NX100 OPTIONS INSTRUCTIONS - Motoman · 2018-12-11 · MANUAL NO. HW0485675 1 YASKAWA ELECTRIC...

NX100 OPTIONSINSTRUCTIONSFOR OPERATING RANGE LIMIT FUNCTION

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

MOTOMAN INSTRUCTIONSMOTOMAN- INSTRUCTIONSNX100 INSTRUCTIONSNX100 OPERATOR’S MANUALNX100 MAINTENANCE MANUAL

The NX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.

MANUAL NO.

HW0485675 1

YASKAWA ELECTRIC CORPORATION

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johnsbr

Typewritten Text

Part Number: 158361-1CD Revision: 0

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• This manual explains the operating range limit function of the NX100 system. Read this manual carefully and be sure to understand its con-tents 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.

• Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product.

• The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-resentative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your prod-uct’s warranty.

MANDATORY

CAUTION

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NOTES FOR SAFE OPERATIONRead this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”.

Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items.

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

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

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

Must never be performed.

To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”.

WARNING

CAUTION

MANDATORY

PROHIBITED

NOTE

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• 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 program-ming pendant is turned off.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function.

Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• 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 dur-ing 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.

WARNING

TURN

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Definition of Terms Used Often in This ManualThe 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.

• Perform the following inspection procedures prior to conducting manip-ulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed.-Check for problems in manipulator movement.-Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the NX100 cabi-net 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 operat-ing the manipulator.

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

Cable between the manipulator and the NX100 Manipulator Cable

CAUTION

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Descriptions of the programming pendant and playback panel keys, buttons, and displays are shown as follows:

Description of the Operation ProcedureIn 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 TrademarksIn 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.

Equipment Manual Designation

Programming Pendant

Character Keys The keys which have characters printed on them are denoted with [ ].ex. [ENTER]

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

ex. page keyThe cursor key is an exception, and a picture is not shown.

Axis KeysNumber 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}

PAGE

GO BACK

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1 Function Overview1.1 Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11.2 Function Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

2 System Configuration2.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12.2 Connection Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . 2-2

3 Setup3.1 Changing the Security Mode. . . . . . . . . . . . . . . . . . . . . . . 3-13.2 Before Performing Operating Range Limit . . . . . . . . . 3-33.3 Tool Interference File Setting . . . . . . . . . . . . . . . . . . . . . . 3-33.4 Operating Range Setting for Robot Arm . . . . . . . . . . . 3-73.5 Confirming Safety range . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3.6 Starting Operating Range Limit . . . . . . . . . . . . . . . . . . . 3-12

4 Data Protection4.1 Saving Dual Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14.2 External Storage Load Operation . . . . . . . . . . . . . . . . . . 4-14.3 Operation when VERIFY ERROR Occurs. . . . . . . . . . 4-2

5 Alarm

6 Restrictions

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1.1 Preface

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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 fol-lowing configuration:

Robot (6 axes) + servo track (3 axes)orRobot (7 axes) + servo track (2 axes)

(2) Safety speed monitoring functionThis 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)

(3) External storage data protectionThis 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.

(4) Logical verification of safety signalsThis function detects the unmatch of the dual safety signals converted into the func-tional safety unit.

This function can monitor the speed of one tool number per robot.The speed of R1 and R2 is monitored using the file with the tool numbers 0 and 1, respec-tively.

Because this external storage data protection function is implemented, data cannot be loaded from a system without this function.After system setup, be sure to back up individual files.

NOTE

NOTE

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2.1 OutlineHW0485675

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.

The outline of the functional safety unit : JZNC-NSU01 is 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

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2.2 Connection Block DiagramHW0485675

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.

CN

C

CN51

CN

K

CN

06

CN

ES

P

CN

TU

CN

M

CN

04

CN

11C

N10

AXA01A

NIF01,NIO01

NR

K01

Bac

kboa

rd

NTU01

NTU unit

Contactor1KM2KM

SON, BON, SVMAIN

Functionalsafety

Contactorcontrol

Machinesafety

SON, BONPPESP,PPDSWMODE0,MODE1

SAFF, SSP,EXESP, EXDSW,PBESP

SVMAIN

KMMB1,2

1KM, 2KM

CN

SF1

to 4

CNRI

Safety relay

CN

05CNRO

CN

03B

CN

02

CN

03A

CN

TUO

CN

TUI

CN

01C

N02

CN

07 Major axis encoder(6 axes)

Functionalsafety unit

JZNC-NSU01

SFRON1,2

SFRFB1,2

CN

MASAFF, EXESP, EXDSW, FST, SSP

PBESP

PPESP, PPDSW, MODE0, MODE1

Safety signals

PB E-stop

Programmingpendant

General input GSIN0, 1

CN

MB

CN

ES

PB

CN

ES

PAC

NIF

BC

NIF

AC

NG

S1,

2C

NLI

CN

LO

Encoder serial�data

Serialcommunication

Serialcommunication

CN

09A

CN

07A

CN

08A

CN

09B

CN

07B

CN

08B

Safety signal logical verification function

CN

08C

N09

CN

10

AXB01A

External axis servo

External axis encoder(3 axes)

Encoderserial data

Encoderserial data

Limit range monitoring functionSafety speed monitoring function

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3.1 Changing the Security ModeHW0485675

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 Detailed procedure

1 Select {SYSTEM INFO} under the main menu.

2 Select {SECURITY} under the sub menu.

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3.1 Changing the Security ModeHW0485675

3 Change the mode from EDIT-ING 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 MAN-AGEMENT MODE and press [ENTER].

The security mode is changed to MANAGEMENT MODE.


NOTE Security level Items that can be manipulated

OPERATION Data such as the operating range cannot be edited or viewed.

EDITING

MANAGE-MENT

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 LimitHW0485675

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

(2) Setting safety range

(3) Confirming safety range

(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 operat-ing 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.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.

NOTE

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3.3 Tool Interference File SettingHW0485675

A tool interference file can be set in the operation below.


1 Select {ROBOT} under the main menu.

2 Select {TOOL INTERFERE} under the sub menu.

The TOOL INTERFERE screen is displayed.

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3 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 [CAN-CEL] buttons are displayed in the lower position of the screen.

<Descriptions of buttons>WRITE : Robot controller records the setting of the tool inter-

ference file. CANCEL : Cancel the tool interference file setting to restore

the setting to the previous status.

• Be sure to press [WRITE] after performing tool interference file setting.• A single tool interference file can be used for a robot.


NOTE

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<Tool interference file setting example>

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.

140

50

85

40

0

25

0

X

Z

Tool coodinate origin

(T-axis flange)

in the Y-direction.

This example has no offset

MODEL3 POINT2

MODEL3 POINT1

MODEL2 POINT2

MODEL2 POINT1

Robot

Work tool

Margin of at least 10 mm

MODEL1 POINT2MODEL1 POINT1

Margin of at least 10 mm

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3.4 Operating Range Setting for Robot ArmHW0485675

3.4 Operating Range Setting for Robot Arm

The operating range for the robot arm can be set as follows.


1 Select {ROBOT} under the main menu.

2 Move the cursor and display the following sub menu.

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3 Select {ROBOT RANGE} under the sub menu.

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 : Indicates the status; SETTING or CONFIRMING or MONITORING.


Status Detail

INVALID Disable the safety range limit function tempo-rarily.

VALID This indicates that the safety range limit is enabled.

Status Detail

SETTING “SETTING” is displayed when setting the data.

CON-FIRMING

“CONFIRMING” is displayed when confirming the set range after data setting.

MONI-TORING

“MONITORING” is displayed after confirming the data. While "MONITORING" is displayed, perform the safety range limit for robot arm.

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4 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

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.


Status Detail

SETTING “SETTING” is displayed when setting the data.

CON-FIRMING

“CONFIRMING” is displayed when confirming the set range after data setting.

MONI-TORING

“MONITORING” is displayed after confirming the data. While "MONITORING" is displayed, perform the safety range limit for robot arm.

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5 If the data is set in ROBOT RANGE screen, the READ-BACK 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 [CAN-CEL] 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 set-

ting to the previous status.

Be sure to perform [WRITE] after performing safety range setting.


NOTE

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3.5 Confirming Safety rangeHW0485675

3.5 Confirming Safety range

After the completion of safety range setting, it is necessary to confirm if the monitoring is per-formed 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.

Do not forget to move the robot to see that it stops within the specified safety range.

CAUTION

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3.6 Starting Operating Range LimitHW0485675

3.6 Starting Operating Range Limit

After confirming that the robot can move in the set safety area, press [CONFIRM]. The STA-TUS 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 LimitHW0485675

<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.

If the STATUS is "CONFIRMING", PLAY mode operation is disabled. Be sure to perform confirming operation and press [CONFIRM] button on the screen.

NOTE

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4.1 Saving Dual DataHW0485675

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 main-tenance mode, and execute the "Safety Unit FLASH Erase" operation.

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4.3 Operation when VERIFY ERROR OccursHW0485675

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.


1 When the controller power is turned ON,ALARM 0300 VERIFY ERROR(SYSTEM CONFIG-DATA)[10] occurs and the maintenance mode is started up.

Select {SYSTEM} under the main menu. Then, select {SECU-RITY} 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 {INITIAL-IZE} under the sub menu.

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4.3 Operation when VERIFY ERROR OccursHW0485675

3 Move the cursor to "Safety Unit FLASH Erase" and press [ENTER].

4 The dialog message "Erase?" is displayed. Select [YES].

The data is erased and reset in the safety unit. A few seconds later, the buzzer sounds and the data erase is completed.

5 When the data erase is com-pleted, turn the controller power OFF and then turn the power ON again.

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.


NOTE

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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 SYN-CHRO 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 teach-ing 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 sys-tem (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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7 segment LED indication of safety unit NSU017 segment LED indication of safety unit NSU01 are as follows.(Left side LED: CPU1, Right side LED: CPU2)

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.

4689 OPERATION AREA MON. ERR 2(ROBOT)

The safety unit (NSU) has detected the manipulator motion exceeding the operating range. Check the teach-ing 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.

Investigation is required If the error occurs again. Contact your Yaskawa representative.

7 seg. LED indication Status

All Lit After power on

[0] to [C] Under boot up

[d] Normal status

[E] Error status

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]


5 [0] 1.0 [sec] 3.6 [sec]


7 [1] 1.0 [sec] 4.9 [sec]


9 [.] 1.0 [sec] 6.2 [sec]


Alarm No. Message Explanation

NOTE

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Meaning of 7 segment LED indication are as follows.

5 digits indication code Error meaning Cause

F001. Communication error Data communication error occurs.Check cable wiring and a terminator then power on again.F002.

F003.

F004.

F010.

0100. CPU error CPU internal error occurs.Power on again.

0200.

0210.

0300.

0400.

0500.

0600.

0700.

0800.

0900.

0C00.

0D00.

1000.

1100.

1200.

1300.

1400.

Investigation is required If the error occurs again. Contact your Yaskawa representative.NOTE

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HW0485675 30/32

6-1

HW0485675

HW0485675

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 OPTIONSINSTRUCTIONSFOR OPERATING RANGE LIMIT FUNCTION

HEAD OFFICE2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004 JapanPhone +81-93-645-7745 Fax +81-93-645-7746

805 Liberty Lane, West Carrollton, OH 45449, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA America Inc. MOTOMAN Robotics Division

Franska vagen 10, Box 4004, 390 04 Kalmar, SwedenPhone +46-480-417800 Fax +46-480-417999

YASKAWA Nordic AB

Kammerfeld strasse 1, 85391 Allershausen, GermanyPhone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Europe GmbH Robotics Division

7F, Doore Bldg.; 24, Yeoido-Dong Youngdungpo-ku, Seoul, KOREAPhone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Korea Co., Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Singapore) PTE Ltd.

252/246, 4th Floor. Muang Thai-Phatra Office Tower II Rachadaphisek Road, Huaykwang Bangkok, 10320 ThailandPhone +66-2-693-2200 Fax +66-2-693-4200

YASKAWA Electric (Thailand) Co., Ltd.

No.7, Yongchang-North Road, Beijing E&T Development Area, China 100176Phone +86-10-6788-2858 Fax +86-10-6788-2878

Shougang MOTOMAN Robot Co. Ltd.

Plot No.195-196, 1st Floor, Sec.4 IMT Manesar, Gurgaon 122050, HaryanaFax +91-124-414-8016Phone +91-124-475-8500

MOTOMAN Motherson Robotics Ltd.

Printed in Japan October 2010 10-03C

HW0485675MANUAL NO.

1

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

YASKAWA ELECTRIC CORPORATION

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NX100 OPTIONS INSTRUCTIONS - Motoman · 2018-12-11 · MANUAL NO. HW0485675 1 YASKAWA ELECTRIC...

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