Motoman NX100 Controller Conveyor Tracking Function Manual

PDF

เอกสาร

โฆษณา

Motoman

NX100 Controller

Conveyor Tracking

Function Manual

Part Number: 149648-15

Revision:

Motoman, Incorporated

805 Liberty Lane

West Carrollton, Ohio 45449 USA

937.847.6200 (Voice)

937.847.6277 (Fax)

937.847.3200 (24-Hour Support) www.motoman.com

[email protected]

COMPLETE OUR ONLINE SURVEY

Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you received with your Motoman robotic solution.

To participate, go to the following website: http://www.motoman.com/forms/techpubs.asp

The information contained within this document is the proprietary property of Motoman, Inc., and may not be copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,

Inc.

Because we are constantly improving our products, we reserve the right to change specifications without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

Conveyor Tracking

149648-15

Chapter 1

Introduction

1.1

1.2

1.3 About This Document

This manual provides information for the Conveyor Tracking function and contains the following sections:

CHAPTER 1 - INTRODUCTION

Provides general information about the structure of this manual, a list of reference documents, and customer service information.

CHAPTER 2 - SAFETY

This section provides information regarding the safe use and operation of Motoman products.

CHAPTER 3 - CONVEYOR TRACKING SUPPLEMENTARY INSTRUCTIONS

Provides supplementary information for the Conveyor Tracking function.

CHAPTER 4 - EPH130R INSTRUCTIONS

Provides detailed information for the Conveyor Tracking function.

Reference to Other Documentation

For additional information refer to the following:

• NX100 Controller Manual (P/N 149201-1)

• Concurrent I/O Manual (P/N 149230-1)

• Operator’s Manual for your application

• Vendor manuals for system components not manufactured by Motoman

Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call:

• Product (Conveyor Tracking)

• Application Type (welding, handling, etc.)

• Robot Serial Number (located on back side of robot arm)

• Robot Sales Order Number (located on back of controller)

Final page 1

Function Manual

Chapter 1 Introduction

Notes page 2 Final

Conveyor Tracking

149648-15

Chapter 2

Safety

2.1 Introduction

It is the purchaser’s responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for

Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries

Association by requesting ANSI/RIA R15.06-1999. The address is as follows:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: (734) 994-6088

FAX: (734) 994-3338

INTERNET: www.roboticsonline.com

Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel who are adequately trained to operate, program, and maintain the robot cell. The robot must not be operated by personnel who have not been trained!

We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system. This safety section addresses the following:

• Standard Conventions (Section 2.2)

• General Safeguarding Tips (Section 2.3)

• Mechanical Safety Devices (Section 2.4)

Final page 3

Function Manual

Chapter 2 Safety

2.2

• Installation Safety (Section 2.5)

• Programming, Operation, and Maintenance Safety (Section 2.6)

Standard Conventions

This manual includes the following alerts

–

in descending order of severity

–

that are essential to the safety of personnel and equipment. As you read this manual, pay close attention to these alerts to insure safety when installing, operating, programming, and maintaining this equipment.

DANGER!

Information appearing in a DANGER concerns the protection of personnel from the immediate and imminent hazards that, if not avoided, will result in immediate, serious personal injury or loss of life in addition to equipment damage.

WARNING!

Information appearing in a WARNING concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage.

CAUTION!

Information appearing in a CAUTION concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage.

Note: Information appearing in a Note provides additional information which is helpful in understanding the item being explained. page 4 Final

Conveyor Tracking

149648-15

2.3

2.4 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this robot system.

• Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the robot cell.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06-1999, section 4.2.5, Sources of Energy, use lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147

(29CFR, Part 1910), Occupational Safety and Health Standards for General Industry

(OSHA).

Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-1999 safety standards, and other local codes that may pertain to the installation and use of industrial equipment.

Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety equipment is provided as standard:

• Safety fences and barriers

• Light curtains and/or safety mats

• Door interlocks

• Emergency stop palm buttons located on operator station, robot controller, and programming pendant

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

Final page 5

Function Manual

Chapter 2 Safety

2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations.

Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. Installation tips are as follows:

• Be sure that only qualified personnel familiar with national codes, local codes, and

ANSI/RIA R15.06-1999 safety standards are permitted to install the equipment.

• Identify the work envelope of each robot with floor markings, signs, and barriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorized entry into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robot and other equipment (pinch points).

• Provide sufficient room inside the workcell to permit safe teaching and maintenance procedures.

2.6 Programming, Operation, and Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to program, operate, and maintain the system. All personnel involved with the operation of the equipment must understand potential dangers of operation.

• Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place. Check all safety equipment for proper operation.

Repair or replace any non-functioning safety equipment immediately.

• Do not enter the robot cell while it is in automatic operation. Be sure that only the person holding the programming pendant enters the workcell.

• Check the E-STOP button on the programming pendant for proper operation before programming. The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.

• Back up all programs and jobs onto suitable media before program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

page 6 Final

Conveyor Tracking

149648-15

• Any modifications to PART 1, System Section, of the robot controller concurrent I/O program can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1, System Section. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY!

• Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords.

• The robot controller allows modifications of PART 2, User Section, of the concurrent I/O program and modifications to controller parameters for maximum robot performance. Great care must be taken when making these modifications. All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot and other parts of the system. Double-check all modifications under every mode of robot operation to ensure that you have not created hazards or dangerous situations.

• Check and test any new or modified program at low speed for at least one full cycle.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Use proper replacement parts.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

Final page 7

Function Manual

Chapter 2 Safety

Notes page 8 Final

YASKAWA

NX100 OPTIONS

INSTRUCTIONS

FOR CONVEYOR SYNCHRONIZED FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONS

NX100 INSTRUCTIONS

NX100 OPERATOR’S MANUAL

NX100 MAINTENANCE MANUAL

The NX100 operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.

YASKAWA MANUAL NO.

HW0482711

1/83

HW0482711

MANDATORY

• This manual explains the search function of the NX100. Read this manual carefully and be sure to understand its contents before handling the

NX100.

• General items related to safety are listed in Section 1: Safety of the

NX100 Instructions. To ensure correct and safe operation, carefully read the NX100 Instructions before reading this manual.

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.

HW0482711

2/83

HW0482711

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of the

NX100.

In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,”

“MANDATORY,” or ”PROHIBITED.”

WARNING

CAUTION

MANDATORY

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided, could result in minor or moderate injury to personnel and damage to equipment. It may also be used to alert against unsafe practices.

Always be sure to follow explicitly the items listed under this heading.

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” and “WARNING”.

iii

HW0482711

3/83

HW0482711

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:

- View the manipulator from the front whenever possible.

- Always follow the predetermined operating procedure.

- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the P-point maximum envelope of the manipulator and that you are in a safe location before:

- Turning ON the NX100 power.

- Moving the manipulator with the programming pendant.

- Running the system in the check mode.

- Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem.

The emergency stop buttons are located on the right of the front door of the NX100 and the programming pendant.

HW0482711

4/83

HW0482711

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 manipulator is the YASKAWA industrial robot product.

The manipulator usually consists of the controller, the programming pendant, and supply cables.

In this manual, the equipment is designated as follows.

Equipment

NX100 Controller

NX100 Programming Pendant

Manual Designation

NX100

Programming Pendant v

HW0482711

5/83

HW0482711

Descriptions of the programming pendant keys, buttons, and windows are shown as follows:

Equipment

Programming

Pendant

Manual Designation

Character Keys The keys which have characters printed on them are

Symbol Keys

Axis Keys

Numeric Keys

Keys pressed simultaneously

Windows denoted with [ ].

ex. [ENTER]

The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture.

GO BACK ex. page key

PAGE

The cursor key is an exception, and a picture is not shown.

“Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and number input.

When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD]

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.

HW0482711

6/83

HW0482711

1 Conveyor Synchronized Function

1.1 System Configuration Example

. . . . . . . . . . . . . . . . . . . . .1-1

1.2 Conveyor Synchronized Operation

. . . . . . . . . . . . . . . . . .1-2

1.2.1 Conveyor Home-position Limit Switch. . . . . . . . . . . . . . . . . . . .1-3

1.2.2 Conveyor Home-position Input Signal . . . . . . . . . . . . . . . . . . . .1-3

1.2.3 SYSTART Instruction and Manipulator Motion . . . . . . . . . . . . .1-3

1.3 Conveyor

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1.3.1 Conveyor Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-5

1.3.2 Definition of Conveyor Moving Direction . . . . . . . . . . . . . . . . . .1-6

1.3.3 Conveyor Distance for Follow-up . . . . . . . . . . . . . . . . . . . . . . .1-6

1.3.4 Measurement of Conveyor Moving Amount . . . . . . . . . . . . . . .1-6

2 Hardware Specifications

2.1 Required Boards and Setup

. . . . . . . . . . . . . . . . . . . . . . . .2-1

2.2 Connecting NCP02 and NSL01 Boards to NX100

. . .2-1

2.3 Connecting Conveyor Home-Position Signals

to NX100

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3

2.4 Applicable Encoder and Connection Specification

. . .2-4

2.5 Connection Example of One Conveyor

. . . . . . . . . . . . .2-5

2.6 Detecting Encoder Cable Disconnection

. . . . . . . . . . . .2-5

3 Connector Connection

3.1 Opening the Front Door

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.2 Sensor Cable Connection

. . . . . . . . . . . . . . . . . . . . . . . . . .3-2

3.3 Closing the Front Door

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3

4 Settings for Conveyor Condition File

4.1 Conveyor Condition File

. . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.2 Editing Conveyor Condition File

. . . . . . . . . . . . . . . . . . . .4-9

4.2.1 Displaying Conveyor Condition File. . . . . . . . . . . . . . . . . . . . . .4-9

4.2.2 Editing Conveyor Condition File . . . . . . . . . . . . . . . . . . . . . . . .4-9

Editing “USED STATUS”. . . . . . . . . . . . . . . . . . . . . . . . . . . .4-9

Editing “PORT NO.”. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-9

Editing “BROKEN LINE DETECT”. . . . . . . . . . . . . . . . . . . .4-10

Editing “ENCODER INPUT” . . . . . . . . . . . . . . . . . . . . . . . .4-10

Editing “ENCODER SIGN” . . . . . . . . . . . . . . . . . . . . . . . . .4-10

Editing “CORRECTION” . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10

Editing “TRACKING” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-10 vii

HW0482711

7/83

HW0482711

Editing “USER COORD NO.” . . . . . . . . . . . . . . . . . . . . . . . 4-10

Editing “BASE AXIS”. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

Editing “POSITIONAL RESOLUTION” . . . . . . . . . . . . . . . . 4-11

Editing “VIRTUAL CONVEYOR SPEED” . . . . . . . . . . . . . . 4-11

Editing “AVERAGED TRAVEL TIME”. . . . . . . . . . . . . . . . . 4-11

Editing “RESET SIGNAL MONITORING”. . . . . . . . . . . . . . 4-11

Editing “CONVEYOR SPEED DOWN MODE” . . . . . . . . . . 4-12

Editing “CONVEYOR LOWER LIMIT SPD” . . . . . . . . . . . . 4-12

Editing “VIRTUAL ENCODER INPUT” . . . . . . . . . . . . . . . . 4-12

Editing “VIRTUAL ENCODER OUTPUT” . . . . . . . . . . . . . . 4-12

4.3 Setting Conveyor Positional Resolution

. . . . . . . . . . . . 4-13

4.3.1 Setting Conveyor Positional Resolution . . . . . . . . . . . . . . . . . 4-14

4.3.2 Verifying and Adjusting Conveyor Positional Resolution . . . . 4-15

5 Teaching

5.1 Registering Instructions

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.1.1 SYSTART Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Registering SYSTART Instruction . . . . . . . . . . . . . . . . . . . . 5-2

5.1.2 SYEND Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

Registering SYEND Instruction . . . . . . . . . . . . . . . . . . . . . . 5-5

5.1.3 SYMOV Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5.1.4 Interpolation Mode for Conveyor Synchronized Operation. . . . 5-7

Switching the Interpolation Mode . . . . . . . . . . . . . . . . . . . . . 5-7

5.2 Motion Speed

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5.3 Wrist Posture in Synchronization

. . . . . . . . . . . . . . . . . . 5-10

5.4 Circular Interpolation Steps

. . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.5 Teaching

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.6 Teaching After Interruption of Playback in

Synchronized Operation

. . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5.6.1 When Adding or Changing Step After Interruption of

Synchronized Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5.6.2 When Performing Another Teaching

(for Other Workpiece) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5.7 Notes on Operation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.7.1 Confirming Reach to Step. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.7.2 Backward (BWD) Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.7.3 Changing Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.7.4 Deleting Taught Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.8 Job Example

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18 viii

HW0482711

8/83

HW0482711

6 Playback

6.1 Conveyor Speed Down

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.2 Accuracy

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2

6.3 Conveyor Resolution Error

. . . . . . . . . . . . . . . . . . . . . . . . . .6-2

6.4 Restarting Synchronization After Manipulator

Stops

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

6.5 Continuance of Conveyor Synchronized Status

. . . . .6-3

6.6 Continuance of Parallel Shift Status

. . . . . . . . . . . . . . . . .6-3

6.7 Conveyor Synchronized Operation During

Execution of TIMER and WAIT

. . . . . . . . . . . . . . . . . . . . .6-4

7 Conveyor Monitoring Windows

7.1 Conveyor Position Window

. . . . . . . . . . . . . . . . . . . . . . . . .7-2

7.2 Conveyor Speed Window

. . . . . . . . . . . . . . . . . . . . . . . . . . .7-3

7.3 Conveyor Tracking Status Window

. . . . . . . . . . . . . . . . .7-4

8 Virtual Encoder Mode

8.1 Virtual Encoder Pulse Count

. . . . . . . . . . . . . . . . . . . . . . . .8-1

8.2 Relation Between Encoder Input and Virtual

Encoder Input

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.3 Precaution on Switching the Encoder Mode

. . . . . . . . .8-1

9 Turntable Synchronized Function

9.1 Setting Up the Turntable Synchronized System

. . . . .9-1

9.1.1 Settings for Conveyor Condition File . . . . . . . . . . . . . . . . . . . . .9-1

9.1.2 Calibration between Manipulator and Turntable . . . . . . . . . . . .9-2

Setting a Calibration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . .9-2

Teaching Calibration Position . . . . . . . . . . . . . . . . . . . . . . . .9-3

Operating Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-4

9.2 Modifying Instructions

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-7 ix

HW0482711

9/83

HW0482711

10 Manual Conveyor Function

10.1 Settings for Manual Conveyor Function

. . . . . . . . . . 10-2

10.1.1 Setting the Conveyor Position . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.2 Enabling/Disabling the Setting . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.2 Precautions

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.2.1 When the Power is Turned ON . . . . . . . . . . . . . . . . . . . . . . 10-2

11 Manual Setting Function for Conveyor

Home-Position Limit Switch

12 Instruction List

13 Alarm List

14 Sensor Parameters (SxE)

HW0482711

10/83

HW0482711

1.1 System Configuration Example

Conveyor Synchronized Function

1.1 System Configuration Example

A basic system configuration example using NX100 conveyor synchronized function is shown below.

The manipulator detects the conveyor moving amount by the encoder mounted on the conveyor.

Motor

Conveyor control panel

Conveyor home-position limit switch

Synchronized section

Conveyor moving direction

Encoder

(Detects the conveyor

moving amount)

NX100

TYPE

POWER SUPPLY 200V

220V

50Hz

ERCR-

SERIAL No.

50/60Hz

DATE

*****

3PHASE kVA

MADE IN JAPAN NJ2484-1

THE MANIPULATOR AND THE CONTROLLER

SHOULD HAVE SAME ORDER NUMBER.

ORDER NO.

WARNING

May cause an electrick shock.

Do not open the door when the power is ON.

TRIPPED

NX100

REMOTE PLAY TEACH

E R G E N

T O

X-

S-

Y-

L-

R-

X+

S+

Y+

L+

R+

7 8

R-

B-

T-

R+

B+

T+

Manipulator

Fig. 1 System Configuration Example for Conveyor Synchronized Operation

1-1

HW0482711

11/83

HW0482711

1.2 Conveyor Synchronized Operation

The position tracking type conveyor synchronized operation function modifies the taught path in conveyor non-moving state according to the conveyor moving amount so that the manipulator performs follow-up motion in the conveyor moving direction with constant speed relative to the workpiece.

For example, teach P1 to P7 (P2 to P6 are the points in synchronization) with the conveyor stopped. In playback operation, the manipulator follows the conveyor (workpiece) with the

motion path modified in the conveyor moving direction as shown in the "Fig. 2 (b) Synchronized Motion Path in Playback Mode".

The conveyor synchronized function can use either the manipulator base axis or the traveling axis (external axis) to follow the movement of conveyor. However, the base axis and the traveling axis can not be selected simultaneously.

Workpiece Conveyor

P 3 P 4

P 2 P 5

P 1 P 7

Fig. 2 (a) Teaching

P 2

P 1

P 3

P 2

P 1

Conveyor moving direction

3 P 3

P 2

P 1

P 4

P 3

P 2

P 5

P 1

P 3

P 4

P 2 P 6 P 5

P 1

P 3

P 4

P 2 P 6

P 5

P 1

P 7

Fig. 2 (b) Synchronized Motion Path in Playback Mode

1-2

HW0482711

12/83

HW0482711

1.2 Conveyor Synchronized Operation

1.2.1 Conveyor Home-position Limit Switch

The conveyor home-position limit switch turns ON the conveyor home-position input signal when a workpiece is detected by a sensor.

1.2.2 Conveyor Home-position Input Signal

When the conveyor home-position input signal is input, the conveyor current value is automatically reset to 0 mm.

Then, the manipulator can enter synchronized operation status by execution of SYSTART instruction.

Conveyor home-position limit switch

Conveyor moving direction

0 mm

1.2.3 SYSTART Instruction and Manipulator Motion

The SYSTART is a conveyor synchronized operation start instruction.

Format: SYSTART CV#(1) <STP= Synchronization start position (units: mm)>

After having executed the SYSTART instruction, when the conveyor reaches the position specified at STP as the synchronization start position, the manipulator enters the synchronized operation status. Up to this moment, the manipulator does not move.

When a workpiece reaches the position set as the synchronization start position, the manipulator starts the synchronized operation.

STP

(The distance to the synchronization start point)

1-3

HW0482711

13/83

HW0482711

1.2 Conveyor Synchronized Operation

If the SYSTART instruction is executed before the input of conveyor home-position input signal, the manipulator waits until the conveyor home-position input signal is input and the conveyor reaches the synchronization start position, then starts the synchronized operation.

If the conveyor home-position input signal is input before the execution of SYSTART instruction, the manipulator waits until the conveyor reaches the synchronization start position, then enters in synchronized operation status.

Job Manipulator Motion

MOVJ : Moves to Step 1

Conveyor home-position limit switch

Step 1

Conveyor moving direction

SYSTART CV#(1)

STP=100.00

: Stops, and waits until the conveyor reaches “STP = 100”.

SYMOVL

0 mm

: Moves to Step 2 in the conveyor synchronized operation after the conveyor position has come to 100 mm.

100 mm

Step 2

1-4

HW0482711

14/83

HW0482711

1.3 Conveyor

A job example of conveyor synchronized operation is shown. Refer to Section 5.11 “Job

Example”.

0000 NOP

0001 SYEND CV#(1) Resets the conveyor home-position registration status

0002 MOVJ Moves to the stand-by position near the conveyor

0003 SYSTART CV#(1) STP=100.000 Conveyor synchronized operation starts.

0004 GETS B000 $B008

0005 JUMP *END IF B000=0

0006 SYMOVL CV#(1) CTP=50.000

0007 SYMOVL CV#(1) CTP=50.000

0008 SYMOVL CV#(1) CTP=50.000

0009 SYMOVL CV#(1) CTP=50.000

0010 *END

0011 SYEND CV#(1)

0012 MOVJ

0013 END

Conveyor synchronized motion

(Linear interpolation)

Conveyor synchronized operation ends.

Returns to the stand-by position

Synchronized operation section

1.3 Conveyor

1.3.1 Conveyor Form

There are three types of the conveyor tracking motion: robot-axis tracking, base-axis tracking, and circular tracking.

Each type must be set according to its system configuration (tracking motion type).

Linear form conveyor

Circular Tracking

Linear Tracking

1-5

HW0482711

15/83

HW0482711

1.3 Conveyor

1.3.2 Definition of Conveyor Moving Direction

The conveyor moving amount pulses detected by the encoder mounted on the conveyor are scalar. From this number of pulses, the manipulator determines how far to move, but not in which direction. Therefore, the conveyor moving direction must be defined for the manipula-

tor. For the definition of moving direction, a user coordinate is used. (Refer to “ TRACKING

(ROBOT-AXIS/BASE-AXIS/CIRCULAR)".)

SUPPLE-

MENT

For registration of user coordinates, refer to “NX100 INSTRUCTIONS”.

Y-axis

ORG

XY XX

X-axis

Conveyor moving direction

1.3.3 Conveyor Distance for Follow-up

With the conveyor synchronized function of NX100, a manipulator can synchronize a conveyor continuously over a maximum distance of 21 m within the manipulator working envelop.

Since the distance more than 21 m can not be processed internally, if the moving distance reaches 21 m during synchronized operation, the alarm 5022 “CONVEYOR POSITION LIMIT” occurs and the manipulator stops disregarding the succeeding synchronization.

1.3.4 Measurement of Conveyor Moving Amount

How far the conveyor has moved from the conveyor home-position is measured by the cumulative number of feedback pulses from the encoder mounted on the conveyor. The accumulation starts when the conveyor home-position limit switch is turned ON. At the start, the cumulative amount is zero (0).

1-6

HW0482711

16/83

HW0482711

2.1 Required Boards and Setup

Hardware Specifications

This chapter explains the required equipment and boards to use the conveyor synchronized function, as well as what data are required and how they should be set. Before setting up a system, read carefully this chapter.

2.1 Required Boards and Setup

For the conveyor synchronized function, the optional base board JANCD-NCP02 and the board JANCD-NSL01 for conveyor synchronized operation are required besides the standard boards.

Three encoder signal input ports are provided on the NSL01 board. (Note that the connectors are unified in one.)

Up to three conveyor encoders can be connected to a single NSL01 board.

2.2 Connecting NCP02 and NSL01 Boards to NX100

Side cover

JANCD-NCP02

+JANCD-NSL01

NIF unit

Axis board

SGDR-AXA01A Power supply CPS-420F

(Fuji Electric Hi-Tech Corp.)

CPU board

JANCD-NCP01

CPU

TYPE JANCD-NCP01

DATE

REV

LED

0 1

VIDEO

IDE

USB1(L)

USB0(R)

PS2

PC I

SOURCE

+5VSB

PON

+5V

+24V

OTHER

FAN

OHT

CN05

(+24V1)

CN04

(+24V2)

POWER SUPPLY

CPS-420F

No.

DATE

Fuji Electric Co.,Ltd. JAPAN

02 03

12 13

22 23

04 05

14 15

24 25

06 07

16 17

26 27

A B C D E F G H J K

L M N P Q R S T U V

CN03

(TU)

CN02

(REMOTE)

INPUT

200-240V AC

50/60Hz

CN01

(AC IN)

2-1

HW0482711

17/83

2.2 Connecting NCP02 and NSL01 Boards to NX100

CN2 CN3 CN4

RS-232/RS-422

CN2

+24V I/O

CN3

+24V Input

CN4

CN5

Analog I/O

CN5

7SEG-

LED

CN6

7SEG-

LED

PG Input (1, 2, 3-axes)

CN6

HW0482711

JANCD-NCP02 JANCD-NSL01

CNSL01

CNAＴ

Connecting CN4 and CN4 of CPS unit supplies 24V power to the NCP02 board.

The JANCD-NSL01 board is connected to the CNSL01 of JANCD-NCP02 board.

JANCD-NSL01

JANCD-NCP02

Conveyor

Plug: 10150-3000VE manufactured by 3M

Shell kid: 10350-52A0-008 manufactured by 3M

10250-52A2JL manufactured by 3M

2-2

HW0482711

18/83

HW0482711

2.3 Connecting Conveyor Home-Position Signals to NX100

2.3 Connecting Conveyor Home-Position Signals

to NX100

The conveyor home-position input signals are connected through each encoder input port on the JANCD-NSL01 board. Since the conveyor home-position input signals are used for the reference to the conveyor position, they must be as in phase as possible. It is recommended to connect the conveyor home position signal from the conveyor home-position limit switch directly to the NX100 so as to eliminate dispersion caused by sequencer scan time errors.

Input the conveyor home-position limit switch signals to the corresponding conveyor port channels as shown in the figure below so that each signal will not be received while the corresponding channel is executing synchronization.

Check whether the conveyor home-position input signals function correctly on the conveyor condition file window explained later.

JANCD-NSL01 Board

5mA

+24V(CN6-43)

ST11(CN6-44)

ST12(CN6-45)

0V(CN6-42)

5mA

+24V(CN6-43)

ST21(CN6-46)

ST22(CN6-47)

0V(CN6-42)

5mA

+24V(CN6-43)

ST31(CN6-48)

ST32(CN6-49)

0V(CN6-42)

For 24 V common

JANCD-NSL01 Board

5mA

+24V(CN6-43)

ST11(CN6-44)

ST12(CN6-45)

0V(CN6-42)

5mA

+24V(CN6-43)

ST21(CN6-46)

ST22(CN6-47)

0V(CN6-42)

5mA

+24V(CN6-43)

ST31(CN6-48)

ST32(CN6-49)

0V(CN6-42)

For 0 V common

2-3

HW0482711

19/83

HW0482711

2.4 Applicable Encoder and Connection Specification

For NX100 conveyor synchronized function, use a conveyor encoder with two-phase line driver outputs (equivalent to RS422). Encoders with open-collector output or signal-phase output are not applicable.

The connection of encoder to the NSL01 board is as shown below. Check if the encoder operates correctly on the conveyor position window explained later.

Encoder

/PA

/PB

Encoder

/PA

/PB

Encoder

/PA

/PB

JANCD-NSL01 Board

P1AI(CN6-5)

P1AC(CN6-6)

P1BI(CN6-7)

P1BC(CN6-8)

+5V(CN6-1,3)

0V(CN6-2,4)

Shield (Shell)

P2AI(CN6-13)

P2AC(CN6-14)

P2BI(CN6-15)

P2BC(CN6-16)

+5V(CN6-9,11)

0V(CN6-10,12)

Shield (Shell)

P3AI(CN6-21)

P1AC(CN6-22)

P1BI(CN6-23)

P1BC(CN6-24)

+5V(CN6-17,19)

0V(CN6-18,20)

Shield (Shell)

For 5 V encoder with line driver, PREA-3C3 / manufactured by Yaskawa Control is recommended.

2-phase output: Phase A

Phase A

Phase B

2-4

HW0482711

20/83

HW0482711

2.5 Connection Example of One Conveyor

A connection example of one conveyor is shown below. Use a cable of 0.2 pt size.

+5V

NX100

JANCD-NSL01 Board

CN6 Connector

/PA

/PB

+5V

Shell Shield

Conveyor encoder

PREA-3C3C 2000W manufactured by

YASKAWA Control

5mA

+24V

ST11

ST12

2.6 Detecting Encoder Cable Disconnection

With the conveyor synchronized function, at disconnection of encoder cable, the alarm 1400

“ENCODER ERROR (CONVEYOR)” occurs and the servo power supply is shut down.

2-5

HW0482711

21/83

HW0482711

3.1 Opening the Front Door

Connector Connection

3.1 Opening the Front Door

Open the front door of the NX100.

1. Turn the two door locks on the front face of the NX100 clockwise by 90 ° by using a coin or flat tip screwdriver.

C l o c k w i s e

D o o r l o c k

F l a t t i p s c r e w d r i v e r

2. With the door locks turned clockwise by 90 °, turn the main switch handle to the “OFF” position, and then gently open the door.

M a i n p o w e r s u p p l y s w i t c h

TRIPPED

OFF

RESET

3-1

HW0482711

22/83

HW0482711

3.2 Sensor Cable Connection

Connect the cable from the sensor to the NSL01 board.

Side cover

JANCD-NCP02

+JANCD-NSL01

NIF unit

Axis board

SGDR-AXA01A Power supply CPS-420F

(Fuji Electric Hi-Tech Corp.)

CPU board

JANCD-NCP01

CPU

TYPE JANCD-NCP01

DATE

REV

LED

0 1

VIDEO

IDE

USB1(L)

USB0(R)

PS2

PC I

SOURCE

+5VSB

PON

+5V

+24V

OTHER

FAN

OHT

CN05

(+24V1)

CN04

(+24V2)

CN03

(TU)

POWER SUPPLY

CPS-420F

No.

DATE

Fuji Electric Co.,Ltd. JAPAN

02 03 04 05 06

12 13

22 23

07 08 09 10

17 18

27 28

19 20

29 30

A B C D E F G H J K

L M N P Q R S T U V

CN02

(REMOTE)

INPUT

200-240V AC

50/60Hz

CN01

(AC IN)

Cable Connection to NSL01 Board

NOTE

Be sure to securely tighten the connectors with a screwdriver.

3-2

HW0482711

23/83

HW0482711

3.3 Closing the Front Door

Close the front door of the NX100.

1. Gently close the door of the NX100.

TRIPPED

OFF

RESET

M a i n p o w e r s u p p l y s w i t c h

2. Turn the two door locks counterclockwise by 90°.

C o u n t e r c l o c k w i s e

D o o r l o c k

F l a t t i p s c r e w d r i v e r

NOTE

To ensure the dust resistance, be sure to securely close the door of the NX100.

3-3

HW0482711

24/83

HW0482711

4.1 Conveyor Condition File

Settings for Conveyor Condition File

4.1 Conveyor Condition File

For proper operation of conveyor synchronized function, the data of conveyor must be provided to the NX100 by setting them in the conveyor condition files.

There are six conveyor condition files from File No. 1 to 6. Up to three files can be used for each JANCD-NSL01 board for conveyor synchronized operation. In the system with one

JANCD-NSL01 board, up to three files from File No. 1 to 3 can be set.

Encoder

NX100

Encoder input port

CN6-1

CN6-2

CN6-3

Port No.

selection

Selection of use/not use the conveyor condition data file

Conveyor condition file 1

Conveyor condition file 2

ID=1

Board for conveyor synchronized operation

File slot

JANCD-

NSL01

Conveyor condition file 3

Indicates the connection on the software.

Relevancy of Conveyor Condition Files

ID=2

4-1

HW0482711

25/83

HW0482711

4.1 Conveyor Condition File g h i j c d e f k l

DATA EDIT

CONVEYOR COND FILE

FILE NO.: 1 / 3

USED STATUS

PORT NO.

BROKEN LINE DETECT

ENCODER INPUT

ENCODER SIGN

CORRECTION

TRACKING

USER COORD NO.

BASE AXIS

POS RESOLUTION

VIRTUAL CV SPEED

DISPLAY UTILITY

NOT USED

CN1

OFF

ENCODER

FORWARD

ROBOT AXIS

0.00

0.0

m/p mm/sec

PAGE

Main Menu Short Cut

FILE NO.

Indicates the conveyor condition file No.

Board for Conveyor

Synchronized Operation

JANCD-NSL01

Number of Boards

File No.

1 to 3

1 to 6

STATUS OF USE (USED/NOT USED)

Select whether to use the conveyor condition file or not.

PORT NO. (CN1/CN2/CN3)

Specify the port number of which the encoder in use is connected.

BROKEN LINE DETECT (ON/OFF)

Select whether to use disconnection detection or not.

ENCODER INPUT (ENCODER/VIRTUAL ENCDR)

Select whether the synchronization is to be carried out with actual encoder input or virtual pulse encoder.

When “VIRTUAL ENCDR” is selected, the manipulator can perform synchronization even when no encoder is connected or the conveyor is not in operation. This function is convenient for operation check in test run.

4-2

HW0482711

26/83

HW0482711

4.1 Conveyor Condition File

ENCODER SIGN (FORWARD/REVERSE)

Select whether to invert the sign of encoder position pulse input from encoder or not.

When “REVERSE” is specified, the signs of data on the windows of conveyor position and conveyor speed are inverted, and the synchronized direction of the manipulator is reversed.

Conveyor Motion (From 1000 pulses to 2000 pulses)

DATA EDIT DISPLAY

CONVEYOR POSITION

CURR POS (PULSE)

CV#01

CV#02

CV#03

2000

UTILITY

CURR POS

20.000 mm

0.000 mm

PAGE

Main Menu Short Cut

When "FORWARD" is selected: 1000 pulses to 2000 pulses

DATA EDIT DISPLAY

CONVEYOR POSITION

CURR POS (PULSE)

CV#01

CV#02

CV#03

-2000

UTILITY

CURR POS

-20.000 mm

0.000 mm

PAGE

Main Menu Short Cut

When "REVERSE" is selected: -1000 pulses to -2000 pulses

4-3

HW0482711

27/83

HW0482711

4.1 Conveyor Condition File

CORRECTION (FORWARD/REVERSE)

Specify whether to reverse the synchronized direction or not.

When “REVERSE” is selected, the sign of correction position on the conveyor speed window is inverted and the manipulator synchronizes in the reverse direction.

"FORWARD" "REVERSE"

TRACKING (ROBOT-AXIS/BASE-AXIS/CIRCULAR)

Specify whether to carry out the synchronization with the robot-axis or the base-axis (servo track).

If “BASE AXIS” is selected for the system without base axis, no synchronized motion can be performed.

Robot axis: Teach three points as P1, P2 and P3 on the conveyor as reference points of user coordinate as shown in the figure below. Set the X-axis of user coordinate to the conveyor moving direction.

Register these user coordinates in “USER COORD NO.” of the conveyor condition file so that the manipulator synchronizing direction is the conveyor moving direction.

SUPPLE-

MENT

• For registration of user coordinates, refer to “NX100 INSTRUCTIONS”.

• For details of circular tacking, refer to "9 Turntable Synchronized Function".

Robot coordinate

Y-axis

(XY)

Robot coordinate X-axis

(XX)

(ORG)

Conveyor moving direction

ORG: User coordinate home position

XX: Point to define user coordinate X-axis

XY: Point to define user coordinate Y-axis

4-4

HW0482711

28/83

HW0482711

4.1 Conveyor Condition File

Base axis: Select a base axis (servo track) among X, Y, or Z-axis, which is parallel to the conveyor. In this case, the conveyor moving direction does not need to be defined in a user coordinate.

The relations of the base axis, X, Y and Z, the conveyor, and the robot coordinate axis are shown below.

Conveyor moving direction Robot coordinate X-axis

Robot coordinate Y-axis

Conveyor Base axis

When Synchronized by Servo Track X-axis

Robot coordinate X-axis

Conveyor moving direction

Conveyor

Base axis

When Synchronized by Servo Track Y-axis

Robot coordinate Y-axis

Conveyor moving direction

Robot coordinate Z-axis

Robot coordinate X-axis

Base axis Conveyor

When Synchronized by Traveling Axis Z-axis

4-5

HW0482711

29/83

HW0482711

4.1 Conveyor Condition File

USER COORD NO. (1 to 24)

When “ROBOT AXIS” is selected in , specify with which X-axis direction of user coordinate is to be carried out for the synchronization by selecting the user coordinate number.

BASE AXIS (X/Y/Z)

When “BASE AXIS” is selected in , specify with which base axis the manipulator is to be synchronized among X, Y, or Z-axis.

POSITIONAL RESOLUTION (0.01 to 999.99 μm)

The data for converting 1 pulse from encoder to the conveyor moving amount (μm). For

details of setting method, refer to "4.3 Setting Conveyor Positional Resolution".

VIRTUAL ENCODER SPEED (-3276.8 to +3276.7 mm/sec)

Set the virtual encoder speed when “VIRTUAL ENCODER” is selected in .

DATA EDIT DISPLAY UTILITY

CONVEYOR COND FILE

FILE NO.: 1 / 3

TRACKING

USER COORD NO.

BASE AXIS

POS RESOLUTION

VIRTUAL CV SPEED

AVERAGED TRAVEL TIME

RESET SIG. MONITOR

CV SPEED DOWN MODE

CV LOWER LIMIT SPEED

VIRTUAL ENCODER IN

VIRTUAL ENCODER OUT

IN#

OUT#

ROBOT AXIS

0.00

0.0

0 ms ms m/p mm/sec

EXECUTE

0 mm/sec

****

PAGE

Main Menu Short Cut

AVERAGED TRAVEL TIME (0 to 3000 ms)

At sudden change in the conveyor moving amount, the moving amounts is automatically averaged so that the manipulator moves smoothly. However, the synchronization responsiveness is lowered in this case. When the conveyor motion is not smooth, set the value to approx. “200”. When this function is not used, set at “0”.

Speed Speed

Conveyor manipulator

200 ms

When "0" is set

Time

4-6

When "200" is set

Time

HW0482711

30/83

HW0482711

4.1 Conveyor Condition File

RESET SIGNAL MONITORING (0 to 65535 ms)

Set a time to wait for the conveyor home-position input signal when no encoder reset signal for a specified conveyor has been input at the execution of SYSTART instruction.

When the waiting time exceeds the set value, the SYSTART instruction is aborted and the next instruction is executed. Therefore, prepare the job so that the manipulator takes retreat motion by internal status. When “0” is set, the system waits for the conveyor homeposition input signal without being interrupted by the time limit for encoder reset signal monitoring.

CONVEYOR SPEED DOWN MODE (EXECUTE/ALARM/PAUSE JOB)

Specify the manipulator motion when the conveyor speed is reduced lower than the con-

EXECUTE: The manipulator is operative regardless of the conveyor speed. Accordingly, when the conveyor stops, the manipulator performs the synchronized operation with the conveyor speed 0.

Conveyor moving direction

ALARM: When the conveyor averaged speed is so lowered that it becomes below the set value in “CONVEYOR LOWER LIMIT SPD” of the conveyor condition file continuously for 0.1 second, an alarm occurs and the manipulator stops. This mode is used where a conveyor stop detection mechanism does not exist in the conveyor control board.

When the conveyor speed is lowered below the conveyor lower limit speed, an alarm occurs and the manipulator stops.

PAUSE JOB: When the conveyor speed is so lowered that it becomes below the set value in “CONVEYOR LOWER LIMIT SPD” of the conveyor condition file continuously for 0.1 second, the job motion is interrupted and the manipulator performs only the follow-up motion in the conveyor moving direction.

4-7

HW0482711

31/83

HW0482711

4.1 Conveyor Condition File

Then, when the conveyor speed is recovered to the set value in CONVEYOR

LOWER LIMIT SPD” and higher continuously for 0.1 second, the job execution restarts. In this case, only the execution of move instructions in the job are suppressed.

When the conveyor speed is lowered below the conveyor lower limit speed, the execution of move instruction in the job is interrupted and the manipulator performs only the follow-up motion in the conveyor moving direction.

When the conveyor speed is recovered and become higher than the conveyor lower limit speed, the execution of job restarts.

CONVEYOR LOWER LIMIT SPD (0 to 65535 mm/sec)

This value is used when “ALARM” or “PAUSE JOB” is selected in

. When the conveyor speed becomes lower than this value, the manipulator will be in the “ALARM” mode or

“PAUSE JOB” mode.

VIRTUAL ENCODER INPUT (IN#000 to IN#1024)

When the general purpose input signal of the number which is set in “VIRTUAL

ENCODER INPUT” is input, the encoder input enters the virtual encoder mode.

The virtual encoder input signal is used to operate the manipulator with the conveyor stopped in the simulation of conveyor system operation.

IN#000: Not used

IN#001 to IN#1024: The set general purpose input signal is valid.

VIRTUAL ENCODER OUTPUT (OUT#000 to OUT#1024)

If “VIRTUAL ENCDR” is selected in , the output signal of the number which is set in

“VIRTUAL ENCODER OUTPUT” is output.

OUT#000: Not used

OUT#001 to OUT#1024: The set signal is output.

4-8

HW0482711

32/83

HW0482711

4.2 Editing Conveyor Condition File

4.2.1 Displaying Conveyor Condition File

Operation Explanation

1 Select {ROBOT} under the top menu.

2 Select {CV CONDITION}.

3 Display a desired conveyor condition file.

GO BACK

Press the page key

PAGE

. The next file No. is called.

GO BACK

Press [SHIFT] + the page key called.

PAGE

. The previous file No. is

4.2.2 Editing Conveyor Condition File

Editing “USED STATUS”

Operation

1 Select "USED STATUS".

2 "USED" and "NOT USED" switch alternately.

Explanation

Editing “PORT NO.”

Operation

1 Select "PORT NO.".

2 The selection dialog appears.

3 Select a desired port number.

Explanation

DATA EDIT

CONVEYOR COND FILE

FILE NO.: 1 / 3

USED STATUS

PORT NO.

BROKEN LINE DETECT

ENCODER INPUT

ENCODER SIGN

CORRECTION

TRACKING

USER COORD NO.

BASE AXIS

POS RESOLUTION

VIRTUAL CV SPEED

DISPLAY UTILITY

NOT USED

CN1

CN2

FORWARD

ROBOT AXIS

0.00

0.0

m/p mm/sec

PAGE

Main Menu Short Cut

4-9

HW0482711

33/83

HW0482711

4.2 Editing Conveyor Condition File

Editing “BROKEN LINE DETECT”

Operation

1 Select "BROKEN LINE

DETECT".

2 "OFF" and "ON" switch alternately.

Editing “ENCODER INPUT”

Operation

1 Select "ENCODER INPUT".

2 “ENCODER” and “VIR-

TUAL ENCDR” switch alternately.

Editing “ENCODER SIGN”

Operation

1 Select "ENCODER SIGN".

2 "FORWARD" and "REVERSE" switch alternately.

Editing “CORRECTION”

Operation

1 Select "CORRECTION".

2 "FORWARD" and "REVERSE" switch alternately.

Editing “TRACKING”

Operation

1 Select "TRACKING".

2 The selection dialog appears.

3 Select a desired method.

Editing “USER COORD NO.”

Operation

1 Select "USER COORD NO.".

2 Enter a value using the numeric keys.

4-10

Explanation

HW0482711

34/83

HW0482711

4.2 Editing Conveyor Condition File

Editing “BASE AXIS”

Operation

1 Select "BASE AXIS".

Explanation

Editable only if "BASE AXIS" has been selected as a tracking method.

2 The selection dialog appears.

3 Select a desired axis.

Editing “POSITIONAL RESOLUTION”

Operation

1 Select "POSITIONAL RESO-

LUTION".

2 Enter a value using the numeric keys.

Explanation

Editing “VIRTUAL CONVEYOR SPEED”

Operation

1 Select "VIRTUAL CONVEYOR

SPEED".

2 Enter a value using the numeric keys.

Explanation

Editing “AVERAGED TRAVEL TIME”

Operation

1 Select "AVERAGED TRAVEL

TIME".

2 Enter a value using the numeric keys.

Explanation

Editing “RESET SIGNAL MONITORING”

Operation

1 Select "RESET SIGNAL MON-

ITORING".

2 Enter a value using the numeric keys.

Explanation

4-11

HW0482711

35/83

4.2 Editing Conveyor Condition File

Editing “CONVEYOR SPEED DOWN MODE”

Operation

1 Select "CONVEYOR SPEED

DOWN MODE".

2 The selection dialog appears.

3 Select a desired mode.

Explanation

Editing “CONVEYOR LOWER LIMIT SPD”

Operation

1 Select "CONVEYOR LOWER

LIMIT SPD".

2 Enter a value using the numeric keys.

Explanation

Editing “VIRTUAL ENCODER INPUT”

Operation

1 Select "VIRTUAL ENCODER

INPUT".

2 Enter a value using the numeric keys.

Explanation

Editing “VIRTUAL ENCODER OUTPUT”

Operation

1 Select "VIRTUAL ENCODER

OUTPUT".

2 Enter a value using the numeric keys.

Explanation

HW0482711

4-12

HW0482711

36/83

HW0482711

4.3 Setting Conveyor Positional Resolution

The encoder mounted on the conveyor sends a pulse amount as the conveyor current position. In order that the manipulator recognizes this pulse amount as the conveyor moving amount for its synchronized motion, the pulse amount must be converted into a distance.

The conveyor moving amount (μm) per 1 pulse to be used for this conversion is called “POSI-

TIONAL RESOLUTION”.

Encoder

NX100

Pulse amount

(in units of pulse)

Distance

(in units of mm)

Converted by the conveyor positional resolution

POSITIONAL RESOLUTION 240.00 /p

Conveyor Condition File Window

The conveyor positional resolution is set in units of μ. For example, when the positional resolution is 30 μ/pulse, set “30.00” in POSITIONAL RESOLUTION”.

The setting range is from 0 to 999.99 μ. Since the NX100 internally quadruples every encoder pulse number, the actual conveyor positional resolution for the conveyor encoder is up to

3999.96 μ/pulse.

As the resolution error accumulates for the conveyor moving pulse amount, the setting must be made correctly. For example, setting the resolution 0.01 μ/pulse bigger causes the followup error of 0.1 mm at the point that the conveyor moves for 10000 pulses.

The conveyor resolution is mentioned in the specification of each conveyor, however, the value cannot be used as it is for the reasons explained below. Measure the actual conveyor resolution in the following manner.

NOTE

The NX100 internally quadruples the feedback pulse from the conveyor encoder. Accordingly, the conveyor positional resolution set in the conveyor condition file is 1/4 of the conveyor resolution mentioned on your conveyor specification.

4-13

HW0482711

37/83

HW0482711

4.3 Setting Conveyor Positional Resolution

4.3.1 Setting Conveyor Positional Resolution

Set the conveyor positional resolution in the following manner.

Operation Explanation

1 Select {ROBOT} under the top menu, then select {CV MONI-

TOR}.

The conveyor position window appears.

2 Take note of the current value

(pulses) of the conveyor axis to be used as C1 (pulses).

At this moment, the conveyor should be in stop status.

DATA EDIT DISPLAY UTILITY

CONVEYOR POSITION

CURR POS (PULSE)

CV#01

CV#02

CV#03

390

CURR POS

3.900 mm

0.000 mm

PAGE

Main Menu Short Cut

3 Move the conveyor for 1 m and more to the conveyor moving direction and stop.

4 Take note of the conveyor current value (pulses) at this moment as C2 (pulses).

(When setting positional resolution of CV#1)

The conveyor moving amount at this moment is referred as L (m).

DATA EDIT DISPLAY UTILITY

CONVEYOR POSITION

CURR POS (PULSE) CURR POS

CV#01

CV#02

CV#03

1500

15.000 mm

0.000 mm

5 The resolution can be obtained by the formula with the measured valued C1, C2 and L.

Formula:

PAGE

Main Menu Short Cut

(When setting positional resolution of CV#1)

Since the conveyor resolution influences largely the follow-up accuracy, set a value as accurate as possible.

4-14

HW0482711

38/83

HW0482711

4.3 Setting Conveyor Positional Resolution

4.3.2 Verifying and Adjusting Conveyor Positional

Resolution

After the setting has been completed, verify and adjust the conveyor positional resolution in the following operations.

Prepare a job as shown below. This job is to perform a synchronized operation at execution of

TIMER at P3 ( in the below figures) on a conveyor. For teaching methods, refer to

"5 Teaching".

0000 NOP

0001 MOVJ VJ=25.00

0002 MOVL V=300.0

0003 SYSTART CV#(1) ST=10.000

0004 SYMOVL V=200.0 CV#(1) CTP=100.000

0005 TIMER T=10.00

0006 SYMOVL V=200.0 CV#(1) CTP=100.000

0007 SYEND CV#(1)

0008 MOVJ VJ=25.00

0009 END g c f d e

Conveyor

In the execution of this job, when the conveyor resolution value is correct, the tool center point

of manipulator synchronizes the conveyor as shown in Fig. 3 and the manipulator moves as if

its tool center point is fixed on the point .

Conveyor moving direction e

’

Fig. 3 e

4-15

HW0482711

39/83

HW0482711

4.3 Setting Conveyor Positional Resolution

On the contrary, when the conveyor resolution value is not appropriate, the tool center point is

dislocated farther from the point as the follow-up time elapses as shown in Fig. 4 and Fig.

5, the conveyor resolution value is too big. In Fig. 5, the conveyor resolution value is too

small.

According to the resulted follow-up error, adjust the positional resolution value in the conveyor condition file and re-set if necessary.

Conveyor moving direction e

’

Fig. 4 e e

’

Fig. 5 e

4-16

HW0482711

40/83

HW0482711

Teaching

5.1 Registering Instructions

The instructions can be registered when the cursor is in the address area on the job content window in teach mode.

Explanation Operation

1 Select {JOB} under the top menu.

2 Select {JOB CONTENT}.

3 Move the cursor to the address area.

JOB EDIT DISPLAY UTILITY

Address area

JOB CONTENT

JOB NAME: TEST

CONTROL GROUP: R1

0000 NOP

0001 ’TEST

0002 MOVJ VJ=50.00

0003 MOVJ VJ=12.50

0004 MOVL V=276.0

0005 TIMER T=1.00

0006 DOUT OT#(1) ON

0007 WAIT IN#(1)=ON

0008 DIN B010 IG#(10)

STEP NO: 000

TOOL: **

=> MOVJ VJ=12.50

Main Menu Short Cut

5.1.1 SYSTART Instruction

Function

This instruction indicates the start of a conveyor synchronized operation sequence. The manipulator starts follow-up motion by a move instruction after the SYSTART instruction, or

TIMER or WAIT instruction.

When this instruction is executed, the manipulator stops and waits until the conveyor current position value exceeds the synchronization start position value. When it exceeds, the manipulator starts the synchronized motion.

After the instruction is executed, if the encoder reset signal is OFF and remains OFF for the time specified for “Reset signal monitoring” in the conveyor condition file, the execution of instruction is skipped and the succeeding instructions are executed. In this case, no synchronization takes place.

When the SYSTART instruction is executed, if the conveyor current position value already exceeds the synchronization start position value and the difference is within the tolerance

(OL), the manipulator starts immediately from the current position the synchronized motion.

However, when the SYSTART instruction is executed, if the conveyor current position value

5-1

HW0482711

41/83

HW0482711

5.1 Registering Instructions already exceeds the synchronization start position value and the difference is greater than the tolerance (OL), execute the succeeding instructions without synchronized operation resetting the system variable $B008 to 0. The system variable $B008 is 1 when the operation has been normally completed.

NOTE

The system variable $B008 can not be directly referenced. Copy to the variable Bxxx by

GETS instruction and refer.

GETS B000 $B0008

JUMP ∗NG IF B000 <1

Format

SYSTART CV#(1) STP=50.000 OL=10.0

Conveyor Condition File No. (CONVEYOR FILE)

Set the conveyor condition data file No. to be used.

Synchronization Start Position (SYNC START POS)

Set the conveyor position where the synchronized operation starts.

Tolerance (OVER LIMIT)

Specify the maximum excess to execute the synchronized operation when the conveyor current position value exceeds the synchronization start position value at the execution of

SYSTART instruction. Tolerance check will not be executed if setting is omitted or specified at 0.

Registering SYSTART Instruction

Operation Explanation

1 Move the cursor to the line just above the place where a SYS-

TART instruction is to be registered.

2 Press [INFORM LIST].

The instruction list dialog appears.

JOB EDIT

JOB CONTENT

JOB NAME: TEST

CONTROL GROUP: R1

0000 NOP

0001 ’TEST

0002 MOVJ VJ=50.00

0003 MOVJ VJ=12.50

0004 MOVL V=276.0

0005 TIMER T=1.00

0006 DOUT OT#(1) ON

0007 WAIT IN#(1)=ON

0008 DIN B010 IG#(10)

DISPLAY UTILITY

STEP NO: 000

TOOL: **

SYSTART

SYEND

IN/OUT

CONTROL

DEVICE

MOTION

ARITH

SHIFT

SENSOR

OTHER

SAME

PRIOR

=> SYSTART CV#(1) STP=0.000

Main Menu Short Cut

5-2

HW0482711

42/83

HW0482711

5.1 Registering Instructions

Operation

3 Select "SYSTART".

4 Change additional items.

Explanation

An instruction SYSTART is displayed in the input buffer line.

JOB EDIT

JOB CONTENT

JOB NAME: TEST

CONTROL GROUP: R1

0000 NOP

0001 ’TEST

0002 MOVJ VJ=50.00

0003 MOVJ VJ=12.50

0004 MOVL V=276.0

0005 TIMER T=1.00

0006 DOUT OT#(1) ON

0007 WAIT IN#(1)=ON

0008 DIN B010 IG#(10)

DISPLAY UTILITY

STEP NO: 000

TOOL: **

=> SYSTART CV#(1) STP=0.000

Main Menu Short Cut

Perform the operation in step 5.

To change the conveyor condition file No. or/and the synchronization start position

• Move the cursor to CONVEYOR FILE or SYNC START POS, and press [SELECT].

Enter a desired number or value by using the number keys, then press [ENTER].

To add, change or delete the additional item

• Move the cursor to CONVEYOR FILE or SYNC START POS, and press [SELECT].

Move the cursor to the instruction in the input buffer line, then press [SELECT]. The detail edit window appears.

JOB EDIT DISPLAY

DETAIL EDIT

SYSTART

CONVEYOR FILE

SYNC START POS

OVER LIMIT

CV#( ) 1

STP=0.000

UNUSED

UTILITY

=> SYSTART CV#(1) STP=0.000

Main Menu Short Cut

5-3

HW0482711

43/83

HW0482711

5.1 Registering Instructions

Operation

4 (Cont’d from previous page)

Change additional items.

Explanation

To add a tolerance, select “UNUSED” in OVER LIMIT. The selection dialog appears. Select “OL =”.

JOB EDIT DISPLAY

DETAIL EDIT

SYSTART

CONVEYOR FILE

SYNC START POS

OVER LIMIT

CV#( ) 1

STP=0.000

OL= 0.0

UTILITY

=> SYSTART CV#(1) STP=0.000 OL=0.0

Main Menu Short Cut

After having added or changed the additional item, press

[ENTER]. The detail edit window is closed and the job content window appears.

5 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

5.1.2 SYEND Instruction

Function

This instruction indicates the end of a conveyor synchronized operation sequence. The synchronized operation ends at the step where this instruction is registered.

Executing the SYEND instruction clears the conveyor home-position registered status. Then, when the conveyor home-position limit switch is ON, the conveyor home-position is updated.

Register SYEND instruction at the synchronized operation sequence end step and the head of job where the synchronized motion is performed.

Format

SYEND CV#(1)

Conveyor Condition File No. (CONVEYOR FILE)

Set the conveyor condition file No. to be used.

5-4

HW0482711

44/83

HW0482711

5.1 Registering Instructions

Registering SYEND Instruction

Operation Explanation

1 Move the cursor to the line just above the place where a

SYEND instruction is to be registered.

2 Press [INFORM LIST].

The instruction list dialog appears.

JOB EDIT

JOB CONTENT

JOB NAME: TEST

CONTROL GROUP: R1

0000 NOP

0001 ’TEST

0002 MOVJ VJ=50.00

0003 MOVJ VJ=12.50

0004 MOVL V=276.0

0005 TIMER T=1.00

0006 DOUT OT#(1) ON

0007 WAIT IN#(1)=ON

0008 DIN B010 IG#(10)

DISPLAY UTILITY

STEP NO: 000

TOOL: **

SYSTART

SYEND

IN/OUT

CONTROL

DEVICE

MOTION

ARITH

SHIFT

SENSOR

OTHER

SAME

PRIOR

=> SYEND CV#(1)

Main Menu Short Cut

3 Select "SYEND".

An instruction SYEND is displayed in the input buffer line.

JOB EDIT

JOB CONTENT

JOB NAME: TEST

CONTROL GROUP: R1

0000 NOP

0001 ’TEST

0002 MOVJ VJ=50.00

0003 MOVJ VJ=12.50

0004 MOVL V=276.0

0005 TIMER T=1.00

0006 DOUT OT#(1) ON

0007 WAIT IN#(1)=ON

0008 DIN B010 IG#(10)

DISPLAY UTILITY

STEP NO: 000

TOOL: **

=> SYEND CV#(1)

Main Menu Short Cut

4 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

5-5

HW0482711

45/83

HW0482711

5.1 Registering Instructions

5.1.3 SYMOV Instruction

Function

These move instructions perform the conveyor synchronized motion. Except that the conveyor position at the time of teaching is registered as CTP (conveyor teaching position), these instructions are the same as ordinary move instructions. Joint motion, linear interpolation, and circular interpolation can be performed in the same way as the ordinary move instructions.

However, SYMOVJ (joint motion for conveyor synchronized operation) can be used only when the base axis is selected for synchronization. If SYMOVJ is executed when the robot axis is used for synchronization, the alarm 4583 “CAN NOT USE SMOVJ DURING TRACKING” occurs and the manipulator stops.

SYMOVJ

SYMOVL

SYMOVC

Joint motion for conveyor synchronized operation (can be used only for synchronization by base axis).

Liner interpolation for conveyor synchronized operation

Circular interpolation for conveyor synchronized operation

When these instructions are used, the teaching method is different from that with the ordinary move instructions. Refer to 5.1.4 “Interpolation Mode for Conveyor Synchronized Operation”.

Format

SYMOVJ VJ=50.00 CV#(1) CTP=100.000

SYMOVL V=200.0 CV#(1) CTP=100.000

SYMOVC V=200.0 CV#(1) CTP=100.000

Play speed

Set the motion speed at playback.

Conveyor condition file No.

Set the conveyor condition data file No. to be used.

Conveyor position at teaching

Set the conveyor position for teaching.

5-6

HW0482711

46/83

HW0482711

5.1 Registering Instructions

5.1.4 Interpolation Mode for Conveyor Synchronized

Operation

The interpolation mode of move instructions for conveyor synchronized operation differs from that of ordinary move instructions. Therefore, teaching is performed in “interpolation mode for conveyor synchronized operation”. Switch the interpolation mode in the following manner.

Since the conveyor positions at teaching is registered, they must be properly set up in relation to the conveyor home-position (the position where the conveyor home-position limit switch is

ON).

Switching the Interpolation Mode

Pressing [SHIFT] + [MOTION TYPE] switches the interpolation mode in the input buffer line between conveyor synchronized interpolation and standard interpolation.

JOB EDIT

JOB CONTENT

JOB NAME: TEST

CONTROL GROUP: R1

0000 NOP

0001 ’TEST

0002 MOVJ VJ=50.00

0003 MOVJ VJ=12.50

0004 MOVL V=276.0

0005 TIMER T=1.00

0006 DOUT OT#(1) ON

0007 WAIT IN#(1)=ON

0008 DIN B010 IG#(10)

DISPLAY UTILITY

STEP NO: 000

TOOL: **

MOVL

(Standard interpolation)

=> MOVL V=66.0

Main Menu Short Cut

JOB EDIT

JOB CONTENT

JOB NAME: TEST

CONTROL GROUP: R1

0000 NOP

0001 ’TEST

0002 MOVJ VJ=50.00

0003 MOVJ VJ=12.50

0004 MOVL V=276.0

0005 TIMER T=1.00

0006 DOUT OT#(1) ON

0007 WAIT IN#(1)=ON

0008 DIN B010 IG#(10)

DISPLAY UTILITY

STEP NO: 000

TOOL: **

=> SYMOVL V=66.0 CV#(1)

Main Menu Short Cut

SYMOVL

(Conveyor synchronized interpolation)

Press [MOTION TYPE].

The interpolation mode switches as: SYMOVJ SYMOVL SYMOVC.

5-7

HW0482711

47/83

HW0482711

5.2 Motion Speed

Generally, teaching in the direction opposite to the conveyor moving direction gives such a result as a manipulator can move more easily and slowly in playback operation.

In the conveyor synchronized operation, the manipulator motion speed is the teaching speed added the conveyor motion speed.

However, depending on the relation between the direction of manipulator motion and the conveyor moving direction, the speed is added in the different way as shown below.

A B A B

Conveyor speed

10 m/s

Manipulator motion speed

= Teaching speed

= 20 (m/s)

When the conveyor stops

Manipulator motion speed

= Teaching speed + Conveyor speed

= 20 + 10

= 30 (m/s)

When the conveyor moves

Fig. 6 When Teaching Direction is the Same as the Conveyor Moving Direction

B B

Manipulator motion speed

= Teaching speed

= 20 (m/s)

Manipulator motion speed

= Teaching speed + Conveyor speed

= 20

+10

= 22 (m/s)

When the conveyor moves

Conveyor speed

10 m/s

When the conveyor stops

Fig. 7 When Teaching Direction is Different from Conveyor Moving Direction by 90°

A B A

Conveyor speed

10 m/s

Manipulator motion speed

= Teaching speed

= 20 (m/s)

When the conveyor stops

Manipulator motion speed

= Teaching speed + Conveyor speed

= 20 - 10

= 10 (m/s)

When the conveyor moves

Fig. 8 When Teaching Direction is Opposite to Conveyor Moving Direction

5-8

HW0482711

48/83

HW0482711

5.2 Motion Speed

Manipulator motion speed

= Teaching speed

= Vr (m/s)

Manipulator motion speed

= Teaching speed + Conveyor speed

= V

+ V

+2 xV

T x

C x cos

θ: Angle between conveyor moving

direction and teaching direction

When the conveyor moves

Conveyor speed

10 m/s

When the conveyor stops

Fig. 9 Relation among Manipulator Motion Speed, Teaching Speed, and Conveyor Speed

As shown in Fig. 8, the manipulator motion speed when the conveyor moves is slower than

that when the conveyor stops even though the teaching speed remains same. On the con-

trary, in case of Fig. 6, the manipulator motion speed when the conveyor moves is faster than

that when the conveyor stops.

Therefore, teaching in the direction opposite to the conveyor moving direction is more useful for manipulator.

5-9

HW0482711

49/83

HW0482711

5.3 Wrist Posture in Synchronization

In the synchronization section, the wrist maintains its taught posture while the manipulator is synchronizing the conveyor. Teach a posture so that the wrist can be moved in the conveyor moving direction.

R-axis

T-axis

Fig. 10 Wrist Posture Not Recommended Fig. 11 Wrist Posture Recommended

For example, if the wrist is taught the posture as shown in Fig. 10, the structure of the manip-

ulator prevents T-axis control in the conveyor moving direction. Trying to compensate this, Raxis turns sharply, possibly leading to an alarm such as segment over during the synchronized operation, which stops the manipulator.

On the contrary, if the wrist is postured as shown in Fig. 11 in teaching, T-axis can turn to

adapt to position changes in the conveyor moving direction. In this case, sufficient clearance must be provided around the wrist to allow T-axis to turn for position control.

To check whether the wrist posture is appropriate, move the user coordinate X-axis in the conveyor moving direction with the wrist held in the taught posture to confirm that any axis does not move sharply.

With a move instruction for conveyor synchronized operation, when teaching is performed so that the posture changes largely in short distance, a segment over alarm may occur. To avoid such an alarm, take the following method.

• Set the speed not as “V = (Tool center point speed)” but as “VR = (Posture angle speed)

• Lower the speed of “V = ”

5-10

HW0482711

50/83

HW0482711

5.4 Circular Interpolation Steps

Continuous circular interpolation steps should be performed on the same conveyor position.

When continuous circular interpolation steps are taught on different conveyor positions, a path different from the taught path may be resulted in the synchronized operation.

5.5 Teaching

Since the conveyor positions at teaching are registered in a job, they must be properly set up in relation to the conveyor home-position (the position where the conveyor home-position limit switch is ON).

When teaching with a workpiece, move the conveyor and turn ON the conveyor home-position limit switch by the workpiece, then move to a teaching position. When the conveyor homeposition limit switch is turned ON, the position where the switch is turned ON is registered automatically as the conveyor home-position.

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

Conveyor home-position limit switch x Conveyor moves

Main Menu Short Cut

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

PAGE x Conveyor home-position limit switch turns ON.

x Conveyor position is reset to 0 mm.

Main Menu Short Cut

PAGE

5-11

HW0482711

51/83

HW0482711

5.5 Teaching

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

Main Menu Short Cut

PAGE

200 x Confirm by FWD operation, and add or

change the step.

Add or change

SYMOVL V=1000 CV#(1) CTP=200.000

NOTE Perform teaching after having confirmed that the conveyor is completely stopped. Teaching while the conveyor moves may cause an error or segment over alarm.

Operation Explanation

1 Select {ROBOT} under the top menu.

2 Select {CV MONITOR}.

The CONVEYOR POSITION window appears.

DATA EDIT DISPLAY

CONVEYOR COND FILE

CURR POS (PULSE)

CV#01

CV#02

CV#03

390

UTILITY

CURR POS

3.900 mm

0.000 mm

Main Menu Short Cut

PAGE

5-12

HW0482711

52/83

HW0482711

Operation

3 Move the conveyor.

5.5 Teaching

Explanation

Move the conveyor, and after the conveyor home-position limit switch is ON, stop the workpiece at the teaching position.

At the moment the conveyor home-position limit switch is ON,

“CURR POS (PULSE)” in the conveyor position window is reset to “0”, which confirms that the counter is reset.

DATA EDIT DISPLAY

CONVEYOR COND FILE

CURR POS (PULSE)

CV#01

CV#02

CV#03

UTILITY

CURR POS

0.000 mm

PAGE

Main Menu Short Cut

4 Display JOB CONTENT window.

5 Press [SHIFT] + [MOTION

TYPE].

6 Select a motion type.

7 Press an axis key.

8 Press [ENTER].

The motion type is set to the conveyor synchronized interpolation mode.

Select a motion type to be used by pressing [MOTION TYPE].

Move the manipulator to a desired position by using axis keys.

The step is registered.

When teaching is performed at the position 1000 mm from the conveyor home-position in linear interpolation, using the conveyor condition file No. 1, it will be registered as follows.

0005 SYMOVL V=100.0 CV#(1) CTP=1000.000

The registration after the above is the same as that for an ordinary teaching.

When a move instruction for conveyor synchronized operation is used again after the motion type mode is changed to other than conveyor synchronized interpolation mode in a teaching for air-cut and so on, the conveyor synchronized interpolation mode must be re-selected.

5-13

HW0482711

53/83

HW0482711

5.6 Teaching After Interruption of Playback in Synchronized Operation

5.6 Teaching After Interruption of Playback in

Synchronized Operation

When the synchronized operation is interrupted by hold operation or switching to teach mode and so on during playback in synchronized operation, if another conveyor home-position is attempted to be registered, a conveyor home-position input signal is not accepted. At this moment, the tracking status in the conveyor tracking window is “ON” (marked with ).

The operations in the following two cases are explained:

• When adding or changing step after interruption of synchronized operation.

• When performing another teaching (for other workpiece).

5.6.1 When Adding or Changing Step After Interruption of

Synchronized Operation

In the state that the synchronized operation in play mode is interrupted, a step can be added or changed. Confirm the step position by FWD operation, then add or change.

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

200 x During conveyor synchronized operation

in play mode

Main Menu Short Cut

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

PAGE

200

( x Synchronized operation interrupted

Switched to teach mode.

Manipulator stops; the conveyor

also stops.

(

PAGE

Main Menu Short Cut

5-14

HW0482711

54/83

HW0482711

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

5.6 Teaching After Interruption of Playback in Synchronized Operation

PAGE

200 x Confirm by FWD operation, and add or change

the step.

Add or change

SYMOVL V=1000 CV#(1) CTP=200.000

Main Menu Short Cut

5.6.2 When Performing Another Teaching (for Other

Workpiece)

Explanation Operation

1 Reset the synchronized operation status by executing an instruction SYEND or shutting down the control power supply.

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

Main Menu Short Cut

PAGE

( x Conveyor synchronized operation interrupted.

Switched to teach mode.

Manipulator stops; the conveyor

also stops.

(

5-15

HW0482711

55/83

5.6 Teaching After Interruption of Playback in Synchronized Operation

Operation

2 Confirm that TRACKING STA-

TUS in the conveyor tracking status window is OFF (marked with ).

Explanation

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03

Main Menu Short Cut

PAGE

HW0482711 x Execute SYEND instruction.

3 Move the conveyor, and turn

ON the conveyor home-position limit switch by the workpiece.

4 Move the manipulator to the teaching point and teach.

5-16

HW0482711

56/83

HW0482711

5.7 Notes on Operation

The conveyor synchronized move instructions are special instructions for registering a conveyor position together with a manipulator position. Therefore, different from ordinary move instructions such as MOVJ, these instructions have the following restrictions on operations.

5.7.1 Confirming Reach to Step

When the manipulator reaches the target step in FWD/BWD operation or test run (step motion mode) by a conveyor synchronized move instruction, the operation is stopped and the cursor stops blinking. In this way, it can be easily confirmed that the manipulator reaches the target step.

NOTE

When the manipulator reaches the target step, the cursor stops blinking, however, the cursor restarts blinking when the following operations are performed. In this case, move the cursor to the target step and perform FWD operation again.

• Emergency stop

• The cursor is moved in editing job

• File and job editing operation

• Jog operation

5.7.2 Backward (BWD) Operation

Releasing [FWD] and pressing [BWD] in middle of FWD operation does not return the manipulator to the previous step, but the manipulator continues the FWD operation to the next step.

Pressing [BWD] after the manipulator reaches the next step, returns the manipulator to the previous step.

5.7.3 Changing Tool

The FWD operation of the first SYMOV instruction after changing a tool, should be performed on the conveyor position at changing a tool.

Performing the FWD operation after changing a tool and moving the conveyor causes a segment over alarm.

5.7.4 Deleting Taught Points

Before deleting a move instruction, the manipulator must be placed at the step position to be deleted. However, this condition can not be satisfied with conveyor synchronized move instructions. This is because a taught position for a conveyor synchronized move instruction is interpreted to different step positions on the conveyor position, as explained before. Therefore, ordinary deleting operation is not possible.

To delete a conveyor synchronized move instruction, press [MODIFY] to change the step position. Then, after the cursor blinks, press [DELETE].

5-17

HW0482711

57/83

HW0482711

5.8 Job Example

A basic job example is shown below.

Instruction Explanation

NOP

SYEND CV#(1)

MOVJ

Resets the conveyor home-position registered status.

After then, a conveyor home-position limit switch signal is accepted.

After the job is started, the manipulator moves to its stand-by position.

SYSTART CV#(1) STP=100.000 Conveyor synchronization start instruction

If the conveyor reaches the specified position (ex.: 100 mm), the conveyor synchronization starts.

GETS B000 $B008

JUMP *END IF B000=0

Convents system variable $B008, which indicated whether the synchronized operation starts normally or not, to B000.

Normal if B000 = 1, abnormal if B000 = 0.

If B000 is 0 (synchronized operation could not start due to an error), jump to the label “*END”.

SYMOVL CV#(1) CTP=50.000

Conveyor synchronized move instruction

Moves in conveyor synchronized status.

SYMOVL CV#(1) CTP=50.000

*END

SYEND CV#(1)

MOVJ

END

Jump destination in case of failure in normal starting of conveyor synchronized operation

Ends the conveyor synchronized operation.

The manipulator returns to the stand-by position.

End.

5-18

HW0482711

58/83

HW0482711

Playback

6.1 Conveyor Speed Down

When the conveyor slows down while the manipulator is synchronizing the conveyor, the manipulator will react according to the mode setting in the conveyor condition data file:

CONVEYOR SPEED DOWN MODE

CONVEYOR LOWER LIMIT SPD

: EXECUTE

: 0 mm/sec

Conveyor Condition File Window

• EXECUTE

Regardless of the conveyor speed, the manipulator continues its operation.

• ALARM

An alarm occurs when the conveyor speed slows down.

• PAUSE JOB

The manipulator stops the job operation but only continues follow-up motion when the conveyor speed slows down.

For details of these three modes, refer to “ CONVEYOR SPEED DOWN MODE (EXE-

CUTE/ALARM/PAUSE JOB)" explained in "4.1 Conveyor Condition File".

6-1

HW0482711

59/83

HW0482711

6.2 Accuracy

The conveyor synchronized operation function reproduces the path taught with the conveyor in stop status.

Therefore, the accuracy of conveyor synchronized operation function is determined by the amount of difference between the taught path and the synchronized path. Since the object is moving, it is impossible to appreciate the accuracy in the same way as the repetitive positioning accuracy for the still-object.

The amount of difference between the taught path and the synchronized path is resulted from the following factors in interaction. Even if the following factors are adjusted not to cause the difference, the difference shows about ten times the difference from repetitive positioning for still-object.

• Linearity of the conveyor in the synchronization section.

• Conveyor movements that are not indicated in motion pulse data from a conveyor encoder (such as swings with a hanger conveyor).

• Differences between the manipulator actual dimensions and the dimensions registered in

NX100.

• Conversion resolution error that occurs when converting the conveyor motion pulse (number of pulses) from the conveyor encoder to the conveyor moving amount (mm). The

details of conversion resolution error will be explained in "6.3 Conveyor Resolution

Error".

• Manipulator mechanical accuracy such as arm bending.

• Follow-up delay for the conveyor speed fluctuation.

• Manipulator system lag time.

• Difference between the conveyor moving direction and the traveling axis moving direction when the synchronization is performed by the traveling axis.

6.3 Conveyor Resolution Error

The synchronization error resulted from the conveyor resolution setting error increases as the conveyor position value increases. The farther the conveyor moves, the bigger the synchronization error becomes. The minimum value for conveyor positional resolution setting is 0.01

μm. Therefore, a maximum error of 0.005 μm per pulse may occur.

For example, when the conveyor resolution is 10 μm and the synchronization distance is 2 m,

200000 pulses are output while the conveyor moves for 2 m. Since the maximum error per pulse is 0.005 μm, the synchronization error would be: 200000 pulses ∗ 0.005 μm = 1 mm.

6-2

HW0482711

60/83

HW0482711

6.4 Restarting Synchronization After Manipulator Stops

6.4 Restarting Synchronization After Manipulator

Stops

When a manipulator stops during the conveyor synchronized operation in the following cases, the synchronized operation is restarted by restarting the manipulator:

• Minor failure alarm (excluding occurrence of alarm related to the conveyor synchronized function)

• Emergency stop or external emergency stop

• Hold or external hold

• Switch of the mode (mode switching between play and teach mode)

• Switch of the operation cycle (switching among auto/ 1 cycle/ step)

6.5 Continuance of Conveyor Synchronized Status

The conveyor synchronized status started by execution of SYSTART instruction remains until

SYEND instruction is executed or the control power supply is turned OFF. Even if a manipulator stops in the cases explained in the previous section, the conveyor synchronized status remains.

Note that the synchronized operation is performed by execution of SYMOV instruction even if the cursor is moved in teach mode, the master job is called or a job selection is made.

6.6 Continuance of Parallel Shift Status

The parallel shift status in the conveyor synchronized status continues even after a manipulator stops in the cases explained in the previous section. However, the parallel shift status is cleared in the following cases. Be careful when using the parallel shift function in combination with the conveyor synchronized function.

• Execution of SFTOF instruction

• The cursor is moved in teach mode

• The master job is called

• Job selection

• The main power supply is shut down.

6-3

HW0482711

61/83

HW0482711

6.7 Conveyor Synchronized Operation During Execution of TIMER and WAIT

6.7 Conveyor Synchronized Operation During

Execution of TIMER and WAIT

While the manipulator is in waiting status by execution of TIMER, WAIT, and so forth, the conveyor synchronized operation continues.

6-4

HW0482711

62/83

HW0482711

Conveyor Monitoring Windows

There are three windows for conveyor monitoring as follows:

• Conveyor position window.

• Conveyor speed window.

• Conveyor tracking status window.

Call each window in the following manner.

Operation Explanation

1 Select {ROBOT} under the top menu.

2 Select {CV MONITOR}.

3 Display the conveyor position window.

4 Display a desired window.

GO BACK

Page key

PAGE lowing order:

switches from one window to another in the fol-

CONVEYOR POSITION window → CONVEYOR SPEED window

→ CV TRACKING STATUS window.

Press [SHIFT] + the page key dow.

GO BACK

PAGE

to return to the previous win-

7-1

HW0482711

63/83

HW0482711

7.1 Conveyor Position Window

DATA EDIT DISPLAY UTILITY

CONVEYOR POSITION

CURR POS (PULSE) CURR POS

CV#01

CV#02

CV#03

0.000 mm

0.000 mm c d e

PAGE

Main Menu Short Cut

Conveyor Condition File No.

With one conveyor board, CV#1 to CV#3 are displayed. With two conveyor boards, CV#1 to CV#6 are displayed.

CURR POS (PULSE)

The number of feedback pulses from the encoder connected to the conveyor calculated on the base of the position where the conveyor home-position limit switch turns ON as “0”.

Used for setting of conveyor resolution.

CURR POS (mm)

The value converted from the number of pulses of current position into the distance from the position where the conveyor home-position limit switch turns ON by using the resolution. When the resolution is not set, “0” is displayed.

7-2

HW0482711

64/83

HW0482711

7.2 Conveyor Speed Window

DATA EDIT

CONVEYOR SPEED

SPEED

CV#01

CV#02

CV#03

0.0 mm/sec

DISPLAY UTILITY

CORRECT POS

0.000 mm

0.000 mm c d e

PAGE

Main Menu Short Cut

Conveyor Condition File No.

With one conveyor board, CV#1 to CV#3 are displayed. With two conveyor boards, CV#1 to CV#6 are displayed.

SPEED (mm/sec)

Conveyor averaged speed per 0.1 sec.

CORRECT POS (mm)

The manipulator follows up the conveyor with a certain delay time to the input conveyor position. Therefore, performing the follow-up motion according to the conveyor current position causes a follow-up error. With the NX100, the follow-up motion is performed according to the conveyor position compensated for the follow-up error. This compensated conveyor position is displayed here.

7-3

HW0482711

65/83

HW0482711

7.3 Conveyor Tracking Status Window

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03 c d e f

PAGE

Main Menu Short Cut

Conveyor Home-Position Input Signal No.

The conveyor home-position input signal Nos. LS#1, LS#2, and LS#3 are the input signals connected to CN1, CN2, and CN3 respectively. LS#4, LS#5, and LS#6 are the input signals connected to CN1, CN2, and CN3 of the 2nd conveyor board respectively.

INPUT STATUS

Indicates each conveyor home-position input status.

: Indicated when the manipulator is not synchronizing the conveyor and the conveyor home-position input signal turns ON.

: Indicated when the conveyor home-position input signal turns OFF.

Conveyor Condition File No.

With one conveyor board, CV#1 to CV#3 are displayed. With two conveyor boards, CV#1 to CV#6 are displayed.

TRACKING STATUS

Indicates the manipulator synchronizing status.

: Indicated when the manipulator is in synchronized operation status after the synchronized operation starts by execution of SYSTART instruction or after SYMOV instruction is executed in FWD operation.

As long as “ ” is indicated, the conveyor home-position input signal is not accepted and the synchronized status remains until the execution of SYEND instruction or the control power supply is shut down.

: Indicated when the manipulator synchronizing status is cancelled.

7-4

HW0482711

66/83

HW0482711

Virtual Encoder Mode

8.1 Virtual Encoder Pulse Count

When the manipulator is stopped during operation with a virtual encoder, the virtual encoder pulse counting is stopped as well as the manipulator. Since the virtual encoder continues counting pulses by restarting the manipulator, the manipulator can be restarted from the position where it stopped.

8.2 Relation Between Encoder Input and Virtual

Encoder Input

There are two types of settings for encoder input:

• Setting by “ENCODER INPUT” in the conveyor condition file.

• Setting by “VIRTUAL ENCORDER INPUT” in the conveyor condition file.

The relation between “ENCORDER INPUT” setting and the virtual encoder by “general purpose input signal” setting is as follows:

• When the “ENCORDER INPUT” = “VIRTUAL ENCDR”

Regardless of the status of general purpose input signal, the manipulator operates with the virtual encoder pulse.

• When the “ENCORDER INPUT” = “ENCODER”

When the general input signal is ON, the manipulator operates with the virtual encoder pulse.

When the general input signal is OFF, the manipulator operates with the encoder input.

8.3 Precaution on Switching the Encoder Mode

Switching the mode “Encoder/Virtual Encoder” by the general purpose input signal during the conveyor synchronized operation causes the alarm “CANNOT CHANGE CONVEYOR

MODE”.

Be sure to switch the encoder mode by the general purpose input signal while the manipulator is not in the conveyor synchronized operation.

8-1

HW0482711

67/83

9.1 Setting Up the Turntable Synchronized System

Turntable Synchronized Function

HW0482711

Functional Overview

This function enables interpolation motion of the manipulator, synchronized with circular conveyor and turntable.

9.1 Setting Up the Turntable Synchronized System

9.1.1 Settings for Conveyor Condition File

To use this function, set the TRACKING ( ) in CONVEYOR COND FILE window to "CIRCU-

LAR". (Use a cursor key to scroll the window.) c d e f

DATA EDIT

CONVEYOR COND FILE

FILE NO.: 1 / 3

USED STATUS

PORT NO.

BROKEN LINE DETECT

ENCODER INPUT

ENCODER SIGN

CORRECTION

TRACKING

USER COORD NO.

BASE AXIS

POS RESOLUTION

VIRTUAL CV SPEED

DISPLAY UTILITY

NOT USED

CN1

OFF

ENCODER

FORWARD

ROBOT AXIS

0.00

0.0

m/p mm/sec

PAGE

Main Menu Short Cut g

DATA EDIT DISPLAY UTILITY

CONVEYOR COND FILE

FILE NO.: 1 / 3

TRACKING

USER COORD NO.

BASE AXIS

POS RESOLUTION

VIRTUAL CV SPEED

AVERAGED TRAVEL TIME

RESET SIG. MONITOR

CV SPEED DOWN MODE

CV LOWER LIMIT SPEED

VIRTUAL ENCODER IN

VIRTUAL ENCODER OUT

IN#

OUT#

ROBOT AXIS

0.00

0.0

0 ms ms m/p mm/sec

EXECUTE

0 mm/sec

****

PAGE

Main Menu Short Cut

TRACKING (ROBOT-AXIS/BASE-AXIS/CIRCULAR)

CIRCULAR: specify CIRCULAR for turntable synchronized function.

If CIRCULAR is specified, the manipulator performs a circular tracking operation in accordance with a result of calibration executed in 9.1.2.

USER COORD NO. (1 to 24)

Specify the user coordinate number to store the result of calibration (relative position of the turntable).

POS RESOLUTION (1 to 2147483647 pulse/rev)

Set a pulse count from encoder per turntable revolution. If the turntable positional resolution is unknown, use the data calculated in the calibration.

VIRTUAL CV SPEED (-32767 to +32767 pulse/sec)

CV LOWER LIMIT SPEED (0 to 65535 pulse/sec)

Input unit changes to "mm/sec" to "p/sec" by setting the tracking method (item ) to CIR-

CULAR.

9-1

HW0482711

68/83

HW0482711

9.1 Setting Up the Turntable Synchronized System

9.1.2 Calibration between Manipulator and Turntable

The manipulator-turntable calibration is a setting required before carrying out a synchronized operation of manipulator and turntable. Before the synchronized operation, register their positional correlation following the procedures explained in this section.

Setting a Calibration Tool

Operation

1 Equip the manipulator with a calibration tool.

Explanation

Use a tool of which accurate dimensions are given.

2 Select {ROBOT} under the top menu.

3 Select {TOOL}.

The TOOL window appears.

DATA EDIT DISPLAY

TOOL

TOOL NO. : 0 / 1

NAME

STANDARD TOOL

0.000

mm mm mm

Zg kg mm mm mm

UTILITY

0.00

deg.

kg.m2

Main Menu Short Cut

4 Input the tool measurement.

5 Press [ENTER].

9-2

HW0482711

69/83

9.1 Setting Up the Turntable Synchronized System

Teaching Calibration Position

Operation

1 Define a desired point

(P-point) on turntable.

Adjust the manipulator control point to the P-point, and register C1.

Explanation

P-point

2 Rotate the turntable to desirable extent. (Make sure to rotate it in direction of normal rotation.)

Adjust the manipulator control point to the rotated P-point, and register C2.

3 Rotate the turntable in the same direction as the previous step.

Adjust the manipulator control point to the rotated P-point, and register C3.

Rotate

HW0482711

9-3

HW0482711

70/83

HW0482711

9.1 Setting Up the Turntable Synchronized System

Operating Calibration

Operation Explanation

1 Select {ROBOT} under the top menu.

2 Select {CONVEYOR CALI-

BRATION}.

The CONVEYOR CALIBRATION window appears.

DATA EDIT DISPLAY UTILITY

CONVEYOR CALIBRATION

CV FILE NO. : 1 / 3

CV:

: S

* TOOL: 00 SET POS.

< SATUS >

C1 :

C2 :

C3 :

3 Click on {PAGE} to select a desired conveyor condition file. Press [ENTER] after deciding the file number.

(Note that this process can be

achieved by pressing

GO BACK

PAGE key.)

4 Move the cursor to “ " to select a manipulator.

(Note that the asterisk indi-

cates that there is more than

one manipulator: skip this

process if there is only one

manipulator to control.)

Main Menu Short Cut

COMPLETE PAGE

DATA EDIT DISPLAY UTILITY

CONVEYOR CALIBRATION

CV FILE NO. : 1 / 3

** :

CV:

* TOOL: 00 SET POS.

< SATUS >

C1 :

C2 :

C3 :

Main Menu Short Cut

COMPLETE

Conveyor_file_no.=

PAGE

DATA EDIT DISPLAY UTILITY

CONVEYOR CALIBRATION

CV FILE NO. : 1 / 3

CV:

: S

* TOOL: 00 SET POS.

< SATUS >

C1 :

C2 :

C3 :

Main Menu Short Cut

COMPLETE PAGE

9-4

HW0482711

71/83

9.1 Setting Up the Turntable Synchronized System

Operation

4 (Continued from the previous

page.)

Explanation

Select a manipulator from a drop-down listbox.

DATA EDIT DISPLAY UTILITY

CONVEYOR CALIBRATION

CV FILE NO. : 1 / 3

R1 : S

CV:

TOOL: 00 SET POS.

< SATUS >

C1 :

C2 :

C3 :

HW0482711

5 Select {SET POS].

Main Menu Short Cut

COMPLETE PAGE

DATA EDIT DISPLAY UTILITY

CONVEYOR CALIBRATION

CV FILE NO. : 1 / 3

R1: S

TOOL: 00 SET POS.

< SATUS >

CV:

C1 :

C2 :

C3 :

Main Menu Short Cut

COMPLETE PAGE

6 Turn ON the home position limit switch by moving the turntable.

7 Move the manipulator to the calibration position with axis keys.

8 Press [MODIFY], then

[ENTER].

The taught position will be displayed on the window.

DATA EDIT DISPLAY UTILITY

CONVEYOR CALIBRATION

CV FILE NO. : 1 / 3

R1: S

1234567890

TOOL: 00 SET POS.

< SATUS >

C1 :

C2 :

C3 :

CV:

1234567890

Main Menu Short Cut

COMPLETE PAGE

9-5

HW0482711

72/83

HW0482711

Operation

9 Select {COMPLETE}.

9.1 Setting Up the Turntable Synchronized System

Explanation

The calibration position is registered.

The taught coordinates are registered in the user coordinate number which is specified in the conveyor condition file. The registered data can be modified by inputting numbers.

DATA EDIT

CONVEYOR CALIBRATION

CV FILE NO.: 01

ROBOT: R1

Z mm mm mm

RESOLUT’N : 262551

DISPLAY UTILITY

7.98

-12.17

24.76

deg.

Main Menu Short Cut

The turntable positional resolution will be calculated when the calibration is carried out.

If the turntable positional resolution has not been given, set the calculated resolution in the conveyor condition file.

9-6

HW0482711

73/83

HW0482711

9.2 Modifying Instructions

In case of using the turntable synchronized function, the units used for distance and speed are changed from mm (μ) to pulse. The instructions are modified accordingly as follows:

• SYSTART Instruction

[Linear Conveyor Synchronization]

SYSTART CV (#1) STP=50.000 OL=10.0

[Turntable Synchronization]

SYSTART CV (#1) STPP=5000 OLP=100

Synchronization start position in pulse

Set the conveyor position where the synchronized operation starts in pulse.

Tolerance

Specify the maximum excess in pulse to execute the synchronized operation when the conveyor current position value exceeds the synchronization start position value at the execution of SYSTART instruction. Tolerance check will not be executed if setting is omitted or specified at 0.

• SYMOV Instruction

[Linear Conveyor Synchronization]

SYMOVL V=200.0CV (#1) CTP=100.000

SYMOVC V=200.0CV (#1) CTP=100.000

[Turntable Synchronization]

SYMOVL V=200.0CV (#1) CTPP=100.000

Conveyor position at teaching

Set the conveyor position for teaching in pulse.

9-7

HW0482711

74/83

HW0482711

Manual Conveyor Function

Manual Conveyor Function is a manual setting function for conveyor position. This function enables the conveyor position to be set from the programming pendant without moving the conveyor to modify the taught job.

With this function, instead of moving the conveyor to move the workpiece to the teaching position, by removing a fastening device such as a dog and moving the workpiece to the desired position on the conveyor, the conveyor position can be input to modify the taught job. When the taught job is modified by using the Manual Conveyor Function, the newly set value of the conveyor position is registered to the value of CTP when the registration of the move instruction for the synchronized motion (SYMOV ) is modified.

Operation Explanation

1 Select {ROBOT} under the top menu.

2 Select {MANUAL CON-

VEYOR}.

The MANUAL CONVEYOR window appears.

JOB EDIT DISPLAY UTILITY

MANUAL CONVEYOR

CURRENT (mm)

CV#01

CV#02

CV#03

1000.000

SET (mm)

1000.000

SET

VALID

INVALID

INVALID c d e f

Main Menu Short Cut

Conveyor Condition File No.

Displays CV#1 to 3 when one conveyor board is mounted, and CV#1 to 6 when two conveyor boards are mounted.

CURRENT (mm)

Indicates the conveyor’s current position (in actual amount of pulses). When the Manual Conveyor Function is used, the position data set is displayed.

SET (mm) (0 to 21000 mm)

Sets the conveyor position. A value out of the setting range cannot be entered.

SET

Enables or disables the manual setting mode for the conveyor position.

10-1

HW0482711

75/83

HW0482711

10.1 Settings for Manual Conveyor Function

10.1.1 Setting the Conveyor Position

Explanation Operation

1 Move the cursor to the desired value in the column of the

{SET (mm)}.

2 Enter a value using the numeric keys.

10.1.2 Enabling/Disabling the Setting

Operation Explanation

1 Move the cursor to the desired value in the column of the

{SET}.

2 Press [SELECT].

“VALID” and “INVALID” switch alternately.

10.2 Precautions

10.2.1 When the Power is Turned ON

When the power is turned ON, all the setting for the Manual Conveyor Function are disabled regardless of the play or teach mode, and the actual conveyor positions are indicated in

{CURRENT (mm)}.

When the MANUAL CONVEYOR window is called up after the power is turned ON, “

***

” appears in the column of {SET (mm)}. The set conveyor positions are retained until the power is turned OFF.

NOTE

• When the teach mode is switched to the play mode while the Manual Conveyor Function is enabled, the function is automatically disabled.

• The MANUAL CONVEYOR window can be viewed only in the teach mode.

• The Manual Conveyor Function is enabled only when the turntable synchronized function is disabled.

10-2

HW0482711

76/83

HW0482711

Manual Setting Function for Conveyor

Home-Position Limit Switch

When the conveyor home-position limit switch cannot be turned ON, it can be pseudonymously turned ON in the following manner:

Explanation Operation

1 Open the CV TRACKING

STATUS window.

DATA EDIT DISPLAY UTILITY

CV TRACKING STATUS

INPUT STATUS

LS#01

LS#02

LS#03

TRACKING STATUS

CV#01

CV#02

CV#03 c d

PAGE

Main Menu Short Cut

LS#

Indicates the conveyor home-position input signal number.

INPUT STATUS

Indicates the conveyor home-position input signal status, or inputs the conveyor home-position input signal.

2 Move the cursor to the limit switch number connected to the conveyor home-position input signal that is set in PORT

NO. in the conveyor condition file.

3 By pressing [INTERLOCK] and [SELECT] at the same time, select “ON” status to pseudonymously turn the conveyor home-position input signal ON.

The manual setting function for pseudo ON of the conveyor home-position limit switch is valid only in the teach mode. This function is disabled in the play mode.

11-1

HW0482711

77/83

HW0482711

Instruction List

“< >” indicates numerical or alphabetical data. If one or more items are shown in one section, select one of them.

SYSTART

SYMOVJ *1

SYMOVL

SYMOVC

Function

Instruction items

Example

Function

Instruction items

Example

Function

Instruction items

Example

Function

Instruction items

Example

Starts the conveyor synchronized operation.

CV# (<Conveyor condition file No.>)

STP= <Synchronization start position (mm)>

OL= <Tolerance (mm)>

1 to 6

When omitted or 0 is set, the tolerance check is not performed.

SYSTART CV#(1) STP=100.000

Moves in joint motion in synchronization with the conveyor.

1 to 6 CV# (<Conveyor condition file No.>)

CTP= <Conveyor position at teaching

(mm)>

VJ= <Play speed (%)>

SYMOVJ VJ=50.00 CV#(1) CTP=100.000

VJ: 0.01 to 100.00

Moves in linear interpolation in synchronization with the conveyor.

CV# (<Conveyor condition file No.>) 1 to 6

CTP= <Conveyor position at teaching

(mm)>

V= <Play speed>

SYMOVL V=200.0 CV#(1) CTP=100.000

Moves in circular interpolation in synchronization with the conveyor.

CV# (<Conveyor condition file No.>)

V: 0.1 to 1500.0 mm/sec.

0.6 to 9000.0 cm/min.

1 to 6

Can be omitted.

CTP= <Conveyor position at teaching

(mm)>

V= <Play speed> V: 0.1 to 1500.0 mm/sec.

0.6 to 9000.0 cm/min.

SYMOVC V=200.0 CV#(1) CTP=100.000

12-1

HW0482711

78/83

HW0482711

SYEND

Function

Instruction items

Example

Ends the conveyor synchronized operation.

CV# (<Conveyor condition file No.>)

SYEND CV#(1)

1 to 6

*1 SYMOVJ can be used only when synchronizing with a base axis.

12-2

HW0482711

79/83

HW0482711

Alarm List

Alarm

No.

1003

1109

1400

1401

4021

4530

4531

4532

Message Causes Corrective Actions

ROM ERROR

(NCP02)

SYSTEM ERROR

(CONVEYOR)

[10], Decimal Data:

0 to 255

CONVEYOR

ENCONDER

ERROR

[Error occurred conveyor No: 1, 2, 3]

CANNOT CHANGE

CONVEYOR MODE

Internal error.

Conveyor encoder error at the error occurred conveyor No.

The encoder mode “ENCODER/

VIRTUAL ENCDR” has been switched by the general purpose input signal during the conveyor synchronized operation.

Replace the NCP02 board (ROM).

Replace the NSL01 board.

Replace the encoder cable or the encoder.

MEMORY ERROR

(CONVEYOR CON-

DITION FILE)

[10], Decimal Data:

0 to 255

CONVEYOR SYN-

CHRONIZATION

ERROR

[10], Decimal Data;

0 to 255

The conveyor condition file data in the memory has been destroyed.

1: The base axis specification in the conveyor condition file is set to other than 0, 1, and 2.

2: The robot axis for tracking robot axis does not exist.

3: The base axis does not exist in the job for tracking the base axis.

The error data other than 1, 2, and 3 is an internal error.

The conveyor condition file specified for the job is not set for use.

Switch the encoder mode by the general purpose input signal while the manipulator is not in the conveyor synchronized operation.

UNDEFINED CON-

VEYOR COND

FILE

[10], Decimal Data:

0 to 255

CONVEYOR

SPEED DOWN

[10], Decimal Data:

0 to 255

When the mode for conveyor speed down mode in the conveyor condition file is set to

“ALARM”, the conveyor speed is lowered to less than its lower limit specified in the conveyor condition file.

Initialize the conveyor condition file in customer maintenance mode.

Turn the power OFF then back ON.

If the alarm occurs again, contact your

YASKAWA representative.

Set the conveyor condition file to “USED”

Increase the conveyor speed so that it becomes larger than the conveyor speed lower limit specified in the conveyor condition file.

13-1

HW0482711

80/83

HW0482711

Alarm

No.

4533

4538

5020

5022

5023

Message Causes Corrective Actions

ARITHMETIC

ERROR

[10], Decimal Data,

0 to 255

CONVEYOR POSI-

TION LIMIT OVER

[Alarm occurred conveyor condition file No: 1, 2, or 3]

CONVERYOR

COUNTER LIMIT

OVER

[Alarm occurred conveyor condition file No: 1, 2, or 3]

Internal error.

CAN NOT USE

SMOVJ DURING

TRACKING

[10], Decimal Data,

0 to 255

SENSOR PARAME-

TER ERROR

[10], Decimal Data:

0 to 255

SYMOVJ was executed when a robot axis was used for synchronization.

On the NSL01 board, when parameters were calculated using data in the conveyor condition file, an operation error occurred.

The corrected conveyor position value exceeds ±21 m

The conveyor position counter pulse overflowed.

Turn the power OFF then back ON.

If the alarm occurs again, contact your

YASKAWA representative.

SYMOVJ can be used only when the base axis is used for synchronization.

Check whether the data are properly set in the conveyor condition file.

Confirm:

-that “0” is not set for the user coordinate number.

-that “0” is not set for the conveyor positional resolution.

Review the synchronized section.

After this alarm occurs, the conveyor position is not updated. Therefore, the synchronized operation is not performed after the alarm is reset, and the manipulator continues operation at the position where the alarm occurred.

Review the conveyor resolution or the synchronized section.

13-2

HW0482711

81/83

Sensor Parameters (SxE)

Use the sensor parameters with their initial value settings.

No.

Contents

Application designation

Time to recognize the input of start signal

Reference time to recognize the occurrence of speed down

Time for averaging the speed variation amount

Time to recognize the falling edge of start signal

Initial Value

100

HW0482711

14-1

HW0482711

82/83

YASNAC NX100 OPTIONS

INSTRUCTIONS

FOR CONVEYOR SYNCHRONIZED FUNCTION

HEAD OFFICE

2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan

Phone 81-93-645-7745 Fax 81-93-645-7746

MOTOMAN INC. HEADQUARTERS

805 Liberty Lane West Carrollton, OH 45449, U.S.A.

Phone 1-937-847-6200 Fax 1-937-847-6277

YASKAWA MOTOMAN CANADA LTD.

3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada

Phone 1-905-569-6686 Fax 1-905-813-5911

MOTOMAN ROBOTICS EUROPE AB

Franska Vagen 1039854, Kalmar, Sweden

Phone 46-480-417800 Fax 46-480-417999

MOTOMAN ROBOTEC GmbH

Kammerfeld strasse 1, DE-85391 Allershausen, Germany

Phone 49-8166-90100 Fax 49-8166-90103

YASKAWA ELECTRIC KOREA CORPORATION

1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea

Phone 82-53-745-7844 Fax 82-2-784-8495

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore

Phone 65-6282-3003 Fax 65-6289-3003

YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.

No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia

Phone 60-3-6092-1377 Fax 60-3-6092-6377

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan

Phone 886-2-2502-5003 Fax 886-2-2505-1280

SHOUGANG MOTOMAN ROBOT CO., LTD.

7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China

Phone 86-10-6788-0541 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice for ongoing product modifications and improvements.

C Printed in Japan July 2005 05-07

MANUAL NO.

HW0482711

83/83

สวัสดี! ฉันคือแชทบอท AI ที่ได้รับการฝึกฝนมาโดยเฉพาะเพื่อช่วยเหลือคุณเกี่ยวกับ Motoman NX100 Controller Conveyor Tracking Function Manual ฉันได้ตรวจสอบเอกสารอย่างละเอียดและสามารถช่วยคุณค้นหาข้อมูลที่ต้องการได้อย่างแม่นยำ หรืออธิบายเนื้อหาด้วยคำศัพท์ที่ชัดเจนและเรียบง่าย ไม่ว่าคุณกำลังมองหาคำแนะนำเกี่ยวกับคุณสมบัติเฉพาะ ขั้นตอนการแก้ไขปัญหา หรือการใช้งานทั่วไป โปรดถามคำถามของคุณได้อย่างอิสระ ยิ่งคุณให้รายละเอียดเกี่ยวกับข้อกังวลหรือความต้องการของคุณมากเท่าไหร่ ฉันก็จะสามารถช่วยเหลือคุณได้อย่างแม่นยำและมีประสิทธิภาพมากขึ้นเท่านั้น!

ผู้ช่วยกำลังพิมพ์

ผู้ช่วยไม่ได้อยู่ที่คีย์บอร์ด โปรดลองอีกครั้งในภายหลัง

สารบัญ

ดูเหมือนว่าคุณจะเข้าถึงเอกสารที่เขียนด้วยหลายภาษา รวมถึงภาษาที่ไม่ใช่ภาษาแม่ของคุณ คุณสามารถใช้ลิงก์ต่อไปนี้เพื่อซ่อนหน้าต่างๆ ที่ไม่มีภาษาที่คุณต้องการชั่วคราว

โฆษณา