YASKAWA Motoman NX100 User manual

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]

Motoman®NX100 Controller

Concurrent I/O

Manual

Part Number: 149230-1CD

Revision: 3

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.

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http://www.motoman.com/forms/techpubs.asp

Concurrent I/O

149230-1

Final page 1

Chapter 1

Introduction

1.1 About This Document

This manual provides information for the Concurrent I/O 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 - CONCURRENT I/O INSTRUCTIONS

Provides detailed information for the Concurrent I/O function.

APPENDIX A - SETUP OF EXTERNAL I/O ALLOCATION

Provides detailed information regarding the setup of external I/O.

1.2 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

Manual

Chapter 1 Introduction

page 2 Final

1.3 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:

• Robot Type (SSA2000, HP50, etc.)

• Application Type (welding, handling, etc.)

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

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

Concurrent I/O

149230-1

Final page 3

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:

RoboticIndustriesAssociation

900VictorsWay

P.O.Box3724

AnnArbor,Michigan48106

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.

Manual

Chapter 2 Safety

page 4 Final

This safety section addresses the following:

• Standard Conventions (Section 2.2)

• General Safeguarding Tips (Section 2.3)

• Mechanical Safety Devices (Section 2.4)

• Installation Safety (Section 2.5)

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

2.2 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.

Concurrent I/O

149230-1

Final page 5

2.3 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).

2.4 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.

Manual

Chapter 2 Safety

page 6 Final

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.

Concurrent I/O

149230-1

Final page 7

• 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).

Manual

Chapter 2 Safety

page 8 Final

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