG
CO2
MAG
CO2
MAG
CO2
CO2
CO2
CO2
DIRECT PAGE
Main Menu
DATA
ShortCut
EDIT
DISPLAY
!Turn on servo power
UTILITY
USER INITIAL VALUE
NO.
NAME
POWER DIA. GAS
01
02
03
04
USER-1
USER-2
USER-3
USER-4
1.2
1.2
1.2
1.2
CO2
MAG
CO2
MAG
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9 Arc Welding Application
9.12 Power Source Condition File
Operation
4
Select the Power Source
condition file number of the
data to be read.
Explanation
The confirmation dialog box appears. Select “NO” to return to the
POWER SOURCE CONDITION window without the read in.
DATA
EDIT
DISPLAY
UTILITY
MAKER INITIAL VALUE
NO.
NAME
POWER DIA. GAS
01
02
03
04
05
06
07
08
09
10
11
12
13
14
A/% 1.2 CO2
MOTOWELD-E350
A/V
1.2 CO2
MOTOWELD-E350
MOTOWELD-S350AJ2 A/% 1.2 CO2
MOTOWELD-S350AJ2 A/% 1.2 MAG
1.2 CO2
MOTOWELD-S350AJ2
Read1.2
data?
MAG
MOTOWELD-S350AJ2
0.9 CO2
MOTOWELD-S350AJ2
01 MOTOWELD-E350
0.9 MAG
MOTOWELD-S350AJ2
0.9 CO2
MOTOWELD-S350AJ2
YES
NO
0.9 MAG
MOTOWELD-S350AJ2
1.2 CO2
MOTOWELD-S350AJ2
1.2 CO2
MOTOWELD-S350AJ2 A/V
MOTOWELD-S350AJ2 A/% 0.9 CO2
0.9 CO2
MOTOWELD-S350AJ2 A/V
DIRECT PAGE
Main Menu
5

ShortCut
!Turn on servo power
Select “YES.”
Editing a Power Source Condition File
Editing the “WELDER NAME” or “COMMENT”
Operation
1
Select “POWER SOURCE
NAME” or “COMMENT.”
2
Input characters.
Explanation
SETTING
POWER SOURCE NAME
COMM.
POWER SUPPLY
:
:
:
:
DONE
MOTOWELD-E350
STC CONTROL NONE
A/%
SETTING
POWER SOURCE NAME
COMM.
POWER SUPPLY
:
:
:
:
DONE
MOTOWELD-E350
STC CONTROL NONE
A/%
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9.12 Power Source Condition File
Editing Other Items
Operation
1
Select the item to be edited.
2
Input the number using the
Numeric keys.

Explanation
SETTING
POWER SOURCE NAME
COMM.
POWER SUPPLY
SHIELDING GAS
WIRE DIA.
WIRE STICKOUT
ANTI-STICKING
ARC FAILURE STOP
:
:
:
:
:
:
:
:
:
DONE
MOTOWELD-E350
STC CONTROL NONE
A/%
CO2
0.1 mm
15 mm
0.1 sec
1.50 sec
Editing a Power Source Condition File for Current/Voltage Output
Editing the “RANGE”
Operation
1
Select “RANGE.”
Explanation
Each time [SELECT] is pressed, the indication alternates
between “+” (positive) and “−” (negative).
<CURRENT OUTPUT CHAR.> <WELDING VOLTAGE OUTPUT CHAR.>
RANGE: +
+
ADJUST: 1.00
1.00
SELECT
<CURRENT OUTPUT CHAR.> <WELDING VOLTAGE OUTPUT CHAR.>
RANGE: −
+
ADJUST: 1.00
1.00
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9.12 Power Source Condition File
Editing “ADJ,” “REF,” or “MEASURE”
Operation
1
Select {ADJ}, {REF}, or
{MEASURE}.
2
Input the number using the
Numeric keys.
Explanation
When some data is modified, the SETTING status is changed to
“NONE.”
NO.
01
02
03
04
REF.(V) MEASURE (A) REF.(V) MEASURE (%)
30
0.00
0.00
50
62
7.20
1.35
99
94
7.50
2.70
100
286
7.80
10.80
101
After the modification, move the cursor to “SETTING” and press
[SELECT] to complete (save) the setting.
SETTING
POWER SOURCE NAME
COMM.
NOTE
: DONE
: MOTOWELD-E350
: STC CONTROL NONE
Notes on Power Source Data Condition File Modification:
When changing “POWER SUPPLY” in Power Source condition file, the welding condition
files (Arc Start Condition File, Arc End Condition File, and Arc Auxiliary Condition File) are
formatted.

Registering the Power Source Condition File Data
Other than the 24 types of initial value data Yaskawa has provided, there are 4 types of Power Source
condition files that the user can be registered. The data partially modified using the initial value file can
also be registered.
Operation
1
Select {ARC WELDING} under
the main menu.
Explanation
JOB
EDIT
DISPLAY
UTILITY
PARAMETER
JOB
DOUT
MOVE
END
ARC START COND.
ARC WELDING
ARC END COND.
VARIABLE
B001
ARC AUX COND.
IN/OUT
In
Out
POWER SOURCE
COND.
ROBOT
ARC WELD DIAG.
SYSTEM INFO
WEAVING
Main Menu
9-94
ShortCut
Set tool mass data
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9 Arc Welding Application
9.12 Power Source Condition File
Operation
2
Select {POWER SOURCE
COND.}.
Explanation
DATA
EDIT
DISPLAY
UTILITY
READING
WRITING
1/1
SETTING
POWER SOURCE NAME
COMM.
POWER SUPPLY
SHIELDING GAS
WIRE DIA.
WIRE STICKOUT
ANTI-STICKING
ARC FAILURE STOP
:
:
:
:
:
:
:
:
:
DONE
MOTOWELD-E350
STC CONTROL NONE
A/%
CO2
0.1 mm
15 mm
0.1 sec
1.50 sec
<CURRENT OUTPUT CHAR.> <WELDING VOLTAGE OUTPUT CHAR.>
RANGE: +
+
ADJUST: 1.00
1.00
NO.
REF.(V) MEASURE (A) REF.(V) MEASURE (%)
01
0.00
30
0.00
50
Main Menu
3
Select {WRITING} from
{DATA} in the menu.
ShortCut
!Turn on servo power
The user registered file list appears.
DATA
EDIT
DISPLAY
UTILITY
USER INITIAL VALUE
NO.
NAME
POWER DIA. GAS
01
02
03
04
Main Menu
4
Select the Power Source
condition file number of the
data to be written.
A/%
A/%
A/V
A/V
USER-1
USER-2
USER-3
USER-4
ShortCut
1.2
1.2
1.2
1.2
CO2
MAG
CO2
MAG
!Turn on servo power
The confirmation dialog box appears.
DATA
EDIT
DISPLAY
UTILITY
USER INITIAL VALUE
NO.
NAME
POWER DIA. GAS
01
02
03
04
A/%
A/%
A/V
A/V
USER-1
USER-2
USER-3
USER-4
1.2
1.2
1.2
1.2
CO2
MAG
CO2
MAG
Write data?
01 USER-1
YES
Main Menu
5
Select “YES” or “NO.”
ShortCut
NO
!Turn on servo power
Select “YES” to register the Power Source condition file data.
Select “NO” to return to the POWER SOURCE CONDITION
window.
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9.13 Power Source Condition File Initial Value
9.13 Power Source Condition File Initial Value
The initial value data for 24 Power Sources has been prepared as follows:
Welder Condition Data File
Power
Source
No.
Power Source Name
Power
Supply
Shielding
Gas
Wire
Diameter
(mm)
1
MOTOWELD-E series 350A class
Synergic
MAG
(or CO2)
1.2
(or any)
2
MOTOWELD-E series 350A class
Independent
MAG
(or CO2)
1.2
(or any)
3
MOTOWELD-E series 500A class
Synergic
MAG
(or CO2)
1.2
(or any)
4
MOTOWELD-E series 500A class
Independent
MAG
(or CO2)
1.2
(or any)
5
MOTOWELD-S350-AJ2/3 (without STC)
Synergic
CO2
1.2
6
MOTOWELD-S350-AJ2/3 (without STC)
Synergic
MAG
1.2
7
MOTOWELD-S350-AJ2/3 (without STC)
Independent
CO2
1.2
8
MOTOWELD-S350-AJ2/3 (without STC)
Independent
MAG
1.2
9
MOTOWELD-S350-AJ2/3 (without STC)
Synergic
CO2
0.9
(or 1.0)
10
MOTOWELD-S350-AJ2/3 (without STC)
Synergic
MAG
0.9
(or 1.0)
11
MOTOWELD-S350-AJ2/3 (without STC)
Independent
CO2
0.9
(or 1.0)
12
MOTOWELD-S350-AJ2/3 (without STC)
Independent
MAG
0.9
(or 1.0)
13
MOTOWELD-S350-AJ2/3 (with STC)
Synergic
CO2
1.2
14
MOTOWELD-S350-AJ2/3 (with STC)
Synergic
MAG
1.2
15
MOTOWELD-S350-AJ2/3 (with STC)
Independent
CO2
1.2
16
MOTOWELD-S350-AJ2/3 (with STC)
Independent
MAG
1.2
17
MOTOWELD-S350-AJ2/3 (with STC)
Synergic
CO2
0.9
(or 1.0)
18
MOTOWELD-S350-AJ2/3 (with STC)
Synergic
MAG
0.9
(or 1.0)
19
MOTOWELD-S350-AJ2/3 (with STC)
Independent
CO2
0.9
(or 1.0)
20
MOTOWELD-S350-AJ2/3 (with STC)
Independent
MAG
0.9
(or 1.0)
21
SHINKO ES 350
Synergic
CO2
1.2
22
DAIHEN CPV 350
Synergic
CO2
1.2
23
MOTOWELD-S500 (without STC)
Synergic
CO2
1.2
24
MOTOWELD-S500 (without STC)
Synergic
MAG
1.2
The initial values are available for the standard software version NS4.00.00A ()-00 or later.
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9.13 Power Source Condition File Initial Value

Contents of 24 Welder Condition Files
The following tables give the original contents of the provided Power Source condition files, that are
associated with the Power Source numbers 1 through 24:
POWER SOURCE NO.: 1
POWER SOURCE NAME:
MOTOWELD-E series 350A class
COMMENT: COMBINATION GAS AND WIRE
POWER SUPPLY: A (synergic)
SHIELDING GAS: MAG
WIRE DIA.: 1.2 mm
WIRE STICKOUT: 15 mm
WIRE ANTI-STICKING: 0.1sec
ARC FAILURE STOP: 0.6 sec
CURRENT
POWER SOURCE NO.: 2
POWER SOURCE NAME:
MOTOWELD-E series 350A class
COMMENT: COMBINATION GAS AND WIRE
POWER SUPPLY: independent
SHIELDING GAS: MAG
WIRE DIA.: 1.2 mm
WIRE STICKOUT: 15 mm
WIRE ANTI-STICKING: 0.1 sec
ARC FAILURE STOP: 0.6 sec
VOLTAGE
CURRENT
VOLTAGE
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
REF. (V)
MEA. (A)
REF. (V)
MEA. (%)
REF. (V)
MEA. (A)
REF. (V)
MEA. (V)
0.00
30
0.00
50
0.00
30
0.00
12.0
1.35
62
7.20
99
1.35
62
2.25
16.0
2.70
94
7.50
100
2.70
94
4.50
20.0
10.80
286
7.80
101
10.80
286
6.75
24.0
12.15
318
14.00
150
12.15
318
9.00
28.0
13.50
350
0.00
0
13.50
350
11.25
32.0
0.00
0
0.00
0
0.00
0
13.50
36.0
0.00
0
0.00
0
0.00
0
0.00
0.0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 3
POWER SOURCE NAME:
MOTOWELD-E series 500A class
COMMENT: COMBINATION GAS AND WIRE
POWER SUPPLY: A (synergic)
SHIELDING GAS: MAG
WIRE DIA.: 1.2 mm
WIRE STICKOUT: 15 mm
WIRE ANTI-STICKING: 0.1 sec
ARC FAILURE STOP: 0.6 sec
CURRENT
POWER SOURCE NO.: 4
POWER SOURCE NAME:
MOTOWELD-E series 500A class
COMMENT: COMBINATION GAS AND WIRE
POWER SUPPLY: independent
SHIELDING GAS: MAG
WIRE DIA.: 1.2 mm
WIRE STICKOUT: 15 mm
WIRE ANTI-STICKING: 0.1 sec
ARC FAILURE STOP: 0.6 sec
VOLTAGE
CURRENT
VOLTAGE
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
REF. (V)
MEA. (A)
REF. (V)
MEA. (%)
REF. (V)
MEA. (A)
REF. (V)
MEA. (V)
0.00
30
0.00
50
0.00
30
0.00
12.0
1.35
77
7.20
99
1.35
77
2.25
17.5
2.70
124
7.50
100
2.70
124
4.50
23.0
10.80
406
7.80
101
10.80
406
6.75
28.5
12.15
453
14.00
150
12.15
453
9.00
34.0
13.50
500
0.00
0
13.50
500
11.25
39.5
0.00
0
0.00
0
0.00
0
13.50
45.0
0.00
0
0.00
0
0.00
0
0.00
0.0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 5
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: CO2
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 6
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: MAG
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
1.00
100
3.00
85
1.00
95
3.00
85
2.00
145
5.00
95
2.00
150
5.00
95
3.50
185
7.00
100
3.50
200
7.00
100
5.00
230
9.00
105
5.00
240
9.00
105
7.00
270
10.00
110
7.00
280
10.00
110
10.00
350
0.00
0
10.00
350
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 7
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: independent
SHIELDING GAS: CO2
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 8
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: independent
SHIELDING GAS: MAG
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
1.00
100
2.00
18.0
1.00
95
1.20
16.0
2.00
145
3.10
20.0
2.00
150
2.00
18.0
3.50
185
4.90
23.0
3.50
200
3.60
21.0
5.00
230
7.00
26.5
5.00
240
6.30
26.0
7.00
270
10.70
33.0
7.00
280
10.00
32.5
10.00
350
0.00
0.0
10.00
350
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 9
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: CO2
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ: 1.00
POWER SOURCE NO.: 10
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: MAG
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ: 1.00
RANGE: positive
ADJ: 1.00
VOLTAGE
RANGE: positive
ADJ: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
1.00
60
3.00
85
1.00
55
3.00
85
2.00
80
5.00
95
2.00
80
5.00
95
3.00
100
7.00
100
3.50
110
7.00
100
5.00
125
9.00
105
5.00
130
9.00
105
7.00
150
10.00
110
7.00
170
10.00
110
10.00
190
0.00
0
10.00
190
0.00
0
11.00
200
0.00
0
11.00
200
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 11
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: independent
SHIELDING GAS: CO2
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 12
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC NO-CONTROL
POWER SUPPLY: independent
SHIELDING GAS: MAG
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
1.00
60
2.50
19.0
1.00
55
1.90
17.5
2.00
80
3.50
21.0
2.00
80
2.10
18.0
3.00
100
4.50
23.0
3.50
110
3.20
20.0
5.00
125
5.70
25.5
5.00
130
3.90
21.5
7.00
150
0.00
0.0
7.00
170
4.80
23.0
10.00
190
0.00
0.0
10.00
190
0.00
0.0
11.00
200
0.00
0.0
11.00
200
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 13
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: CO2
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 14
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: MAG
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
1.00
100
3.00
85
1.00
95
3.00
85
2.00
140
5.00
95
2.00
150
5.00
95
3.50
190
7.00
100
3.50
190
7.00
100
5.00
230
9.00
105
5.00
240
9.00
105
7.00
270
10.00
110
7.00
270
10.00
110
10.00
350
0.00
0
9.00
350
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 15
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: independent
SHIELDING GAS: CO2
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 16
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: independent
SHIELDING GAS: MAG
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
1.00
100
2.10
18.0
1.00
95
1.30
16.0
2.00
140
3.20
20.0
2.00
150
2.10
18.0
3.50
190
5.00
23.0
3.50
190
3.70
21.0
5.00
230
7.10
26.5
5.00
240
6.40
26.0
7.00
270
10.80
33.0
7.00
270
10.10
32.5
10.00
350
0.00
0.0
9.00
350
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 17
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: CO2
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 18
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: MAG
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
1.00
60
3.00
85
1.00
60
3.00
85
2.00
80
5.00
95
2.00
75
5.00
95
3.50
105
7.00
100
3.50
110
7.00
100
5.00
125
9.00
105
5.00
130
9.00
105
7.00
145
10.00
110
7.00
160
10.00
110
10.00
180
0.00
0
10.00
190
0.00
0
11.00
200
0.00
0
11.00
200
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 19
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: independent
SHIELDING GAS: CO2
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 20
POWER SOURCE NAME:
MOTOWELD-S350-AJ2/3
COMMENT: STC CONTROL
POWER SUPPLY: independent
SHIELDING GAS: MAG
WIRE DIA.: 0.9mm
WIRE STICKOUT: 10mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(V)
1.00
60
2.80
19.0
1.00
60
2.10
17.5
2.00
80
3.80
21.0
2.00
75
2.30
18.0
3.50
105
4.80
23.0
3.50
110
3.40
20.0
5.00
125
6.00
25.5
5.00
130
4.10
21.5
7.00
145
0.00
0.0
7.00
160
5.00
23.0
10.00
180
0.00
0.0
10.00
190
0.00
0.0
11.00
200
0.00
0.0
11.00
200
0.00
0.0
0.00
0
0.00
0.0
0.00
0
0.00
0.0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 21
POWER SOURCE NAME:
SHINKO ES350
COMMENT:
POWER SUPPLY: A (synergic)
SHIELDING GAS: CO2
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 22
POWER SOURCE NAME:
DAIHEN CPV350
COMMENT:
POWER SUPPLY: A (synergic)
SHIELDING GAS: CO2
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 0.6sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
2.80
100
4.80
88
1.40
50
5.00
75
3.90
150
7.00
100
2.80
100
7.50
100
5.80
200
9.20
112
4.30
150
10.00
125
7.60
250
0.00
0
5.70
200
0.00
0
8.90
300
0.00
0
7.80
250
0.00
0
0.00
0
0.00
0
9.50
300
0.00
0
0.00
0
0.00
0
12.60
350
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
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9.13 Power Source Condition File Initial Value
POWER SOURCE NO.: 23
POWER SOURCE NAME:
MOTOWELD-S500
COMMENT: STC NO-CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: CO2
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 1.5sec
CURRENT
RANGE: positive
ADJ.: 1.00
POWER SOURCE NO.: 24
POWER SOURCE NAME:
MOTOWELD-S500
COMMENT: STC NO-CONTROL
POWER SUPPLY: A (synergic)
SHIELDING GAS: MAG
WIRE DIA.: 1.2mm
WIRE STICKOUT: 15mm
WIRE ANTI-STICKING: 0.3sec
ARC FAILURE STOP: 1.5sec
VOLTAGE
CURRENT
RANGE: positive
ADJ.: 1.00
RANGE: positive
ADJ.: 1.00
VOLTAGE
RANGE: positive
ADJ.: 1.00
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
REF.
(V)
MEA.
(A)
REF.
(V)
MEA.
(%)
1.40
100
3.00
85
1.70
100
3.00
85
3.10
160
7.00
100
2.80
160
7.00
100
4.00
200
11.00
115
3.70
200
11.00
115
5.90
280
0.00
0
5.00
250
0.00
0
8.00
340
0.00
0
6.40
300
0.00
0
9.00
380
0.00
0
7.50
360
0.00
0
10.00
400
0.00
0
8.00
390
0.00
0
11.00
440
0.00
0
9.00
430
0.00
0
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9 Arc Welding Application
9.14 Table of Work Instructions
9.14 Table of Work Instructions
• < > indicates alpha-numerical data.
• If multiple items are shown in one additional item section, select one.
Arc Welding Instructions
Function
ARCON
Additional
Item
Example
Outputs arc start conditions and an arc start instruction for the
Power Source.
WELD1, WELD2, WELD3, WELD4
Displayed only
when using
multiple
manipulators.
AC = <welding current >
AC: 1 to 999A
ASF#(<arc start condition file number>)
ASF#(): 1 to
396
AV = <welding voltage >
AV:
AVP = <percentage against proper welding
independent
voltage>
0.1 to 50.0V
AVP: synergic
50 to 150%
T = <manipulator stopping time>
0.01 to 655.35
sec
V = <manipulator moving speed>
0.1 to 1500.0
mm/sec
1 to 9000 cm/
min
RETRY
Specifies use of
arc retry
function.
ARCON AC=200 AVP=100 T=0.30 RETRY
ARCON AC=200 AV=22.0 T=0.30
ARCON ASF#(1)
ARCON
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9.14 Table of Work Instructions
Arc Welding Instructions
Function
ARCOF
Additional
Item
Example
Function
Outputs arc end conditions and an arc end instruction for the
Power Source.
WELD1, WELD2, WELD3, WELD4
Displayed only
when using
multiple
manipulators.
AC = <welding current >
AC: 1 to 999A
AEF#(<arc end condition file number>)
AEF#(): 1 to
396
AV = <welding voltage >
AV:
AVP = <percentage against proper welding
independent
voltage >
0.1 to 50.0V
AVP: synergic
50 to 150%
T = <manipulator stopping time>
0.01 to 655.35
sec
ANTSTK
Specifies use of
wire anti-stick
function.
ARCOF AC=180 AVP=80 T=0.30 ANTSTK
ARCOF AC=180 AV20.0 T=0.30
ARCOF AEF#(1)
ARCOF
Changes the welding conditions individually.
WELD1, WELD2, WELD3, WELD4
AC = <welding current >
ASF#(<arc start condition file number>)
Additional
Item
ARCSET
AV = <welding voltage >
AVP = <percentage against proper welding
voltage >
V = <manipulator moving speed>
AN3 = <analog output 3>
AN4 = <analog output 4>
Example
Displayed only
when using
multiple
manipulators.
1 to 999A
ASF#(): 1 to
396
AV:
independent
0.1 to 50.0V
AVP: synergic
50 to 150%
0.1 to 1500.0
mm/sec
1 to 9000 cm/
min
-14.00 to
14.00V
-14.00 to
14.00V
ARCSET AC=200
ARCSET AV=20.0
ARCSET AVP=95
ARCSET V=80
ARCSET AN3=10.00
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9.14 Table of Work Instructions
Arc Welding Instructions
Function
ARCCTS
Additional
Item
Example
Function
ARCCTE
Additional
Item
Example
Function
Changes the welding conditions gradually during execution of
welding.
WELD1, WELD2, WELD3, WELD4
Displayed only
when using
multiple
manipulators.
AC = <welding current >
1 to 999A
AV = <welding voltage >
AV:
AVP = <percentage against proper welding
independent
voltage >
0.1 to 50.0V
AVP: synergic
50 to 150%
AN 3 = <analog output 3>
-14.00 to
14.00V
AN4 = <analog output 4>
-14.00 to
14.00V
DIS = <distance from the movement’s start
0.00 to 6553.5
position>
mm
ARCCTS AC=200 AVP=100 DIS=100.0
ARCCTS AC=200 AV=22.0 AN3=10.0 DIS=5.0
Changes the welding conditions gradually during execution of
welding.
WELD1, WELD2, WELD3, WELD4
Displayed only
when using
multiple
manipulators.
AC = <welding current >
1 to 999A
AV = <welding voltage >
AV:
AVP = <percentage against proper welding
independent
voltage >
0.1 to 50.0V
AVP: synergic
50 to 150%
AN 3 = <analog output 3>
-14.00 to
14.00V
AN4 = <analog output 4>
-14.00 to
14.00V
DIS = <distance from the movement’s end
0.00 to 6553.5
position>
mm
ARCCTE AC=200 AVP=100 DIS=100.0
ARCCTE AC=200 AV=22.0 AN3=10.0 DIS=5.0
Specifies welding current by current reference value.
WELD1, WELD2, WELD3, WELD4
AWELD
Additional
Item
<Current reference value>
Example
Displayed only
when using
multiple
manipulators.
-14.00 to
14.00V
AWELD 12
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9.14 Table of Work Instructions
Arc Welding Instructions
Function
Specifies welding voltage by voltage reference value.
WELD1, WELD2, WELD3, WELD4
VWELD
Additional
Item
<voltage reference value>
Example
VWELD 2.5
Function
Starts weaving.
RB1, RB2, RB3, RB4
WVON
Additional
Item
Example
WEV#(<weaving condition file number>)
WVON WEV#(1)
Function
Ends weaving.
RB1, RB2, RB3, RB4
WVOF
Additional
Item
Example
Displayed only
when using
multiple
manipulators.
-14.00 to
14.00V
Displayed only
when using
multiple
manipulators.
1 to 255
Displayed only
when using
multiple
manipulators.
None
WVOF
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10 Table of Basic Instructions
10.1 Move Instructions
10 Table of Basic Instructions
• <> indicates numerical or alphabetical data.
• If multiple items are shown in one section, select one of the items.
10.1 Move Instructions
Function
MOVJ
Additional
Item
Moves to a taught point with joint interpolation type.
Position data,
Base axis position data,
Station axis position data
These data do
not appear on
the screen.
VJ=<play speed>
VJ:
0.01 to
100.00%
PL=<position level>
PL:0 to 8
NWAIT
UNTIL statement
Example
ACC=(acceleration adjustment ratio)
ACC: 20 to
100%
DEC=(deceleration adjustment ratio)
DEC: 20 to
100%
MOVJ VJ=50.00 PL=2 NWAIT UNTIL IN#(16)=ON
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10 Table of Basic Instructions
10.1 Move Instructions
Function
MOVL
Additional
Item
Moves to a taught point with linear interpolation type.
Position data,
Base axis position data,
Station axis position data
These data do
not appear on
the screen.
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
V:0.1 to 1500.0
mm/s
1 to 9000.0
cm/min
VR:0.1 to 180.0
deg/s
VE:0.01 to
100.00%
PL=<position level>
PL:0 to 8
CR=(corner radius)
CR: 1.0 to
6553.5mm
NWAIT
UNTIL statement
MOVC
ACC=(acceleration adjustment ratio)
ACC: 20 to
100%
DEC=(deceleration adjustment ratio)
DEC: 20 to
100%
Example
MOVL V=138 PL=0 NWAIT UNTIL IN#(16)=ON
Function
Moves to a taught point with circular interpolation type.
Additional
Item
Position data,
Base axis position data,
Station axis position data
These data do
not appear on
the screen.
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as
MOVL.
PL=<position level>
PL:0 to 8
NWAIT
Example
ACC=(acceleration adjustment ratio)
ACC: 20 to
100%
DEC=(deceleration adjustment ratio)
DEC: 20 to
100%
MOVC V=138 PL=0 NWAIT
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10 Table of Basic Instructions
10.1 Move Instructions
Function
MOVS
Additional
Item
Moves to a taught point with spline interpolation type.
Position data,
Base axis position data,
Station axis position data
These data do
not appear on
the screen.
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as
MOVL.
PL=<position level>
PL:0 to 8
NWAIT
ACC=(acceleration adjustment ratio)
ACC: 20 to
100%
DEC=(deceleration adjustment ratio)
DEC: 20 to
100%
Example
MOVS V=120 PL=0
Function
Moves the specified increment from the current position with linear
interpolation type.
P<variable number>,
BP<variable number>,
EX<variable number>
V=<play speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
Same as
MOVL.
PL=<position level>
PL:0 to 8
NWAIT
BF,RF,TF,UF# (<user coordinate number>)
IMOV
Additional
Item
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool coordinates
UF:
user
coordinates
UNTIL statement
Example
ACC=(acceleration adjustment ratio)
ACC: 20 to
100%
DEC=(deceleration adjustment ratio)
DEC: 20 to
100%
IMOV P000 V=138 PL=1 RF
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10.1 Move Instructions
Function
REFP
SPEED
Additional
Item
Defines a reference point (e.g. wall point for weaving).
<reference point number>
wall point 1 for
weaving :1
wall point 2 for
weaving :2
Position data,
Base axis position data,
Station axis position data
These data do
not appear on
the screen.
Example
REFP 1
Function
Sets play speed.
Additional
Item
Example
VJ=<joint speed>,
V=<TCP speed>,
VR=<play speed of the posture>,
VE=<play speed of external axis>
VJ:Same as
MOVJ.
V,VR,VE:
Same as
MOVL.
SPEED VJ=50.00
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10 Table of Basic Instructions
10.2 I/O Instructions
10.2 I/O Instructions
Function
Turns the external output signals ON and OFF.
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>)
DOUT
Additional
Item
Number of addressed output signals:
OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
OGH#(xx) is not subject to parity check; only the
binary specification is allowed.
FINE
With a high
degree of
accuracy
Example
DOUT OT#(12) ON
Function
Outputs a pulse signal as an external output signal.
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>)
PULSE
Additional
Item
T=<time (seconds)>
Example
PULSE OT# (10) T=0.60
0.01 to
655.35 s
0.30 s unless
otherwise
specified
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10 Table of Basic Instructions
10.2 I/O Instructions
Function
Sets input signals in variables.
B<variable number>
DIN
Additional
Item
IN# (<input number>),
IGH# (<input group number>),
IG# (<input group number>),
OT# (<output number>),
OGH# (<output group number>),
OG# (<output group number>),
SIN# (<system input number>),
SOUT# (<system output number>)
Number of addressed input signals:
IN#(xx)=1;IGH#(xx)=4(per group);
IG#(xx)=8(per group)
Number of addressed output signals:
OT#(xx)=1;OGH#(xx)=4(per group);
OG#(xx)=8(per group)
IGH#(xx) and OGH#(xx) are not subject to parity
check; only the binary specification is allowed.
WAIT
Example
DIN B016 IN#(16)
DIN B002 IG#(2)
Function
Waits until the external input signal status matches the specified
status.
Additional
Item
IN# (<input number>),
IGH# (<input group number>),
IG# (<input group number>),
OT# (<user output number>),
OGH# (<output group number>),
SIN# (<system input number>),
SOUT# (<system output number>)
<status>,B<variable number>
T=<time (seconds)>
AOUT
0.01 to
655.35 s
Example
WAIT IN# (12)=ON T=10.00
WAIT IN# (12)=B002
Function
Outputs the specified voltage to the general-purpose analog output
port.
Additional
Item
Example
AO# (<output port number>)
1 to 40
<output voltage(V)>
-14.0 to 14.0
AOUT AO# (2) 12.7
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10 Table of Basic Instructions
10.2 I/O Instructions
Function
ARATION
ARATIOF
Additional
Item
Starts the analog output corresponding to the speed.
AO#(<output port number>)
1 to 40
BV = <basic voltage>
-14.00 to 14.00
V = <basic speed>
0.1 to
150.0 mm/s
1 to 9000 cm/
min
OFV = <offset voltage>
-14.00 to 14.00
Example
ARATION AO#(1) BV=10.00 V=200.0 OFV=2.00
Function
Ends the analog output corresponding to the speed.
Additional
Item
AO#(<output port number>)
Example
ARATIOF AO#(1)
1 to 40
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10.3 Control Instructions
10.3 Control Instructions
Function
JUMP
Additional
Item
Jumps to the specified label or job.
* <label character string>,JOB:<job name>,
IG# (<input group number>),
B<variable number>,
I<variable number>,D<variable number>
UF# (user coordinates number)
IF statement
*
(label)
CALL
Example
JUMP JOB:TEST1 IF IN#(14)=OFF
Function
Indicates a jump destination.
Additional
Item
<jump destination>
Example
*123
Function
Calls the specified job.
Additional
Item
8 characters or
less
JOB:<job name>,IG# (<input group number>),
B<variable number>,I<variable number>,
D<variable number>
UF# (user coordinates number)
IF statement
RET
END
Example
CALL JOB:TEST1 IF IN# (24)=ON
CALL IG#(2)
(The job is called by the patterns of input signal. In this example,
Job 0 cannot be called.)
Function
Returns to the call source job.
Additional
Item
IF statement
Example
RET IF IN#(12)=OFF
Function
Declares the end of a job.
Additional
Item
Example
END
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10.3 Control Instructions
Function
NOP
TIMER
IF
statement
UNTIL
statement
PAUSE
’
(comment)
No operation.
Additional
Item
Example
NOP
Function
Stops for the specified time.
Additional
Item
T=<time (seconds)>
Example
TIMER T=12.50
Function
Evaluates the specified condition and makes a judgment
accordingly. Described after an instruction that specifies a certain
action.
Format:<Item1>=,<>,<=,>=,<,><Item2>
Additional
Item
0.01 to
655.35 s
<Item1>
<Item2>
Example
JUMP *12 IF IN#(12)=OFF
Function
Monitors the specified input signal during an action and stops the
action when the specified signal status is observed. Described
after an instruction that specifies a certain action.
Additional
Item
IN# (<input number>)
<status>
Example
MOVL V=300 UNTIL IN#(10)=ON
Function
Instructs a pause.
Additional
Item
IF statement
Example
PAUSE IF IN#(12)=OFF
Function
Dispalys a comment.
Additional
Item
<comment>
Example
’Draws 100mm size square.
32 characters
or less
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10 Table of Basic Instructions
10.3 Control Instructions
Function
CWAIT
ADVINIT
ADVSTOP
Waits for execution of the instruction on the next line.
Used with the NWAIT tag which is an additional item of a move
instruction.
Additional
Item
Example
MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
MOVL V=100
Function
Initializes the prereading instruction processing.
Used to adjust the access timing for variable data.
Additional
Item
Example
ADVINIT
Function
Stops the prereading instruction processing.
Used to adjust the access timing for variable data.
Additional
Item
Example
ADVINIT
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10 Table of Basic Instructions
10.4 Shift Instructions
10.4 Shift Instructions
Function
Starts a shift operation.
P<variable number>,
BP<variable number>,
EX<variable number>,
BF,RF,TF,
UF#(<user coordinate number>)
SFTON
SFTOF
MSHIFT
Additional
Item
Example
SFTON P001 UF#(1)
Function
Stops a shift operation.
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool
coordinates
UF:
user
coordinates
Additional
Item
Example
SFTOF
Function
Obtains the shift value in the specified coordinate system from
Data 2 and 3, and stores the obtained element values in Data 1.
Format:MSHIFT <Data1><Coordinate><Data2><Data3>
Data1
PX<variable number>
Coordinat
e
BF,RF,TF,
UF# (<user coordinate number>),
MTF
Data2
PX<variable number>
Data3
PX<variable number>
Additional
Item
Example
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool
coordinates
UF:
user
coordinates
MTF:
tool
coordinates for
the master
MSHIFT PX000 RF PX001 PX002
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10.5 Operating Instructions
10.5 Operating Instructions
Function
ADD
SUB
Adds Data1 and Data2, and stores the result in Data1.
Format:ADD<Data1><Data2>
Data1
Additional
Item
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Example
ADD I012 I013
Function
Subtracts Data2 from Data1, and stores the result in Data1.
Format:SUB<Data1><Data2>
Data1
Additional
Item
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
BP<variable number>,
EX<variable number>
Example
SUB I012 I013
10-12
Data1 must
always be a
variable.
Data1 must
always be a
variable.
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10.5 Operating Instructions
Multiplies Data1 by Data2, and stores the result in Data1.
Format:MUL<Data1><Data2>
Function
Data1 can be an element in a position variable.
Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number> (<element
number>),
BP<variable number> (<element
number>),
EX<variable number> (<element
number>)
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>
MUL
Additional
Item
Example
Data1 must
always be a
variable.
MUL I012 I013
MUL P000 (3) 2 (Multiply the Z-axis data by 2.)
Divides Data1 by Data2, and stores the result in Data1.
Format:DIV<Data1><Data2>
Function
Data1 can be an element in a position variable.
Pxxx(0):all axis data, Pxxx(1):X-axis data,
Pxxx(2):Y-axis data, Pxxx(3):Z-axis data,
Pxxx(4):Tx-axis data, Pxxx(5):Ty-axis data,
Pxxx(6):Tz-axis data
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number> (<element
number>),
BP<variable number> (<element
number>),
EX<variable number> (<element
number>)
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>
DIV
Additional
Item
Example
Data1 must
always be a
variable.
DIV I012 I013
DIV P000 (3) 2 (Divide the Z-axis data by 2.)
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10.5 Operating Instructions
INC
DEC
AND
OR
NOT
XOR
Function
Increments the value of the specified variable by 1.
Additional
Item
B<variable number>,I<variable number>,
D<variable number>
Example
INC I043
Function
Decrements the value of the specified variable by 1.
Additional
Item
B<variable number>,I<variable number>,
D<variable number>
Example
DEC I043
Function
Obtains the AND of Data1 and Data2, and stores the result in
Data1.
Format:AND<Data1><Data2>
Additional
Item
Data1
B<variable number>
Data2
B<variable number>, Constant
Example
AND B012 B020
Function
Obtains the OR of Data1 and Data2, and stores the result in Data1.
Format:OR<Data1><Data2>
Additional
Item
Data1
B<variable number>
Data2
B<variable number>, Constant
Example
OR B012 B020
Function
Obtains the NOT of Data2, and stores the result in Data1.
Format:NOT<Data1><Data2>
Additional
Item
Data1
B<variable number>
Data2
B<variable number>, Constant
Example
NOT B012 B020
Function
Obtains the exclusive OR of Data1 and Data2, and stores the result
in Data1.
Format:XOR<Data1><Data2>
Additional
Item
Example
Data1
B<variable number>
Data2
B<variable number>, Constant
XOR B012 B020
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10.5 Operating Instructions
Function
SET
SETE
Additional
Item
Sets Data2 to Data1.
Format:SET<Data1><Data2>
Data1
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
P<variable number>,
S<variable number>,
BP<variable number>,
EX<variable number>
Data2
Constant,
B<variable number>,
I<variable number>,
D<variable number>,
R<variable number>,
S<variable number>,
EXPRESS
Example
SET I012 I020
Function
Sets data to an element in a position variable.
Data 1
P<variable number>
(<element number>),
BP<variable number>
(<element number>),
EX<variable number>
(<element number>)
Data 2
D<variable number>,
<double-precision integer type
constant>
Additional
Item
Example
SETE P012 (3) D005
Function
Extracts an element in a position variable.
Data1 must
always be a
variable.
D<variable number>
GETE
Additional
Item
Example
P<variable number> (<element number>),
BP<variable number> (<element number>),
EX<variable number> (<element number>)
GETE D006 P012 (4)
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10.5 Operating Instructions
Function
GETS
Additional
Item
Sets a system variable to the specified variable.
B<variable number>,I<variable number>,
D<variable number>,R<variable number>,
PX<variable number>
$B<variable number>,$I<variable number>,
$D<variable number>,$R<variable number>,
$PX<variable number>, $ERRNO, Constant,
B<variable number>
System
variable
Example
GETS B000 $B000
GETS I001 $I[1]
GETS PX003 $PX001
Function
Converts the position variable (Data2) into a position variable of the
specified coordinate system, and stores the converted variable in
Data1.
Format:CNVRT<Data1><Data2><coordinate>
Data1
PX<variable number>
Data2
PX<variable number>
BF,RF,TF,UF# (<user coordinate number>),MTF
CNVRT
Additional
Item
Example
BF:
base
coordinates
RF:
robot
coordinates
TF:
tool
coordinates
UF:
user
coordinates
MTF:tool
coordinates for
the master
CNVRT PX000 PX001 BF
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10.5 Operating Instructions
Function
CLEAR
SIN
COS
Additional
Item
Starting with the variable number in Data1, clears (sets to zero) as
many variables as specified by a number in Data2.
Format:CLEAR<Data1><Data2>
Data1
B<variable number>,I<variable
number>,
D<variable number>,R<variable
number>,
$B<variable number>,$I<variable
number>,
$D<variable number>,$R<variable
number>,
Data2
<number of variables>,
ALL,STACK
ALL:Clears
variables of the
variable
number in
Data1 and of all
the variable
numbers that
follow.
STACK: Clears
all variables in
the job call
stack.
Example
CLEAR B000 ALL
CLEAR STACK
Function
Obtains the sine of Data2, and stores the result in Data1.
Format:SIN<Data1><Data2>
Data1
R<variable number>
Data2
<constant>,R<variable number>
Additional
Item
Data1 must
always be a
real type
variable.
Example
SIN R000 R001 (Sets the sine of R001 to R000.)
Function
Obtains the cosine of Data2, and stores the result in Data1.
Format:COS<Data1><Data2>
Data1
R<variable number>
Data2
<constant>,R<variable number>
Additional
Item
Example
Data1 must
always be a
real type
variable.
COS R000 R001 (Sets the cosine of R001 to R000.)
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10.5 Operating Instructions
Function
ATAN
SQRT
Data1
R<variable number>
Data2
<constant>,R<variable number>
Additional
Item
Data1 must
always be a
real type
variable.
Example
ATAN R000 R001 (Sets the arc tangent of R001 to R000.)
Function
Obtains the square root of Data2, and stores the result in Data1.
Format:SQRT<Data1><Data2>
Data1
R<variable number>
Data2
<constant>,R<variable number>
Additional
Item
Data1 must
always be a
real type
variable.
Example
SQRT R000 R001 (Sets the square root of R001 to R000.)
Function
Creates a user coordinate using the position data for the given
three points as definition points. <Data1> indicates the definition
point ORG position data, <Data2> the definition point XX position
data, and <Data3> the definition point XY position data.
Format: MFRAME <user coordinate> <Data1> <Data2> <Data3>
UF#(<user coordinate number>)
MFRAME
Additional
Item
MULMAT
Obtains the arc tangent of Data2, and stores the result in Data1.
Format:ATAN<Data1><Data2>
Data1
PX <variable number>
Data2
PX <variable number>
Data3
PX <variable number>
1 to 24
Example
MFRAME UF#(1) PX000 PX001 PX002
Function
Obtains the matrix product of Data2 and Data3, and stores the
result in Data1.
Format: MULMAT <Data1> <Data2> <Data3>
Additional
Item
Example
Data1
P <variable number>
Data2
P <variable number>
Data3
P <variable number>
MULMAT P000 P001 P002
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10.5 Operating Instructions
Function
INVMAT
SETFILE
GETFILE
GETPOS
VAL
Additional
Item
Obtains the inverse matrix of Data2, and stores the result in Data1.
Format: INVMAT <Data1> <Data2>
Data1
P <variable number>
Data2
P <variable number>
Example
INVMAT P000 P001
Function
Changes the contents data of a condition file into the numeric data
of Data1. The contents data of a condition file to be changed is
specified by the element number.
Additional
Item
Contents
data of a
condition
file
WEV#(<condition file
number>)(<element number>)
Data1
Constant, D<variable number>
Example
SETFILE WEV#(1)(1) D000
Function
Stores the contents data of a condition file in Data1. The contents
data of a condition file to be obtained is specified by the element
number.
Data1
D <variable number>
Additional
Item
Contents
data of a
condition
file
WEV#(<condition file
number>)(<element number>)
Example
GETFILE D000 WEV#(1)(1)
Function
Stores the position data of Data2 (step number) in Data1.
Additional
Item
Data1
PX <variable number>
Data2
STEP# (<step number>)
Example
GETPOS PX000 STEP#(1)
Function
Converts the numeric value of the character string (ASCII) of Data2
into the real number, and stores the result in Data1.
Format: VAL <Data1> <Data2>
Additional
Item
Example
Data1
B <variable number>, I <variable
number>, D <variable number>, R
<variable number>
Data2
Character string, S <variable
number>
VAL B000 “123”
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10.5 Operating Instructions
Function
ASC
CHR$
Additional
Item
Obtains the character code of the first letter of the character string
(ASCII) of Data2, and stores the result in Data1.
Format:ASC<Data1><Data2>
Data1
B <variable number>, I <variable
number>, D <variable number>
Data2
Character string, S <variable
number>
Example
ASC B000 “ABC”
Function
Obtains the character (ASCII) with the character code of Data2,
and stores the result in Data1.
Format:CHR$<Data1><Data2>
Additional
Item
Data1
S <variable number>
Data2
Constant, B <variable number>
Example
CHR$ S000 65
Function
Obtains the character string (ASCII) of any length (Data 3, 4) from
the character string (ASCII) of Data2, and stores the result in
Data1.
Format:MID$<Data1><Data2><Data3><Data4>
Data1
S <variable number>
Data2
Character string, S <variable
number>
Data3
Constant, B <variable number>, I
<variable number>, D <variable
number>
Data4
Constant, B <variable number>, I
<variable number>, D <variable
number>
MID$
Additional
Item
LEN
Example
MID$ S000 “123ABC456” 4 3
Function
Obtains the total number of bytes of the character string (ASCII) of
Data2, and stores the result in Data1.
Format:LEN<Data1><Data2>
Additional
Item
Example
Data1
B <variable number>, I <variable
number>, D <variable number>
Data2
Character string, S <variable
number>
LEN B000 “ABCDEF”
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10.5 Operating Instructions
Function
CAT$
Additional
Item
Example
Combines the character string (ASCII) of Data2 and Data3, and
stores the result in Data1.
Format:CAT$<Data1><Data2><Data3>
Data1
S <variable number>
Data2
Character string, S <variable
number>
Data3
Character string, S <variable
number>
CAT$ S000 “ABC” “DEF”
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11 Error
11.1 Error Message List
11 Error
11.1 Error Message List
Error warns the operator not to advance to the next operation caused by a wrong operation or the
access method when using the programming pendant or an external equipment (computer, PLC, etc.).
When an error occurs, confirm the content of the error then release the error.
To release the error, perform either of the following operations:
• Press [CANCEL] on programming pendant.
• Input alarm/error reset signal (system input).
NOTE
An error is different from an alarm because it does not stop the robot even if it occurred
while the robot was operated (during playback).
Main Menu
ShortCut
Cannot insert/modify/delete for axis detachment
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11 Error
11.1 Error Message List
11.1.1
System and General Operation
Error No.
Data
Error Message
10
-
Turn off servo power and perform
corrective action
It cannot be operated while servo
power supply is ON.
20
-
Depress TEACH
Out of specified operation mode
30
-
Illegal setting for number of variables
Parameter setting error
40
-
Undefined robot position variables
Position variable cannot be used.
60
-
Undefined points (ORG, XX, XY)
Not registered user coordinates
basic 3 points (ORG, XX, XY)
Program and current tool different
The tool number registered with
teaching position data does not
match the tool number selected at
the programing pendant.
70
-
80
-
Same position in the 3 points
100
-
On overrun recovery status
110
-
Turn ON servo power
120
-
Set to PLAY mode
130
-
No start using external signal
140
-
No start using P.P.
180
-
TEACH mode select signal ON
190
-
Set variable number
200
-
Defined group axis
210
-
Undefined coordinated robots
212
Contents
Cannot register group combination
230
-
While releasing soft limit
240
-
Undefined robot
270
-
Undefined gun condition file
280
-
Lack of number of I/O points
290
-
Cannot set same No.
300
-
Undefined user frame
310
-
Cannot register Master JOB
320
-
Cannot operate CHECK-RUN
330
-
Cannot operate MACHINE LOCK
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11 Error
11.1 Error Message List
Error No.
Data
Error Message
340
-
Cannot operate Master JOB
350
-
Cannot initialize
380
-
390
-
410
-
420
-
430
-
Register start reserved JOB
460
-
Excess time for measuring
500
-
Undefined robot calibration data
510
-
Undefined axis
520
-
Cannot select two coordinated
combination
530
-
Start reservation mode
550
-
Start reserved JOB change prohibit is
set
560
-
Cannot teach position while soft limit
released
590
-
600
-
Out of setting data range
610
-
Cannot use the user coordinate
620
-
Select JOB (robot)
650
-
Incorrect measured data
660
-
Wrong data type of position variable
-
Defined data
Position not checked
Second home position was not
checked.
Can specify servo off by safety relay
Time could not be measured
Time could not be measured for
TRT function.
Incorrect number of taught points
The number of the taught points
for tool calibration is incorrect.
Register group axis combination
680
Contents
XXX
[SYNCHRO] was pressed for
coordinated job which was not
registered as group.
File No.
700
-
Wrong CMOS memory board type
760
-
Error in start condition set
770
-
During robot operation
800
-
The gun of designation is not connected
11-3
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11 Error
11.1 Error Message List
Error No.
Data
Error Message
801
-
The group axis of designation is not
connection
810
-
Servo power supply is limited
820
-
Modification range over
930
-
Undefined conveyor calibration data
940
-
Forced pressure signal ON
950
-
Negative correction distance
960
-
I/O axis mode requesting
970
-
ERRSVCPU signal error
Contents
11-4
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11 Error
11.1 Error Message List
11.1.2
Editing
Error No.
Data
1010
-
EDIT LOCK mode
1020
-
Enter correct value
1030
-
Unauthorized ID No.
1050
-
Enter correct date
1060
-
Enter correct clock
1070
-
Enter an ID number in 4-8 figures
1080
-
Negative value can’t be set
11.1.3
Error Message
Contents
Job Defined Data
Error No.
Data
Error Message
2010
-
Incorrect character
2020
-
Name not entered
2030
-
Undefined JOB name
2040
-
Defined JOB name
2050
-
Address not found
2070
-
Set robot exactly to taught position
2080
-
Press INSERT or MODIFY
2090
-
Only modifying move instruction
possible
2100
-
JOB cannot be edited.
2110
-
Over soft limit
2120
-
Cannot insert/alter/delete with servo off
2150
-
Inserting is not possible from this point
2160
-
Cannot modify or delete this position
2170
-
Press INSERT to record same step as
previous step
2180
-
Cannot insert data
2210
-
Illegal data setting
2220
-
Display edit instruction
2240
-
Excessive instruction equation
11-5
Contents
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11 Error
11.1 Error Message List
Error No.
Data
Error Message
2250
-
Unmatched number of parentheses in
equation
2260
-
Wrong group axis selection
2270
-
Cannot insert any more instruction in
JOB
*
JOB memory is full
2280
2290
2291
2292
2293
Contents
1
Lack of position file memories
2
Lack of JOB registering memories
3
Lack of instruction file memories
4
Lack of memory pool
5
Lack of pass condition file for
multilayer
-
Undefined master JOB
*
Undefined SUB Master JOB
1
Sub-master 1
2
Sub-master 2
3
Sub-master 3
4
Sub-master 4
5
Sub-master 5
6
Sub-master 6
7
Sub-master 7
8
Sub-master 8
-
Undefined MASTER START JOB
*
Undefined SUB START JOB
1
Sub-master 1
2
Sub-master 2
3
Sub-master 3
4
Sub-master 4
5
Sub-master 5
6
Sub-master 6
7
Sub-master 7
8
Sub-master 8
11-6
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11 Error
11.1 Error Message List
Error No.
Data
2300
-
Cannot teach JOB without group-axis
specification
*
Same label exists
2310
Error Message
XXX
Contents
Line No.
2340
-
Pasted data not found
2360
-
Cannot create editing area
2370
-
Cannot cut/copy NOP and END
instructions
2390
-
Wrong group axis selection
2400
-
Cannot move in cut & paste editing
2430
-
Reverse data not found
2440
-
Move C-and W-axis to basic position
2450
-
Relative JOB not permitted
2470
-
Wrong JOB type
2480
-
Wrong JOB coordinates setting
2500
-
Cannot convert the JOB
2510
-
Cannot correct position in the JOB
2520
-
Enter JOB name
2530
-
Illegal step number
2540
-
Enter step number
2550
-
Duplicated step number
2551
-
Duplicated line number
2560
-
Cannot correct steps of position
variables and REFP
2570
-
The step does not contain speed
2580
-
The step dose not contain PL/CONT
2590
-
Soft limit range over
2600
-
Cannot teach position in concurrent
JOB
2610
-
Wrong JOB kind
2620
-
Cannot correct play speed in the JOB
2630
-
Conveyor position not reset
11-7
Laser cutting
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11 Error
11.1 Error Message List
Error No.
Data
Error Message
2640
-
Incorrect JOB name
2670
-
Undefined target JOB
2710
-
Relative job can’t be shifted with pulse
type
2730
-
Cannot use robot macro JOB
2740
-
Cannot use concurrent macro JOB
2750
-
Cannot use JOB with group-axis
specification
2760
-
Cannot insert/modify/delete for group
axis detachment
2761
-
Axis is separated.
Cannot add, modify, or delete.
2770
-
Cannot reverse data of SVSPOTMOV
instruction
2780
-
Arithmetic error
Contents
11-8
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11 Error
11.1 Error Message List
11.1.4
External Memory Equipment
Error No.
Data
Error Message
3010
-
Floppy disk drive cable not connected
3020
-
Floppy disk not inserted into floppy
disk drive
3030
-
Floppy disk protection is ON
3040
-
File not saved on floppy disk or
Compact Flash
3050
-
File saved on floppy disk or Compact
Flash
3060
-
Out of memory on floppy disk or
Compact Flash
3070
-
Number of files on floppy disk or
Compact Flash is full
3080
-
I/O error on floppy disk or Compact
Flash
*
Transmission error with floppy disk or
Compact Flash
3090
3110
3120
3130
Contents
1
Framing error
2
Overrun error
3
Parity error
4
Data code error
5
Data read error
6
Data write error
7
Data time out
8
Serial I/O error
9
Error other than described above
-
Syntax error
*
HEX code error
1
Specification error of data decode
2
Specification error of EOF record
3
Record type error
4
Total check error of record
-
Verify error
11-9
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11 Error
11.1 Error Message List
Error No.
Data
3140
-
Wrong pseudo instruction
*
Concurrent I/O record error
3150
3160
3170
Error Message
Contents
1
Format error
2
Ladder program is too long.
3
Exceed the range of the data
4
Specification error of channel No.
5
Specification error of relay No.
6
Timer value error
7
Specification error of timer No.
-
Cannot load illegal system data
*
Condition file data error
1
Format error
2
Specified file No. is omitted.
3
Specified tool No. is omitted.
4
User file is not registered.
11-10
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11 Error
11.1 Error Message List
Error No.
Data
*
Error Message
Error in JOB data record
1
Record on the number of position
data (NPOS) is wrong for the
format.
2
Record on the user coordinate No.
(USER) is wrong for the format.
3
Record on the tool No. (TOOL) is
wrong for the format.
4
Record on the position data section
is wrong for the format.
5
Record on the robot type of XYZ
data (RCONF) is wrong for the
format.
6
Date (DATE) record is wrong for the
format.
7
Comment (COMM) record is wrong
for the format.
8
Record on the JOB attribute data
(ATTR) is wrong for the format.
9
Control group (GROUP) record is
wrong for the format.
10
Local variable (LVARS) record is
wrong for the format.
11
JOB argument (JARGS) record is
wrong for the format.
12
Record on the teaching coordinates
for relative job (FRAME) is wrong
for the format.
13
Position data coordinates do not
match relative job coordinates.
3190
3200
-
NOP or END instruction not found
3210
-
Position No. storage area not found
*
Syntax error in instruction data
3220
Contents
2
Interior control error
3
Undefined instruction/tag
4
Instruction/tag shortage
5
Disuse instruction/tag
6
Sub instruction
11-11
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11 Error
11.1 Error Message List
Error No.
3220
Data
Error Message
Contents
7
No instruction
8
Invalid instruction
9
Invalid tag
10
Invalid character
11
Undefined intermediate code
12
Intermediate code shortage
13
Syntax stack overflow
14
Syntax stack underflow
15
Array type tag incomplete
Tag [ARRAY]
16
Element type tag incomplete
Tag [ELEMENT]
17
Macro JOB unregistered
18
Input format error
19
Data size over
20
MIN value over
21
MAX value over
22
Operation expression error
23
Job call argument setting error
24
Macro job call argument setting
error
25
Position vector setting error
26
System error
27
Soft key designate error
28
Numerical input buffer overflow
29
Real type data precision error
30
Element format error
35
BOOL TYPE data error
36
CHAR data error
37
BYTETYPE, BINARY /
HEXADECIMAL BYTE TYPE data
error
38
INTEGER TYPE, DECIMAL WORD
TYPE data error
11-12
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11 Error
11.1 Error Message List
Error No.
3220
Data
Error Message
Contents
39
BINARY/HEXADECIMAL WORD
TYPE data error
40
DOUBLE PRECISION INTEGER
TYPE, DECIMAL DWORD TYPE
data error
41
BINARY/HEXADECIMAL WORD
TYPE data error
42
REAL TYPE data error
43
LADDER SPECIAL TYPE data
error
44
JCL text
45
Invalid text
46
LABEL NAME data error
47
JOB NAME data error
48
STRING data error
49
COMMENT data error
58
Invalid instruction/tag detection
3230
-
Syntax not matched
3240
-
Undefined application
3250
-
Cannot load this file
3260
-
Excess input data
3270
-
Cannot verify this file
3280
-
Wrong welding condition (STANDARD/
ENHANCED)
3290
-
Serial port not defined
3300
-
Serial port being used
3310
-
Protocol being used
3350
-
Not enough memory
3360
-
Invalid folder
3370
-
Incorrect folder name
3450
-
Cannot load macro JOB at current
security mode
11-13
Load in management mode.
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11 Error
11.1 Error Message List
Error No.
Data
*
3460
Error Message
Contents
Cannot backup Compact Flash
1
Insufficient Compact Flash memory.
2
Not accessible to Compact Flash.
3470
-
Database not found
3480
-
Database access error
3490
-
Same database exists
3500
-
Check Compact Flash insertion
3510
-
Cannot delete folder. Check attribute
and inside file
3520
-
Same folder exists
3530
-
Cannot load at current security mode
11-14
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11 Error
11.1 Error Message List
11.1.5
Error No.
4010
4030
4040
Concurrent I/O
Data
*
Error Message
Illegal relay No.
XXX
*
Line No.
Illegal instruction
XXX
*
Line No.
Relay/register No. duplicated in OUT/
GOUT or arithmetic instruction
XXX
4050
4060
4070
4080
4090
*
Line No.
Excess STR-[-NOT] instructions
Line No.
Excess AND [OR] STR instructions
XXX
*
Line No.
Syntax error in CNT instructions
XXX
*
Line No.
Enter STR [-NOT] at head of block
XXX
4120
-
4130
-
4140
-
4150
The relay is not used
XXX
*
*
Multiple outputs are instructed to
the relay or register.
Line No.
XXX
*
Contents
Need STR [-NOT]
Line No.
Concurrent I/O memory is full
Exceeds memory capacity
(10000 steps)
END instruction not found
END instruction not found
Wrong ladder program
Position and number of PART
instruction are wrong.
Wrong use of GSTR, GOUT commands
GSTR and GOUT is not used
together.
XXX
Line No.
4220
-
Excess TMR/CNT or arithmetic
instructions
4230
-
Syntax error in TMR/CNT instructions
11-15
More than 100 TMR, CNT or
arithmetic instruction used
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11 Error
11.1 Error Message List
11.1.6
Maintenance Mode
Error No.
Data
Error Message
8010
-
Too many axes
8020
-
Too many I/O points
8030
-
Too many boards (XFB01B (MASTER))
8031
-
Too many boards (MSC01B)
8040
-
Memory error (ControlNet output
condition)
8041
-
Memory error (UNIWIRE CONNECT DAT
8050
-
Robot model is not registered
8060
-
Cannot get UNIWIRE connection data
Contents
11-16
492 of 493
RE-CSO-A031
NX100
OPERATOR’S MANUAL
FOR ARC WELDING
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703
Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
YASKAWA Europe GmbH
Robotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Nordic AB
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone +46-480-417-800
Fax +46-480-417-999
YASKAWA Electric (China) Co., Ltd.
22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200
Fax 㧗86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858
Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500
Fax +91-124-475-8542
YASKAWA Electric Korea Co., Ltd
9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea
Phone +82-2-784-7844
Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333
Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
252/125-126 27th Floor, Tower B Muang Thai-Phatra Complex Building,
Rachadaphisek Road㧘Huaykwang, Bangkok 10320, Thailand
Phone +66-2693-2200
Fax +66-2693-4200
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470
Fax +62-21-2982-6741
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.
493 of 493
RE-CSO-A031
5
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