Yaskawa Motoman NX100 Owner's Manual

NX100 OPTIONS
INSTRUCTIONS
FOR OPERATING RANGE LIMIT FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMANINSTRUCTIONS
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.
Part Number: 158361-1CD
Revision: 0
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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MANDATORY
• This manual explains the operating range limit function of the NX100
system. Read this manual carefully and be sure to understand its contents before handling the Press Synchronization Function.
• General items related to safety are listed in Chapter 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.
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NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”PROHIBITED”.
WARNING
Indicates a potentially hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not
avoided, could result in minor or moderate injury to personnel
and damage to equipment. It may also be used to alert against
unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
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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
the 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 are problems.
The emergency stop buttons are located on the right of the front door of the NX100 and
the programming pendant.
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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 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 manipulator
cables.
In this manual, the equipment is designated as follows.
Equipment
Manual Designation
NX100 Controller
NX100
NX100 Programming Pendant
Programming Pendant
Cable between the manipulator and the NX100
Manipulator Cable
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Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
The keys which have characters printed on them are
denoted with [ ].
ex. [ENTER]
Symbol Keys
The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
GO BACK
ex. page key
The cursor key is an exception, and a picture is not
shown.
PAGE
Axis Keys
Number Keys
“Axis Keys” and “Number Keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed, or that the item is directly
selected by touching the screen.
Registered Trademarks
In this manual, names of companies, corporations, or products are trademarks, registered
trademarks, or brand names for each company or corporation. (R) and TM are omitted.
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1
Function Overview
1.1 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Function Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
2
System Configuration
2.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Connection Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . 2-2
3
Setup
3.1 Changing the Security Mode . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Before Performing Operating Range Limit . . . . . . . . . 3-3
3.3 Tool Interference File Setting . . . . . . . . . . . . . . . . . . . . . . 3-3
3.4 Operating Range Setting for Robot Arm . . . . . . . . . . . 3-7
3.5 Confirming Safety range . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.6 Starting Operating Range Limit . . . . . . . . . . . . . . . . . . . 3-12
4
Data Protection
4.1 Saving Dual Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 External Storage Load Operation . . . . . . . . . . . . . . . . . . 4-1
4.3 Operation when VERIFY ERROR Occurs . . . . . . . . . . 4-2
5
Alarm
6
Restrictions
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1.1 Preface
1 Function Overview
1.1
Preface
This function limits the operating range of robot and monitors its speed.
This function monitors the robot arm so as not to exceed the preset operating range, which is
performed by software. If any monitoring error is detected, the safety relays are cut off to stop
the robot. This function can improve the safety concerning robot operation and reduce the
facility layout when arranging the robot system.
1.2
Function Overview
(1) Range limit function (robot axis + servo track / unit)
This function monitors the robot so as not to exceed the preset operating range.
Only one operating range can be specified. The specified range applies to the following configuration:
Robot (6 axes) + servo track (3 axes)
or
Robot (7 axes) + servo track (2 axes)
(2) Safety speed monitoring function
This function monitors the robot to see that it operates at the safety speed of 250
mm/sec. The speed is monitored at the TCP (Tool Center Point) and flange.
• Teach mode (manual high speed specification is OFF)
This function can monitor the speed of one tool number per robot.
NOTE The speed of R1 and R2 is monitored using the file with the tool numbers 0 and 1, respectively.
(3) External storage data protection
This function can detect changes made to data due to a failure of external storage.
When data is saved in an external storage, encrypted data is saved in the media
with saved data. When the data is loaded from the external storage, the data to be
loaded is checked against the encrypted data and loaded into the controller if it is
normal. The data is not loaded if an error is detected.
Because this external storage data protection function is implemented, data cannot be
NOTE loaded from a system without this function.
After system setup, be sure to back up individual files.
(4) Logical verification of safety signals
This function detects the unmatch of the dual safety signals converted into the functional safety unit.
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2.1 Outline
2 System Configuration
2.1
Outline
The functional safety unit and signal distribution board are additionally incorporated into the
NX100 control panel to realize the function described here.
The type and major specifications of functional safety unit are shown below.
Item
specification
Unit type
JZNC-NSU01
Unit size
W120×H300×D194 [mm]
Input power supply DC24V
Function
(1) Range limit function (robot axis + servo track / unit)
(2) Safety speed monitoring function
(3) External storage data protection function
(4) Safety signal logical verification function
The outline of the functional safety unit : JZNC-NSU01 is shown below.
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2.2 Connection Block Diagram
2.2
Connection Block Diagram
The figure below shows a connection diagram (block diagram) where the functional safety unit
is added to the NX100 control panel.
CN10
CN09B
CN09
CN08B
CN08A
CN07B
CN07A
JZNC-NSU01
CN08
AXB01A
CN09A
Functional
safety unit
External axis servo
CN03A
CN03B
CN02
Serial
communication
CN02
CNK
NRK01
Backboard
CNRI
CN07
CN51
AXA01A
Encoder serial
data
CN01
Contactor
control
CNSF1 to 4
CNC
Major axis encoder
(6 axes)
Safety relay
SFRON1,2
SAFF, SSP,
EXESP, EXDSW,
PBESP
SON, BON
SFRFB1,2
KMMB1,2
CN06
CNM
Encoder
serial data
Limit range monitoring function
Safety speed monitoring function
NIF01,NIO01
PPESP,
PPDSW
MODE0,
MODE1
External axis encoder
(3 axes)
Functional
safety
SVMAIN
Serial
communication
Encoder
serial data
CN04
CN11
CN10
CNRO
CN05
CNTUO
CNTUI
CNTU
CNESP
NTU01
SON, BON, SVMAIN
1KM, 2KM
1KM
2KM
CN
IFA
CN
IFB
NTU unit
General input
GSIN0, 1
CNLO
PBESP
Safety signal logical verification function
Machine
safety
CNLI
PB E-stop
CN
ESPA
SAFF, EXESP, EXDSW, FST, SSP
CNGS
1,2
Safety signals
PPESP, PPDSW, MODE0, MODE1
CN
ESPB CNMA CNMB
Programming
pendant
Contactor
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3.1 Changing the Security Mode
3 Setup
3.1
Changing the Security Mode
Safety range must be set to perform operating range limit.
The setting for safety range can be performed when the security mode is set to the mode
higher than MANAGEMENT MODE. Therefore, the administrator or higher privilege is
required to specify these ranges.
The method to change the security mode is as follows.
Operation
1
Select {SYSTEM INFO} under
the main menu.
2
Select {SECURITY} under the
sub menu.
Detailed procedure
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3.1 Changing the Security Mode
Operation
Detailed procedure
3
Change the mode from EDITING MODE to MANAGEMENT
MODE.
Press [ENTER] in the SECURITY screen. Move the cursor to
"MANAGEMENT MODE" and then press [ENTER] again.
4
Input the password for MANAGEMENT MODE and press
[ENTER].
The security mode is changed to MANAGEMENT MODE.
NOTE
Security level
OPERATION
Items that can be manipulated
Data such as the operating range cannot be edited or viewed.
EDITING
MANAGEMENT
Data such as the operating range can be edited or viewed. The
"Safety Unit FLASH Erase" operation can be performed in the
maintenance mode.
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3.2 Before Performing Operating Range Limit
3.2
Before Performing Operating Range Limit
Set the robot arm operating range which is formed in polygonal columns to monitor the robot
arm so as not to exceed the preset operating range.
If any monitoring error is detected, the safety relays are cut off to cut off the servo power off.
The outline of the operating procedure is as follows;
(1) Setting tool interference file
È
(2) Setting safety range
È
(3) Confirming safety range
È
(4) Starting operating range limit
Each operation is explained as below.
3.3
Tool Interference File Setting
The safety unit monitors the robot tool performance so as to operate within the preset operating area. In this case, tool shape is set in tool interference file. The security settings for the
tool interference file can be made in the EDITING MODE or higher mode.
<Tool interference file>
• Cylinders and spheres for up to 5 positions can be set.
• Both ends of a cylinder are set by POINT1 and POINT2.
• The distance from the center of T axis flange should be set like tool dimension setting.
• The radius of the spheres and cylinder between POINT1 and POINT2 is set. The spheres
are set to POINT1 and POINT2.
• The specified radius must have a margin of at least 10 mm compared with the actual tool.
A single tool interference file can be used for a robot.
NOTE The operating range limit applies to the data in the tool interference file #0 for R1 and that
in the tool interference file #1 for R2.
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3.3 Tool Interference File Setting
A tool interference file can be set in the operation below.
Operation
1
Select {ROBOT} under the
main menu.
2
Select {TOOL INTERFERE}
under the sub menu.
Detailed procedure
The TOOL INTERFERE screen is displayed.
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3.3 Tool Interference File Setting
Operation
3
Detailed procedure
If the data is set in TOOL
INTERFERE setting screen,
the READBACK screen is
shown.
In READBACK screen, you can check if the set data is correct.
Compare MODIFY VALUE with READBACK VALUE.
• If the data is OK, press "YES" on the screen to fix the tool
interference file setting.
• If the data is NG, press "NO" on the screen to restore to the
value before change.
4
After READBACK screen is
displayed, [WRITE] and [CANCEL] buttons are displayed in
the lower position of the
screen.
<Descriptions of buttons>
WRITE : Robot controller records the setting of the tool interference file.
CANCEL : Cancel the tool interference file setting to restore
the setting to the previous status.
NOTE • Be sure to press [WRITE] after performing tool interference file setting.
• A single tool interference file can be used for a robot.
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3.3 Tool Interference File Setting
<Tool interference file setting example>
Robot
Margin of at least 10 mm
140
50
MODEL2 POINT1
X
85
Tool coodinate origin
(T-axis flange)
MODEL1 POINT2
250
400
MODEL1 POINT1
Z
Margin of at least 10 mm
This example has no offset
in the Y-direction.
MODEL2 POINT2
MODEL3 POINT1
MODEL3 POINT2
Work tool
Model 1: Point 1 sets the flange surface, while point 2 sets X=140, Z=85.
Model 2: Point 1 sets X=140, Z=-50, while point 2 sets X=140, Z=250.
This setting defines a model that is parallel to the Z direction of the tool coordinates.
Model 3: Point 1 sets X=140, Z=250, while point 2 sets X=0, Z=400.
Models 2 and 3 are defined at consecutive positions when point 2 of model 2 and
point 1 of model 3 are set at the same position.
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3.4 Operating Range Setting for Robot Arm
3.4
Operating Range Setting for Robot Arm
The operating range for the robot arm can be set as follows.
Operation
1
Select {ROBOT} under the
main menu.
2
Move the cursor and display
the following sub menu.
Detailed procedure
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3.4 Operating Range Setting for Robot Arm
Operation
3
Select {ROBOT RANGE}
under the sub menu.
Detailed procedure
The ROBOT RANGE screen is displayed.
<Descriptions of the setting items>
ROBOT : Selects a robot to be set in case of multiple robot
system. To set R1, move the cursor to "R1" and
press [SELECT].
SETTING : Sets the safety range limit function status.
Status
Detail
INVALID
Disable the safety range limit function temporarily.
VALID
This indicates that the safety range limit is
enabled.
STATUS : Indicates the status; SETTING or CONFIRMING or
MONITORING.
Status
Detail
SETTING
“SETTING” is displayed when setting the
data.
CONFIRMING
“CONFIRMING” is displayed when confirming
the set range after data setting.
MONITORING
“MONITORING” is displayed after confirming
the data. While "MONITORING" is displayed,
perform the safety range limit for robot arm.
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3.4 Operating Range Setting for Robot Arm
Operation
4
Detailed procedure
Select "R1". Then ROBOT
RANGE screen is shown.
<Descriptions of the setting item>
COORD: Select a coordinate type; ROBOT or BASE.
STATUS : Indicates the status; SETTING or CONFIRMING or
MONITORING
Status
Detail
SETTING
“SETTING” is displayed when setting the
data.
CONFIRMING
“CONFIRMING” is displayed when confirming
the set range after data setting.
MONITORING
“MONITORING” is displayed after confirming
the data. While "MONITORING" is displayed,
perform the safety range limit for robot arm.
LINE 1 – 16: Make line segments connecting <X1> and <Y1>,
<X2> and <Y2>, to set the operating range. Up to
16 line segments can be used for setting.
Z TOP: Sets the operating range of Z-direction top surface.
Z BOTTOM: Sets the operating range of Z-direction bottom
surface.
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3.4 Operating Range Setting for Robot Arm
Operation
5
Detailed procedure
If the data is set in ROBOT
RANGE screen, the READBACK screen is shown.
In READBACK screen, you can check if the set data is correct.
Compare MODIFY VALUE with READBACK VALUE.
• If the data is OK, press [YES] on the screen to fix the setting
in ROBOT RANGE screen.
• If the data is NG, press [NO] on the screen to restore to the
value before change.
6
After READBACK screen is
displayed, [WRITE] and [CANCEL] buttons are displayed in
the lower position of the
screen.
<Descriptions of the buttons>
WRITE : Robot controller records the setting of the safety
range.
CANCEL : Cancel the safety range setting to restore the setting to the previous status.
NOTE Be sure to perform [WRITE] after performing safety range setting.
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3.5 Confirming Safety range
3.5
Confirming Safety range
After the completion of safety range setting, it is necessary to confirm if the monitoring is performed according to the safety range set in the " 3.4 Operating Range Setting for Robot Arm
".
At that time, the "STATUS" in ROBOT RANGE screen indicates "CONFIRMING". Move the
robot to check if the manipulator stops before it exceeds the safety range.
<How to check the safety range with the jog operation>
Check that the specified range is correct with the jog operation.
Make the robot operate toward the specified four limits to see that the robot stops operating
within the range. If the specified range is not rectangular solid, check that the robot stops
before all the limits of the specified range.
CAUTION
Do not forget to move the robot to see that it stops within the specified safety range.
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3.6 Starting Operating Range Limit
3.6
Starting Operating Range Limit
After confirming that the robot can move in the set safety area, press [CONFIRM]. The STATUS indication is changed to "MONITORING" and the safety unit starts operating range limit.
Check the following items with the actual job.
<How to check the safety range in the play mode>
(1) Checking the teaching point of job
If an alarm is generated and the robot does not operate when the job is played back, the
following causes are suspected.
• The specified range is inappropriate.
• Teaching is inappropriate.
In such a case, recalculate the range or modify teaching.
Generated alarm:
If the ALARM 4208 "SYSTEM ERROR(ARITH)" occurs
<Cause>
The teaching position is out of the specified range.
<Countermeasure>
Check that the specified range is correct.
Change the teaching position so that it falls in the range.
(2) Endurance running must be normally performed.
Try to move the actual job. If the job moves near the specified range, an alarm may be
generated. In such a case, modify teaching or slow down the speed.
Generated alarm:
If the ALARM 1629 "OPERATION AREA MON. ERR(ROBOT)" occurs
<Cause>
The range error was detected when the robot operated.
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3.6 Starting Operating Range Limit
<Reason>
This alarm was detected by the safety unit. The safety unit monitors the position based
on the feedback pulse from the motor. The speed and coasting amount is considered
during calculation so that the robot does not move out of the range. Thus, this alarm is
generated when the teaching position is near the operation range and the teaching
speed is fast.
<Countermeasure>
Modify teaching so that the teaching position is not near the operation range.
Reduce the teaching speed.
NOTE If the STATUS is "CONFIRMING", PLAY mode operation is disabled. Be sure to perform
confirming operation and press [CONFIRM] button on the screen.
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4.1 Saving Dual Data
4 Data Protection
4.1
Saving Dual Data
The data related to this function is saved in a duplicated manner for safety.
When the control power is turned ON, check is performed to see that dual data sets are the
same.
If they are different when the control power is turned ON, the following alarm is generated.
When the following alarm is generated, set up data with the procedure described in " 4.3
Operation when VERIFY ERROR Occurs ".
ALARM 0300 "VERIFY ERROR(SYSTEM CONFIG-DATA)[10]"
The following causes are suspected when the alarm is generated.
• The data related to this function is loaded from an external storage.
• The home position calibration or the home position change operation is performed.
• The tool calibration operation is performed.
• The data saving has not been performed correctly.
4.2
External Storage Load Operation
The data related to this function is protected through encryption when saved in an external
storage. For example, if data saved in an external storage is corrupted due to a failure of CF
media, the corruption is detected and that data is not loaded.
The system may stop counting the remaining bytes, which are displayed on the screen, while
loading the data related to this function. This is because data being loaded is verified against
encrypted data (Therefore, this is not a failure). Do not turn the control power OFF during
loading.
After data is loaded from the external storage, the message prompting to reboot the system
appears at the right bottom of the PP screen. Turn the control power OFF, start it in the maintenance mode, and execute the "Safety Unit FLASH Erase" operation.
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4.3 Operation when VERIFY ERROR Occurs
4.3
Operation when VERIFY ERROR Occurs
When the controller power is turned ON, the following alarm occurs.
ALARM 0300 "VERIFY ERROR(SYSTEM CONFIG-DATA)[10]"
In this case, execute the following operations to clear the data for the safety unit.
Operation
1
Detailed procedure
When the controller power is
turned ON,
ALARM 0300 VERIFY
ERROR(SYSTEM CONFIGDATA)[10] occurs and the
maintenance mode is started
up.
Select {SYSTEM} under the main menu. Then, select {SECURITY} under the sub menu to change the security mode from
EDIT mode to MANAGEMENT MODE with the procedure
described in " 3.1 Changing the Security Mode ".
2
Select {FILE} under the main
menu. Then, select {INITIALIZE} under the sub menu.
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4.3 Operation when VERIFY ERROR Occurs
Operation
3
Move the cursor to "Safety
Unit FLASH Erase" and press
[ENTER].
4
The dialog message "Erase?"
is displayed. Select [YES].
5
When the data erase is completed, turn the controller
power OFF and then turn the
power ON again.
NOTE
Detailed procedure
The data is erased and reset in the safety unit. A few seconds
later, the buzzer sounds and the data erase is completed.
The data setting for safety unit can be performed when the security mode is set to the
mode higher than MANAGEMENT MODE. Therefore, the administrator or higher privilege
is required to specify these ranges.
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5 Alarm
Alarm No.
Message
Explanation
0300
VERIFY ERROR(SYSTEM
CONFIG-DATA)[10]
The NX100 has detected an error in the validity check on
the data files between NCP01 and the safety unit (NSU)
when the power is turned ON. Execute "Safety Unit
FLASH Erase" in the maintenance mode.
1610
SAFETY UNIT CPU SYNCHRO ERROR
The NX100 has detected an error in the communication
between NCP01 and the safety unit (NSU) when the
power is turned ON.
Check the cables and connectors between these boards,
and then turn the power ON again.
1613
ENCODER COMM. ERR
1(SAFETY)
The NX100 has detected an error in the communication
between the encoder (each axis) and the safety unit
(NSU).Check the encoder cables, and then turn the
power ON again.
1614
ENCODER COMM. ERR
2(SAFETY)
The NX100 has detected an error in the communication
between the encoder (all axes) and the safety unit
(NSU).Check the encoder cables and connectors, and
then turn the power ON again.
1623
ENCODER CORR. NUM
OVER(SAFETY)
Reading encoder data failed multiple times in a row. Turn
the power OFF and then ON again.
1629
OPERATION AREA MON.
ERR(ROBOT)
The safety unit (NSU) has detected the manipulator's
motion exceeding the operation range. Check the teaching points and setting range.
1632
MUTUAL DIAGNOSIS
ERR(MONITOR)
Data inconsistency occurred in the duplicated monitoring
by the safety unit. Turn the power OFF and then ON
again.
1633
SIGNAL COMPARISON
ERROR(SAFETY)
Data inconsistency occurred in the duplicated monitoring
of the safety signals. Check the safety signal cables, and
then turn the power ON again.
1634
FEEDBACK SIGNAL
ERROR(SAFETY)
Data inconsistency occurred in the feedback monitoring
of the safety signal outputs. Check the safety signal
cables, and then turn the power ON again.
1643
SIGNAL SETTING
ERROR(SAFETY)
The NX100 has detected an error in the link signal
between safety units (NSU01) of the multiple robot system (more than one robot). Turn the power OFF and then
ON again.
4208
SYSTEM ERROR(ARITH)
Any of the specified teaching points is out of range.
Check the teaching points and setting range.
4682
MOTION RANGE LIMIT
INTERFERENCE
Upper NCP01 has detected the manipulator motion
exceeding the operating range. Check the teaching
points and setting range.
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Alarm No.
Message
Explanation
4689
OPERATION AREA MON.
ERR 2(ROBOT)
The safety unit (NSU) has detected the manipulator
motion exceeding the operating range. Check the teaching points and setting range.
4694
SPEED MONITOR ERROR
1(SAFETY)
The speed at TCP has exceeded the safety speed. Lower
the operation speed.
4695
SPEED MONITOR ERROR
2(SAFETY)
The speed at robot flange has exceeded the safety
speed. Lower the operation speed.
NOTE
Investigation is required If the error occurs again. Contact your Yaskawa representative.
7 segment LED indication of safety unit NSU01
„
7 segment LED indication of safety unit NSU01 are as follows.
(Left side LED: CPU1, Right side LED: CPU2)
7 seg. LED indication
Status
All Lit
After power on
[0] to [C]
Under boot up
[d]
Normal status
[E]
Error status
When an error occurs in safety unit, 5 digits LED are indicated with 7 seg. LED.
Each digit is indicated for 1.0sec and all turning off status is for 0.3sec.
Following is the example of "F001." error.
Sequence
7 seg. LED indication
Indication time
Total time
1
[F]
1.0 [sec]
1.0 [sec]
2
Turning off
0.3 [sec]
1.3 [sec]
3
[0]
1.0 [sec]
2.3 [sec]
4
Turning off
0.3 [sec]
2.6 [sec]
5
[0]
1.0 [sec]
3.6 [sec]
6
Turning off
0.3 [sec]
3.9 [sec]
7
[1]
1.0 [sec]
4.9 [sec]
8
Turning off
0.3 [sec]
5.2 [sec]
9
[.]
1.0 [sec]
6.2 [sec]
10
Turning off
0.3 [sec]
6.5 [sec]
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Meaning of 7 segment LED indication are as follows.
5 digits
indication code
Error meaning
F001.
Communication error
Data communication error occurs.
Check cable wiring and a terminator then power on
again.
CPU error
CPU internal error occurs.
Power on again.
F002.
Cause
F003.
F004.
F010.
0100.
0200.
0210.
0300.
0400.
0500.
0600.
0700.
0800.
0900.
0C00.
0D00.
1000.
1100.
1200.
1300.
1400.
NOTE
Investigation is required If the error occurs again. Contact your Yaskawa representative.
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6 Restrictions
This function also records parameters, files and other data in the safety unit.
Therefore, this function cannot be used with a function that changes parameters or files during
playback.
• T axis endless function
• PMT function
• Gun change function and group change function
• Tool file number change
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NX100 OPTIONS
INSTRUCTIONS
FOR OPERATING RANGE LIMIT FUNCTION
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 Japan
Phone +81-93-645-7745
Fax +81-93-645-7746
YASKAWA America Inc. MOTOMAN Robotics Division
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
YASKAWA Nordic AB
Franska vagen 10, Box 4004, 390 04 Kalmar, Sweden
Phone +46-480-417800
Fax +46-480-417999
YASKAWA Europe GmbH Robotics Division
Kammerfeld strasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Electric Korea Co., Ltd.
7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREA
Phone +82-2-784-7844
Fax +82-2-784-8495
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 Thailand
Phone +66-2-693-2200
Fax +66-2-693-4200
Shougang MOTOMAN Robot Co. Ltd.
No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176
Phone +86-10-6788-2858
Fax +86-10-6788-2878
MOTOMAN Motherson Robotics Ltd.
Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, Haryana
Phone +91-124-475-8500
Fax +91-124-414-8016
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C Printed in Japan October 2010 10-03
YASKAWA ELECTRIC CORPORATION
MANUAL NO.
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