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.

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+105#('6;

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

5'%6+105'481(.1#6+05647%6+105

Provides detailed information about the ServoFloat Control Function.

 4GHGTGPEGVQ1VJGT&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

 %WUVQOGT5GTXKEG+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

+VKUVJGRWTEJCUGT UTGURQPUKDKNKV[VQGPUWTGVJCVCNNNQECNEQWPV[UVCVG

CPFPCVKQPCNEQFGUTGIWNCVKQPUTWNGUQTNCYUTGNCVKPIVQUCHGV[CPFUCHG

QRGTCVKPIEQPFKVKQPUHQTGCEJKPUVCNNCVKQPCTGOGVCPFHQNNQYGF

:HVXJJHVWWKDW\RXREWDLQDQGUHYLHZDFRS\RIWKH$16,5,$1DWLRQDO6DIHW\6WDQGDUGIRU

,QGXVWULDO5RERWVDQG5RERW6\VWHPV7KLVLQIRUPDWLRQFDQEHREWDLQHGIURPWKH5RERWLF,QGXVWULHV

$VVRFLDWLRQE\UH XHVWLQJ$16,5,$57KHDGGUHVVLVDVIROORZV

5RERWLF,QGXVWULHV$VVRFLDWLRQ

9LFWRUV:D\

32%R[

$QQ$UERU0LFKLJDQ

7(/

)$;

,17(51(7ZZZURERWLFVRQOLQHFRP

8OWLPDWHO\WKHEHVWVDIHJXDUGLVWUDLQHGSHUVRQQHO7KHXVHULVUHVSRQVLEOHIRUSURYLGLQJSHUVRQQHO

ZKRDUHDGH XDWHO\WUDLQHGWRRSHUDWHSURJUDPDQGPDLQWDLQWKHURERWFHOO7KHURERWPXVWQRWEH

RSHUDWHGE\SHUVRQQHOZKRKDYHQRWEHHQWUDLQHG

:HUHFRPPHQGWKDWDOOSHUVRQQHOZKRLQWHQGWRRSHUDWHSURJUDPUHSDLURUXVHWKHURERWV\VWHPEH

WUDLQHGLQDQDSSURYHG0RWRPDQWUDLQLQJFRXUVHDQGEHFRPHIDPLOLDUZLWKWKHSURSHURSHUDWLRQRIWKH

V\VWHP

(WPEVKQP/CPWCN

%JCRVGT 5CHGV

RCIG

(KPCN



7KLVVDIHW\VHFWLRQDGGUHVVHVWKHIROORZLQJ

 6WDQGDUG&RQYHQWLRQV6HFWLRQ

 *HQHUDO6DIHJXDUGLQJ7LSV6HFWLRQ

 0HFKDQLFDO6DIHW\'HYLFHV6HFWLRQ

 ,QVWDOODWLRQ6DIHW\6HFWLRQ

 3URJUDPPLQJ2SHUDWLRQDQG0DLQWHQDQFH6DIHW\6HFWLRQ

 5VCPFCTF%QPXGPVKQPU

7KLVPDQXDOLQFOXGHVWKHIROORZLQJDOHUWV–LQGHVFHQGLQJRUGHURIVHYHULW\–WKDWDUHHVVHQWLDOWRWKH

VDIHW\RISHUVRQQHODQGH XLSPHQW$V\RXUHDGWKLVPDQXDOSD\FORVHDWWHQWLRQWRWKHVHDOHUWVWR

LQVXUHVDIHW\ZKHQLQVWDOOLQJRSHUDWLQJSURJUDPPLQJDQGPDLQWDLQLQJWKLVH XLSPHQW

%"/(&3

+PHQTOCVKQPCRRGCTKPIKPC&#0)'4EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNHTQOVJGKOOGFKCVG

CPFKOOKPGPVJC\CTFUVJCVKHPQVCXQKFGFYKNNTGUWNVKPKOOGFKCVGUGTKQWURGTUQPCNKPLWT[QT

NQUUQHNKHGKPCFFKVKQPVQGSWKROGPVFCOCIG

8"3/*/(

+PHQTOCVKQPCRRGCTKPIKPC9#40+0)EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNCPFGSWKROGPVHTQO

RQVGPVKCNJC\CTFUVJCVECPTGUWNVKPRGTUQPCNKPLWT[QTNQUUQHNKHGKPCFFKVKQPVQGSWKROGPV

FCOCIG

$"65*0/

+PHQTOCVKQPCRRGCTKPIKPC%#76+10EQPEGTPUVJGRTQVGEVKQPQHRGTUQPPGNCPFGSWKROGPV

UQHVYCTGCPFFCVCHTQOJC\CTFUVJCVECPTGUWNVKPOKPQTRGTUQPCNKPLWT[QTGSWKROGPVFCOCIG

1RWH,QIRUPDWLRQDSSHDULQJLQD1RWHSURYLGHVDGGLWLRQDOLQIRUPDWLRQZKLFKLVKHOSIXOLQXQGHUVWDQGLQJWKHLWHPEHLQJ

H[SODLQHG

5GTXQ(NQCV



(KPCN

RCIG



 )GPGTCN5CHGIWCTFKPI6KRU

$OORSHUDWRUVSURJUDPPHUVSODQWDQGWRROLQJHQJLQHHUVPDLQWHQDQFHSHUVRQQHOVXSHUYLVRUVDQG

DQ\RQHZRUNLQJQHDUWKHURERWPXVWEHFRPHIDPLOLDUZLWKWKHRSHUDWLRQRIWKLVH XLSPHQW$OO

SHUVRQQHOLQYROYHGZLWKWKHRSHUDWLRQRIWKHH XLSPHQWPXVWXQGHUVWDQGSRWHQWLDOGDQJHUVRI

RSHUDWLRQ*HQHUDOVDIHJXDUGLQJWLSVDUHDVIROORZV

 ,PSURSHURSHUDWLRQFDQUHVXOWLQSHUVRQDOLQMXU\DQGRUGDPDJHWRWKHH XLSPHQW2QO\

WUDLQHGSHUVRQQHOIDPLOLDUZLWKWKHRSHUDWLRQRIWKLVURERWWKHRSHUDWRUVPDQXDOVWKHV\VWHP

H XLSPHQWDQGRSWLRQVDQGDFFHVVRULHVVKRXOGEHSHUPLWWHGWRRSHUDWHWKLVURERWV\VWHP

 'RQRWHQWHUWKHURERWFHOOZKLOHLWLVLQDXWRPDWLFRSHUDWLRQ3URJUDPPHUVPXVWKDYHWKH

WHDFKSHQGDQWZKHQWKH\HQWHUWKHURERWFHOO

 ,PSURSHUFRQQHFWLRQVFDQGDPDJHWKHURERW$OOFRQQHFWLRQVPXVWEHPDGHZLWKLQWKH

VWDQGDUGYROWDJHDQGFXUUHQWUDWLQJVRIWKHURERW,2,QSXWVDQG2XWSXWV

 7KHURERWPXVWEHSODFHGLQ(PHUJHQF\6WRS(6723PRGHZKHQHYHULWLVQRWLQXVH

 ,QDFFRUGDQFHZLWK$16,5,$5VHFWLRQ6RXUFHVRI(QHUJ\XVH

ORFNRXWWDJRXWSURFHGXUHVGXULQJH XLSPHQWPDLQWHQDQFH5HIHUDOVRWR6HFWLRQ

&)53DUW2FFXSDWLRQDO6DIHW\DQG+HDOWK6WDQGDUGVIRU*HQHUDO,QGXVWU\

26+$

 /GEJCPKECN5CHGV[&GXKEGU

7KHVDIHRSHUDWLRQRIWKHURERWSRVLWLRQHUDX[LOLDU\H XLSPHQWDQGV\VWHPLVXOWLPDWHO\WKHXVHUV

UHVSRQVLELOLW\7KHFRQGLWLRQVXQGHUZKLFKWKHH XLSPHQWZLOOEHRSHUDWHGVDIHO\VKRXOGEHUHYLHZHG

E\WKHXVHU7KHXVHUPXVWEHDZDUHRIWKHYDULRXVQDWLRQDOFRGHV$16,5,$5VDIHW\

VWDQGDUGVDQGRWKHUORFDOFRGHVWKDWPD\SHUWDLQWRWKHLQVWDOODWLRQDQGXVHRILQGXVWULDOH XLSPHQW

$GGLWLRQDOVDIHW\PHDVXUHVIRUSHUVRQQHODQGH XLSPHQWPD\EHUH XLUHGGHSHQGLQJRQV\VWHP

LQVWDOODWLRQRSHUDWLRQDQGRUORFDWLRQ7KHIROORZLQJVDIHW\H XLSPHQWLVSURYLGHGDVVWDQGDUG

 6DIHW\IHQFHVDQGEDUULHUV

 /LJKWFXUWDLQVDQGRUVDIHW\PDWV

 'RRULQWHUORFNV

 (PHUJHQF\VWRSSDOPEXWWRQVORFDWHGRQRSHUDWRUVWDWLRQURERWFRQWUROOHUDQG

SURJUDPPLQJSHQGDQW

&KHFNDOOVDIHW\H XLSPHQWIUH XHQWO\IRUSURSHURSHUDWLRQ5HSDLURUUHSODFHDQ\QRQIXQFWLRQLQJ

VDIHW\H XLSPHQWLPPHGLDWHO\

(WPEVKQP/CPWCN

%JCRVGT 5CHGV

RCIG

(KPCN



 +PUVCNNCVKQP5CHGV[

6DIHLQVWDOODWLRQLVHVVHQWLDOIRUSURWHFWLRQRISHRSOHDQGH XLSPHQW7KHIROORZLQJVXJJHVWLRQVDUH

LQWHQGHGWRVXSSOHPHQWEXWQRWUHSODFHH[LVWLQJIHGHUDOORFDODQGVWDWHODZVDQGUHJXODWLRQV

$GGLWLRQDOVDIHW\PHDVXUHVIRUSHUVRQQHODQGH XLSPHQWPD\EHUH XLUHGGHSHQGLQJRQV\VWHP

LQVWDOODWLRQRSHUDWLRQDQGRUORFDWLRQ,QVWDOODWLRQWLSVDUHDVIROORZV

 %HVXUHWKDWRQO\ XDOLILHGSHUVRQQHOIDPLOLDUZLWKQDWLRQDOFRGHVORFDOFRGHVDQG

$16,5,$5VDIHW\VWDQGDUGVDUHSHUPLWWHGWRLQVWDOOWKHH XLSPHQW

 ,GHQWLI\WKHZRUNHQYHORSHRIHDFKURERWZLWKIORRUPDUNLQJVVLJQVDQGEDUULHUV

 3RVLWLRQDOOFRQWUROOHUVRXWVLGHWKHURERWZRUNHQYHORSH

 :KHQHYHUSRVVLEOHLQVWDOOVDIHW\IHQFHVWRSURWHFWDJDLQVWXQDXWKRUL]HGHQWU\LQWRWKHZRUN

HQYHORSH

 (OLPLQDWHDUHDVZKHUHSHUVRQQHOPLJKWJHWWUDSSHGEHWZHHQDPRYLQJURERWDQGRWKHU

H XLSPHQWSLQFKSRLQWV

 3URYLGHVXIILFLHQWURRPLQVLGHWKHZRUNFHOOWRSHUPLWVDIHWHDFKLQJDQGPDLQWHQDQFH

SURFHGXUHV

 TQITCOOKPI1RGTCVKQPCPF/CKPVGPCPEG5CHGV[

$OORSHUDWRUVSURJUDPPHUVSODQWDQGWRROLQJHQJLQHHUVPDLQWHQDQFHSHUVRQQHOVXSHUYLVRUVDQG

DQ\RQHZRUNLQJQHDUWKHURERWPXVWEHFRPHIDPLOLDUZLWKWKHRSHUDWLRQRIWKLVH XLSPHQW,PSURSHU

RSHUDWLRQFDQUHVXOWLQSHUVRQDOLQMXU\DQGRUGDPDJHWRWKHH XLSPHQW2QO\WUDLQHGSHUVRQQHO

IDPLOLDUZLWKWKHRSHUDWLRQPDQXDOVHOHFWULFDOGHVLJQDQGH XLSPHQWLQWHUFRQQHFWLRQVRIWKLVURERW

VKRXOGEHSHUPLWWHGWRSURJUDPRSHUDWHDQGPDLQWDLQWKHV\VWHP$OOSHUVRQQHOLQYROYHGZLWKWKH

RSHUDWLRQRIWKHH XLSPHQWPXVWXQGHUVWDQGSRWHQWLDOGDQJHUVRIRSHUDWLRQ

 ,QVSHFWWKHURERWDQGZRUNHQYHORSHWREHVXUHQRSRWHQWLDOO\KD]DUGRXVFRQGLWLRQVH[LVW%H

VXUHWKHDUHDLVFOHDQDQGIUHHRIZDWHURLOGHEULVHWF

 %HVXUHWKDWDOOVDIHJXDUGVDUHLQSODFH&KHFNDOOVDIHW\H XLSPHQWIRUSURSHURSHUDWLRQ

5HSDLURUUHSODFHDQ\QRQIXQFWLRQLQJVDIHW\H XLSPHQWLPPHGLDWHO\

 'RQRWHQWHUWKHURERWFHOOZKLOHLWLVLQDXWRPDWLFRSHUDWLRQ%HVXUHWKDWRQO\WKHSHUVRQ

KROGLQJWKHSURJUDPPLQJSHQGDQWHQWHUVWKHZRUNFHOO

 &KHFNWKH(6723EXWWRQRQWKHSURJUDPPLQJSHQGDQWIRUSURSHURSHUDWLRQEHIRUH

SURJUDPPLQJ7KHURERWPXVWEHSODFHGLQ(PHUJHQF\6WRS(6723PRGHZKHQHYHULWLV

QRWLQXVH

 %DFNXSDOOSURJUDPVDQGMREVRQWRVXLWDEOHPHGLDEHIRUHSURJUDPFKDQJHVDUHPDGH7R

DYRLGORVVRILQIRUPDWLRQSURJUDPVRUMREVDEDFNXSPXVWDOZD\VEHPDGHEHIRUHDQ\

VHUYLFHSURFHGXUHVDUHGRQHDQGEHIRUHDQ\FKDQJHVDUHPDGHWRRSWLRQVDFFHVVRULHVRU

H XLSPHQW

5GTXQ(NQCV



(KPCN

RCIG



 $Q\PRGLILFDWLRQVWR3$576\VWHP6HFWLRQRIWKHURERWFRQWUROOHUFRQFXUUHQW,2

SURJUDPFDQFDXVHVHYHUHSHUVRQDOLQMXU\RUGHDWKDVZHOODVGDPDJHWRWKHURERW'RQRW

PDNHDQ\PRGLILFDWLRQVWR3$576\VWHP6HFWLRQ0DNLQJDQ\FKDQJHVZLWKRXWWKHZULWWHQ

SHUPLVVLRQRI0RWRPDQZLOO92,'<285:$55$17<

 6RPHRSHUDWLRQVUH XLUHVWDQGDUGSDVVZRUGVDQGVRPHUH XLUHVSHFLDOSDVVZRUGV6SHFLDO

SDVVZRUGVDUHIRU0RWRPDQXVHRQO\<285:$55$17<:,//%(92,'LI\RXXVH

WKHVHVSHFLDOSDVVZRUGV

 7KHURERWFRQWUROOHUDOORZVPRGLILFDWLRQVRI3$578VHU6HFWLRQRIWKHFRQFXUUHQW,2

SURJUDPDQGPRGLILFDWLRQVWRFRQWUROOHUSDUDPHWHUVIRUPD[LPXPURERWSHUIRUPDQFH*UHDW

FDUHPXVWEHWDNHQZKHQPDNLQJWKHVHPRGLILFDWLRQV$OOPRGLILFDWLRQVPDGHWRWKH

FRQWUROOHUZLOOFKDQJHWKHZD\WKHURERWRSHUDWHVDQGFDQFDXVHVHYHUHSHUVRQDOLQMXU\RU

GHDWKDVZHOODVGDPDJHWKHURERWDQGRWKHUSDUWVRIWKHV\VWHP'RXEOHFKHFNDOO

PRGLILFDWLRQVXQGHUHYHU\PRGHRIURERWRSHUDWLRQWRHQVXUHWKDW\RXKDYHQRWFUHDWHG

KD]DUGVRUGDQJHURXVVLWXDWLRQV

 &KHFNDQGWHVWDQ\QHZRUPRGLILHGSURJUDPDWORZVSHHGIRUDWOHDVWRQHIXOOF\FOH

 7KLVH XLSPHQWKDVPXOWLSOHVRXUFHVRIHOHFWULFDOVXSSO\(OHFWULFDOLQWHUFRQQHFWLRQVDUH

PDGHEHWZHHQWKHFRQWUROOHUDQGRWKHUH XLSPHQW'LVFRQQHFWDQGORFNRXWWDJRXWDOO

HOHFWULFDOFLUFXLWVEHIRUHPDNLQJDQ\PRGLILFDWLRQVRUFRQQHFWLRQV

 'RQRWSHUIRUPDQ\PDLQWHQDQFHSURFHGXUHVEHIRUHUHDGLQJDQGXQGHUVWDQGLQJWKHSURSHU

SURFHGXUHVLQWKHDSSURSULDWHPDQXDO

 8VHSURSHUUHSODFHPHQWSDUWV

 ,PSURSHUFRQQHFWLRQVFDQGDPDJHWKHURERW$OOFRQQHFWLRQVPXVWEHPDGHZLWKLQWKH

VWDQGDUGYROWDJHDQGFXUUHQWUDWLQJVRIWKHURERW,2,QSXWVDQG2XWSXWV

(WPEVKQP/CPWCN

%JCRVGT 5CHGV

RCIG

(KPCN



016'5

Other manuals for motoman NX100

Table of contents

Other YASKAWA Controllers manuals

YASKAWA

YASKAWA YRC1000micro User manual

YASKAWA

YASKAWA A1000 Series User manual

YASKAWA

YASKAWA JEPMC-EXU3001-E User manual

YASKAWA

YASKAWA PG-X2 User manual

YASKAWA

YASKAWA L1000E User manual

YASKAWA

YASKAWA CIMR-G7U User manual

YASKAWA

YASKAWA Motoman DX200 User manual

YASKAWA

YASKAWA MP3300 series User manual

YASKAWA

YASKAWA JEPMC-PSA3012-E User manual

YASKAWA

YASKAWA Z1000 CIMR-ZU*A Series User manual

YASKAWA

YASKAWA MP2300Siec User manual

YASKAWA

YASKAWA MP2300 User manual

YASKAWA

YASKAWA motoman NX100 User manual

YASKAWA

YASKAWA Motoman DX200 User manual

YASKAWA

YASKAWA motoman NX100 User manual

YASKAWA

YASKAWA MotionSuite MP940 User manual

YASKAWA

YASKAWA Motoman MLX200 Mounting instructions

YASKAWA

YASKAWA SI-EP3 User manual

YASKAWA

YASKAWA YRC1000 User manual

YASKAWA

YASKAWA SGD7S series User manual

YASKAWA

YASKAWA U1000 iQpump Drive Operator's manual

YASKAWA

YASKAWA A1000 Series User manual

YASKAWA

YASKAWA CDBR-2015B User manual

YASKAWA

YASKAWA E7 Drive 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

ABB

ABB ACS580-01 drives Hardware manual

Panasonic

Panasonic GM1 Series Reference manual

Emerson

Emerson SW93 owner's manual

AutoAqua

AutoAqua Smart ATO micro SATO-120P manual

Panasonic

Panasonic FP? Positioning Unit RTEX Technical manual

Samson

Samson Type 5824 Mounting and operating instructions

Alpha IP

Alpha IP MIOB 21001 manual

Siemens

Siemens OpenAir GMA 1 Series Mounting instructions

Surecom

Surecom SR-629 user manual

Fishman

Fishman TriplePlay installation guide

Regulus

Regulus SRS1 T Installation and operation manual

3M MicroTouch EX113 reference guide