YASKAWA motoman NX100 User manual
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
Motoman NX100 Controller
ServoFloat
Function Manual
Part Number: 149648-10CD
Revision:1
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.
©2007 by MOTOMAN
All Rights Reserved
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.
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
5GTXQ(NQCV
(KPCN
RCIG
%JCRVGT
+PVTQFWEVKQP
This manual provides system information for the ServoFloat Control Function and contains
the following sections:
5'%6+10+0641&7%6+10
Provides general information about the structure of this manual, a list of reference documents,
and customer service information.
5'%6+105#('6;
This section provides information regarding the safe use and operation of Motoman products.
5'%6+105'481(.1#6+05647%6+105
Provides detailed information about the ServoFloat Control Function.
4GHGTGPEGVQ1VJGT&QEWOGPVCVKQP
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
%WUVQOGT5GTXKEG+PHQTOCVKQP
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 (ServoFloat)
• Application Type (arcwelding, spot welding, handling)
• Robot Serial Number (located on back side of robot arm)
• Robot Sales Order Number (located on back of controller)
(WPEVKQP/CPWCN
%JCRVGT +PVTQFWEVKQP
RCIG
(KPCN
Notes
5GTXQ(NQCV
(KPCN
RCIG
%JCRVGT
5CHGV[
+PVTQFWEVKQP
+VKUVJGRWTEJCUGT UTGURQPUKDKNKV[VQGPUWTGVJCVCNNNQECNEQWPV[UVCVG
CPFPCVKQPCNEQFGUTGIWNCVKQPUTWNGUQTNCYUTGNCVKPIVQUCHGV[CPFUCHG
QRGTCVKPIEQPFKVKQPUHQTGCEJKPUVCNNCVKQPCTGOGVCPFHQNNQYGF
:HVXJJHVWWKDW\RXREWDLQDQGUHYLHZDFRS\RIWKH$16,5,$1DWLRQDO6DIHW\6WDQGDUGIRU
,QGXVWULDO5RERWVDQG5RERW6\VWHPV7KLVLQIRUPDWLRQFDQEHREWDLQHGIURPWKH5RERWLF,QGXVWULHV
$VVRFLDWLRQE\UH XHVWLQJ$16,5,$57KHDGGUHVVLVDVIROORZV
5RERWLF,QGXVWULHV$VVRFLDWLRQ
9LFWRUV:D\
32%R[
$QQ$UERU0LFKLJDQ
7(/
)$;
,17(51(7ZZZURERWLFVRQOLQHFRP
8OWLPDWHO\WKHEHVWVDIHJXDUGLVWUDLQHGSHUVRQQHO7KHXVHULVUHVSRQVLEOHIRUSURYLGLQJSHUVRQQHO
ZKRDUHDGH XDWHO\WUDLQHGWRRSHUDWHSURJUDPDQGPDLQWDLQWKHURERWFHOO7KHURERWPXVWQRWEH
RSHUDWHGE\SHUVRQQHOZKRKDYHQRWEHHQWUDLQHG
:HUHFRPPHQGWKDWDOOSHUVRQQHOZKRLQWHQGWRRSHUDWHSURJUDPUHSDLURUXVHWKHURERWV\VWHPEH
WUDLQHGLQDQDSSURYHG0RWRPDQWUDLQLQJFRXUVHDQGEHFRPHIDPLOLDUZLWKWKHSURSHURSHUDWLRQRIWKH
V\VWHP
(WPEVKQP/CPWCN
%JCRVGT 5CHGV
RCIG
(KPCN
7KLVVDIHW\VHFWLRQDGGUHVVHVWKHIROORZLQJ
6WDQGDUG&RQYHQWLRQV6HFWLRQ
*HQHUDO6DIHJXDUGLQJ7LSV6HFWLRQ
0HFKDQLFDO6DIHW\'HYLFHV6HFWLRQ
,QVWDOODWLRQ6DIHW\6HFWLRQ
3URJUDPPLQJ2SHUDWLRQDQG0DLQWHQDQFH6DIHW\6HFWLRQ
5VCPFCTF%QPXGPVKQPU
7KLVPDQXDOLQFOXGHVWKHIROORZLQJDOHUWV–LQGHVFHQGLQJRUGHURIVHYHULW\–WKDWDUHHVVHQWLDOWRWKH
VDIHW\RISHUVRQQHODQGH XLSPHQW$V\RXUHDGWKLVPDQXDOSD\FORVHDWWHQWLRQWRWKHVHDOHUWVWR
LQVXUHVDIHW\ZKHQLQVWDOOLQJRSHUDWLQJSURJUDPPLQJDQGPDLQWDLQLQJWKLVH XLSPHQW
%"/(&3
+PHQTOCVKQPCRRGCTKPIKPC�)'4EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNHTQOVJGKOOGFKCVG
CPFKOOKPGPVJC\CTFUVJCVKHPQVCXQKFGFYKNNTGUWNVKPKOOGFKCVGUGTKQWURGTUQPCNKPLWT[QT
NQUUQHNKHGKPCFFKVKQPVQGSWKROGPVFCOCIG
8"3/*/(
+PHQTOCVKQPCRRGCTKPIKPC9#40+0)EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNCPFGSWKROGPVHTQO
RQVGPVKCNJC\CTFUVJCVECPTGUWNVKPRGTUQPCNKPLWT[QTNQUUQHNKHGKPCFFKVKQPVQGSWKROGPV
FCOCIG
$"65*0/
+PHQTOCVKQPCRRGCTKPIKPC%#76+10EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNCPFGSWKROGPV
UQHVYCTGCPFFCVCHTQOJC\CTFUVJCVECPTGUWNVKPOKPQTRGTUQPCNKPLWT[QTGSWKROGPVFCOCIG
1RWH,QIRUPDWLRQDSSHDULQJLQD1RWHSURYLGHVDGGLWLRQDOLQIRUPDWLRQZKLFKLVKHOSIXOLQXQGHUVWDQGLQJWKHLWHPEHLQJ
H[SODLQHG
5GTXQ(NQCV
(KPCN
RCIG
)GPGTCN5CHGIWCTFKPI6KRU
$OORSHUDWRUVSURJUDPPHUVSODQWDQGWRROLQJHQJLQHHUVPDLQWHQDQFHSHUVRQQHOVXSHUYLVRUVDQG
DQ\RQHZRUNLQJQHDUWKHURERWPXVWEHFRPHIDPLOLDUZLWKWKHRSHUDWLRQRIWKLVH XLSPHQW$OO
SHUVRQQHOLQYROYHGZLWKWKHRSHUDWLRQRIWKHH XLSPHQWPXVWXQGHUVWDQGSRWHQWLDOGDQJHUVRI
RSHUDWLRQ*HQHUDOVDIHJXDUGLQJWLSVDUHDVIROORZV
,PSURSHURSHUDWLRQFDQUHVXOWLQSHUVRQDOLQMXU\DQGRUGDPDJHWRWKHH XLSPHQW2QO\
WUDLQHGSHUVRQQHOIDPLOLDUZLWKWKHRSHUDWLRQRIWKLVURERWWKHRSHUDWRUVPDQXDOVWKHV\VWHP
H XLSPHQWDQGRSWLRQVDQGDFFHVVRULHVVKRXOGEHSHUPLWWHGWRRSHUDWHWKLVURERWV\VWHP
'RQRWHQWHUWKHURERWFHOOZKLOHLWLVLQDXWRPDWLFRSHUDWLRQ3URJUDPPHUVPXVWKDYHWKH
WHDFKSHQGDQWZKHQWKH\HQWHUWKHURERWFHOO
,PSURSHUFRQQHFWLRQVFDQGDPDJHWKHURERW$OOFRQQHFWLRQVPXVWEHPDGHZLWKLQWKH
VWDQGDUGYROWDJHDQGFXUUHQWUDWLQJVRIWKHURERW,2,QSXWVDQG2XWSXWV
7KHURERWPXVWEHSODFHGLQ(PHUJHQF\6WRS(6723PRGHZKHQHYHULWLVQRWLQXVH
,QDFFRUGDQFHZLWK$16,5,$5VHFWLRQ6RXUFHVRI(QHUJ\XVH
ORFNRXWWDJRXWSURFHGXUHVGXULQJH XLSPHQWPDLQWHQDQFH5HIHUDOVRWR6HFWLRQ
&)53DUW2FFXSDWLRQDO6DIHW\DQG+HDOWK6WDQGDUGVIRU*HQHUDO,QGXVWU\
26+$
/GEJCPKECN5CHGV[&GXKEGU
7KHVDIHRSHUDWLRQRIWKHURERWSRVLWLRQHUDX[LOLDU\H XLSPHQWDQGV\VWHPLVXOWLPDWHO\WKHXVHUV
UHVSRQVLELOLW\7KHFRQGLWLRQVXQGHUZKLFKWKHH XLSPHQWZLOOEHRSHUDWHGVDIHO\VKRXOGEHUHYLHZHG
E\WKHXVHU7KHXVHUPXVWEHDZDUHRIWKHYDULRXVQDWLRQDOFRGHV$16,5,$5VDIHW\
VWDQGDUGVDQGRWKHUORFDOFRGHVWKDWPD\SHUWDLQWRWKHLQVWDOODWLRQDQGXVHRILQGXVWULDOH XLSPHQW
$GGLWLRQDOVDIHW\PHDVXUHVIRUSHUVRQQHODQGH XLSPHQWPD\EHUH XLUHGGHSHQGLQJRQV\VWHP
LQVWDOODWLRQRSHUDWLRQDQGRUORFDWLRQ7KHIROORZLQJVDIHW\H XLSPHQWLVSURYLGHGDVVWDQGDUG
6DIHW\IHQFHVDQGEDUULHUV
/LJKWFXUWDLQVDQGRUVDIHW\PDWV
'RRULQWHUORFNV
(PHUJHQF\VWRSSDOPEXWWRQVORFDWHGRQRSHUDWRUVWDWLRQURERWFRQWUROOHUDQG
SURJUDPPLQJSHQGDQW
&KHFNDOOVDIHW\H XLSPHQWIUH XHQWO\IRUSURSHURSHUDWLRQ5HSDLURUUHSODFHDQ\QRQIXQFWLRQLQJ
VDIHW\H XLSPHQWLPPHGLDWHO\
(WPEVKQP/CPWCN
%JCRVGT 5CHGV
RCIG
(KPCN
+PUVCNNCVKQP5CHGV[
6DIHLQVWDOODWLRQLVHVVHQWLDOIRUSURWHFWLRQRISHRSOHDQGH XLSPHQW7KHIROORZLQJVXJJHVWLRQVDUH
LQWHQGHGWRVXSSOHPHQWEXWQRWUHSODFHH[LVWLQJIHGHUDOORFDODQGVWDWHODZVDQGUHJXODWLRQV
$GGLWLRQDOVDIHW\PHDVXUHVIRUSHUVRQQHODQGH XLSPHQWPD\EHUH XLUHGGHSHQGLQJRQV\VWHP
LQVWDOODWLRQRSHUDWLRQDQGRUORFDWLRQ,QVWDOODWLRQWLSVDUHDVIROORZV
%HVXUHWKDWRQO\ XDOLILHGSHUVRQQHOIDPLOLDUZLWKQDWLRQDOFRGHVORFDOFRGHVDQG
$16,5,$5VDIHW\VWDQGDUGVDUHSHUPLWWHGWRLQVWDOOWKHH XLSPHQW
,GHQWLI\WKHZRUNHQYHORSHRIHDFKURERWZLWKIORRUPDUNLQJVVLJQVDQGEDUULHUV
3RVLWLRQDOOFRQWUROOHUVRXWVLGHWKHURERWZRUNHQYHORSH
:KHQHYHUSRVVLEOHLQVWDOOVDIHW\IHQFHVWRSURWHFWDJDLQVWXQDXWKRUL]HGHQWU\LQWRWKHZRUN
HQYHORSH
(OLPLQDWHDUHDVZKHUHSHUVRQQHOPLJKWJHWWUDSSHGEHWZHHQDPRYLQJURERWDQGRWKHU
H XLSPHQWSLQFKSRLQWV
3URYLGHVXIILFLHQWURRPLQVLGHWKHZRUNFHOOWRSHUPLWVDIHWHDFKLQJDQGPDLQWHQDQFH
SURFHGXUHV
TQITCOOKPI1RGTCVKQPCPF/CKPVGPCPEG5CHGV[
$OORSHUDWRUVSURJUDPPHUVSODQWDQGWRROLQJHQJLQHHUVPDLQWHQDQFHSHUVRQQHOVXSHUYLVRUVDQG
DQ\RQHZRUNLQJQHDUWKHURERWPXVWEHFRPHIDPLOLDUZLWKWKHRSHUDWLRQRIWKLVH XLSPHQW,PSURSHU
RSHUDWLRQFDQUHVXOWLQSHUVRQDOLQMXU\DQGRUGDPDJHWRWKHH XLSPHQW2QO\WUDLQHGSHUVRQQHO
IDPLOLDUZLWKWKHRSHUDWLRQPDQXDOVHOHFWULFDOGHVLJQDQGH XLSPHQWLQWHUFRQQHFWLRQVRIWKLVURERW
VKRXOGEHSHUPLWWHGWRSURJUDPRSHUDWHDQGPDLQWDLQWKHV\VWHP$OOSHUVRQQHOLQYROYHGZLWKWKH
RSHUDWLRQRIWKHH XLSPHQWPXVWXQGHUVWDQGSRWHQWLDOGDQJHUVRIRSHUDWLRQ
,QVSHFWWKHURERWDQGZRUNHQYHORSHWREHVXUHQRSRWHQWLDOO\KD]DUGRXVFRQGLWLRQVH[LVW%H
VXUHWKHDUHDLVFOHDQDQGIUHHRIZDWHURLOGHEULVHWF
%HVXUHWKDWDOOVDIHJXDUGVDUHLQSODFH&KHFNDOOVDIHW\H XLSPHQWIRUSURSHURSHUDWLRQ
5HSDLURUUHSODFHDQ\QRQIXQFWLRQLQJVDIHW\H XLSPHQWLPPHGLDWHO\
'RQRWHQWHUWKHURERWFHOOZKLOHLWLVLQDXWRPDWLFRSHUDWLRQ%HVXUHWKDWRQO\WKHSHUVRQ
KROGLQJWKHSURJUDPPLQJSHQGDQWHQWHUVWKHZRUNFHOO
&KHFNWKH(6723EXWWRQRQWKHSURJUDPPLQJSHQGDQWIRUSURSHURSHUDWLRQEHIRUH
SURJUDPPLQJ7KHURERWPXVWEHSODFHGLQ(PHUJHQF\6WRS(6723PRGHZKHQHYHULWLV
QRWLQXVH
%DFNXSDOOSURJUDPVDQGMREVRQWRVXLWDEOHPHGLDEHIRUHSURJUDPFKDQJHVDUHPDGH7R
DYRLGORVVRILQIRUPDWLRQSURJUDPVRUMREVDEDFNXSPXVWDOZD\VEHPDGHEHIRUHDQ\
VHUYLFHSURFHGXUHVDUHGRQHDQGEHIRUHDQ\FKDQJHVDUHPDGHWRRSWLRQVDFFHVVRULHVRU
H XLSPHQW
5GTXQ(NQCV
(KPCN
RCIG
$Q\PRGLILFDWLRQVWR3$576\VWHP6HFWLRQRIWKHURERWFRQWUROOHUFRQFXUUHQW,2
SURJUDPFDQFDXVHVHYHUHSHUVRQDOLQMXU\RUGHDWKDVZHOODVGDPDJHWRWKHURERW'RQRW
PDNHDQ\PRGLILFDWLRQVWR3$576\VWHP6HFWLRQ0DNLQJDQ\FKDQJHVZLWKRXWWKHZULWWHQ
SHUPLVVLRQRI0RWRPDQZLOO92,'<285:$55$17<
6RPHRSHUDWLRQVUH XLUHVWDQGDUGSDVVZRUGVDQGVRPHUH XLUHVSHFLDOSDVVZRUGV6SHFLDO
SDVVZRUGVDUHIRU0RWRPDQXVHRQO\<285:$55$17<:,//%(92,'LI\RXXVH
WKHVHVSHFLDOSDVVZRUGV
7KHURERWFRQWUROOHUDOORZVPRGLILFDWLRQVRI3$578VHU6HFWLRQRIWKHFRQFXUUHQW,2
SURJUDPDQGPRGLILFDWLRQVWRFRQWUROOHUSDUDPHWHUVIRUPD[LPXPURERWSHUIRUPDQFH*UHDW
FDUHPXVWEHWDNHQZKHQPDNLQJWKHVHPRGLILFDWLRQV$OOPRGLILFDWLRQVPDGHWRWKH
FRQWUROOHUZLOOFKDQJHWKHZD\WKHURERWRSHUDWHVDQGFDQFDXVHVHYHUHSHUVRQDOLQMXU\RU
GHDWKDVZHOODVGDPDJHWKHURERWDQGRWKHUSDUWVRIWKHV\VWHP'RXEOHFKHFNDOO
PRGLILFDWLRQVXQGHUHYHU\PRGHRIURERWRSHUDWLRQWRHQVXUHWKDW\RXKDYHQRWFUHDWHG
KD]DUGVRUGDQJHURXVVLWXDWLRQV
&KHFNDQGWHVWDQ\QHZRUPRGLILHGSURJUDPDWORZVSHHGIRUDWOHDVWRQHIXOOF\FOH
7KLVH XLSPHQWKDVPXOWLSOHVRXUFHVRIHOHFWULFDOVXSSO\(OHFWULFDOLQWHUFRQQHFWLRQVDUH
PDGHEHWZHHQWKHFRQWUROOHUDQGRWKHUH XLSPHQW'LVFRQQHFWDQGORFNRXWWDJRXWDOO
HOHFWULFDOFLUFXLWVEHIRUHPDNLQJDQ\PRGLILFDWLRQVRUFRQQHFWLRQV
'RQRWSHUIRUPDQ\PDLQWHQDQFHSURFHGXUHVEHIRUHUHDGLQJDQGXQGHUVWDQGLQJWKHSURSHU
SURFHGXUHVLQWKHDSSURSULDWHPDQXDO
8VHSURSHUUHSODFHPHQWSDUWV
,PSURSHUFRQQHFWLRQVFDQGDPDJHWKHURERW$OOFRQQHFWLRQVPXVWEHPDGHZLWKLQWKH
VWDQGDUGYROWDJHDQGFXUUHQWUDWLQJVRIWKHURERW,2,QSXWVDQG2XWSXWV
(WPEVKQP/CPWCN
%JCRVGT 5CHGV
RCIG
(KPCN
016'5
Other manuals for motoman NX100
16
Table of contents
Other YASKAWA Controllers manuals
YASKAWA
YASKAWA SI-EN3 User manual
YASKAWA
YASKAWA MOTOMAN Series User manual
YASKAWA
YASKAWA A1000 Series User manual
YASKAWA
YASKAWA Sigma-7Siec User manual
YASKAWA
YASKAWA JEPMC-YVD3001-E User manual
YASKAWA
YASKAWA JEPMC-BUB3005-E User manual
YASKAWA
YASKAWA iQpump Configuration guide
YASKAWA
YASKAWA MOTOMAN FS100 User manual
YASKAWA
YASKAWA SGD7S series User manual
YASKAWA
YASKAWA Motoman DX200 User manual
YASKAWA
YASKAWA JOHB-GA50 User manual
YASKAWA
YASKAWA JAPMC-CP3301-1-E User manual
YASKAWA
YASKAWA PG-X2 User manual
YASKAWA
YASKAWA A1000 Series User manual
YASKAWA
YASKAWA Z1000 CIMR-ZU*A Series Owner's manual
YASKAWA
YASKAWA VIPA System 300S+ User manual
YASKAWA
YASKAWA SMG Series User manual
YASKAWA
YASKAWA MP Series Release note
YASKAWA
YASKAWA P1000 User manual
YASKAWA
YASKAWA SI-EM3 User manual
Popular Controllers manuals by other brands
Digiplex
Digiplex DGP-848 Programming guide
Sinope
Sinope Calypso RM3500ZB installation guide
Isimet
Isimet DLA Series Style 2 Installation, Operations, Start-up and Maintenance Instructions
LSIS
LSIS sv-ip5a user manual
Rockwell Automation
Rockwell Automation 1769-L31 installation instructions
Airflow
Airflow Uno hab Installation and operating instructions
