Mrs6101GB 0 U PDF

MOTOMAN NX100
SYSTEM SETUP
Upon receipt of this product and prior to
initial operation, read these instructions
thoroughly, and retain for future refer-
ence.
Document No: MRS6101GB.0.U

Reference list
This manual is a revised version of the YEC document:

RE-CSO-A031 rev. 0 and,
RE-CTO-A211 rev. 1
Revision
040528
First release of this document.
Page 2 Revised: 04-05-28 NX_framsida eng.fm

NX100 system setup
1. Security system 7
Protection through security mode settings .................................................7
Security mode.............................................................................................7
User ID .....................................................................................................14
2. Parameter 17
Parameter configuration ............................................................................17
Motion speed setting parameters ..............................................................18
Mode operation setting parameters ..........................................................26
Parameters according to interference area ..............................................37
Parameters according to status I/O ..........................................................45
Parameters according to coordinated or synchronized operation .........51
Parameters for other functions or applications .......................................56
Hardware control parameters ...................................................................58
Transmission parameters ...........................................................................60
Basic protocol...........................................................................................60
FC1 protocol.............................................................................................61
Application parameters ..............................................................................62
Arc welding ..............................................................................................62
Handling application ................................................................................64
Spot welding .............................................................................................65
General-purpose application.....................................................................67
3. System setup 69
Home position calibration ..........................................................................69
Home position calibration ........................................................................70
Calibrating operation ................................................................................71
Home position of the robot.......................................................................75
Second home position (check point) ..........................................................76
Purpose of position check operation.........................................................78
Setting the second home position (check point).......................................80
Procedure after an alarm...........................................................................81
Setting the controller clock ........................................................................82
Setting play speed .......................................................................................83
All limits releasing ......................................................................................84
Overrun / tool shock sensor releasing .......................................................86
Interference area .........................................................................................88
Interference area .......................................................................................88
Cubic interference area.............................................................................88
Axis interference area...............................................................................95
Clearing interference area data.................................................................98
Work home position ...................................................................................99
Function outline........................................................................................99
Setting work home position......................................................................99
Tool data setting ........................................................................................102
Registering tool files...............................................................................102
Tool calibration ......................................................................................107
Automatic measurement of the tool load and the center of gravity .......113
User coordinates setting ...........................................................................117
User coordinates .....................................................................................117
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NX100 system setup
User coordinates setting ......................................................................... 118

ARM control ............................................................................................. 122
ARM control .......................................................................................... 122
ARM control window ............................................................................ 122
Tool load information setting................................................................. 127
Shock detection function .......................................................................... 137
Shock detection function........................................................................ 137
Shock detection function setting ............................................................ 137
Instruction level setting ............................................................................ 149
Setting contents ...................................................................................... 149
Setting instruction set level operation.................................................... 151
Numeric key customize function ............................................................. 152
What is the numeric key customize function? ....................................... 152
Allocatable functions ............................................................................. 152
Allocating an operation.......................................................................... 154
Allocation of I/O control instructions .................................................... 163
Execution of allocation .......................................................................... 164
Changing the output status ..................................................................... 165
Temporary release of soft limits ............................................................. 167
Changing the parameter setting ............................................................. 169
File initialize .............................................................................................. 171
Initialize job file ..................................................................................... 171
Initialize data file ................................................................................... 172
Initialize parameter file .......................................................................... 173
Initializing I/O data ................................................................................ 174
Initializing system data .......................................................................... 175
4. Modification of system configuration 177

Addition of I/O modules .......................................................................... 177
Addition of base and station axis ............................................................ 180
Base axis setting..................................................................................... 183
Station axis setting ................................................................................. 194
5. System diagnosis 205

System version .......................................................................................... 205
Manipulator model (robot type) ............................................................. 205
Input/output status ................................................................................... 206
User input............................................................................................... 206
User output............................................................................................. 207
System input........................................................................................... 209
System output......................................................................................... 210
RIN input ............................................................................................... 211
Modification of the signal name ............................................................ 212
Signal number search ............................................................................. 214
Relay number search.............................................................................. 216
Cumulative time display .......................................................................... 218
Cumulative time display window .......................................................... 218
Individual window of the cumulative time display................................ 219
Clearing the cumulative time display .................................................... 220
Alarm history ............................................................................................ 221
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NX100 system setup
Alarm history window ............................................................................221

Clearing the alarm history ......................................................................222
I/O message history ..................................................................................223
I/O message history window ..................................................................223
Clearing the I/O message history ...........................................................224
Position data when power is turned ON/OFF ........................................225
Current position ........................................................................................226
Servo monitoring ......................................................................................227
Servo monitor window ...........................................................................227
Changing the monitor items ...................................................................228
Clearing maximum torque data ..............................................................229
Mrs6101GBTOC.fm Revised: 04-05-28 Page 5

NX100 system setup
Page 6 Revised: 04-05-28 Mrs6101GBTOC.fm

NX100 system setup
Protection through security mode settings
MOTOMAN NX100 system setup

1. Security system
1.1 Protection through security mode settings
The NX100 modes setting are protected by a security system. The system allows operation
and modification of settings according to operator clearance. Be sure operators have the cor-
rect level of training for each level to which they are granted access.
1.1.1 Security mode

There are three security modes. Editing mode and managememt mode require a user ID. The
user ID consists of numbers and letters, and contains no less than 4 and no more than 8 cha-
racters. (Significant numbers and signs: ”0 to 9”, “-”, “.”.
Security mode Explanation
This mode allows basic operation of the robot (stopping, starting, etc.)
Operation mode
for people operating the robot work on the line.
Editing mode This mode allows the operator to teach and edit jobs and robot settings.
This mode allows those authorized to set up and maintain robot system:
Managememt mode
parameters, system time and modifying user IDs.
Fig.1 Security mode description
Mrs6101GB-ch8.fm Revised: 04-05-28 Page 7

NX100 system setup
Menu & security mode
Allowed security mode

Main menu Sub menu
DISPLAY EDIT
JOB Operation Edit
SELECT JOB Operation Operation
CREATE NEW JOB Edit Edit

JOB MASTER JOB Operation Edit
JOB CAPACITY Operation -
RESERVED START (JOB) Edit Edit
RESERVATION STATUS Operation -
BYTE Operation Edit
INTEGER Operation Edit
DOUBLE PRECITION Operation Edit
REAL Operation Edit

VARIABLE
STRING Operation Edit
POSITION (ROBOT) Operation Edit
POSITION (BASE) Operation Edit
POSITION (ST) Operation Edit
EXTERNAL INPUT Operation -
EXTERNAL OUTPUT Operation -
USER INPUT Operation -
USER OUTPUT Operation -
SYSTEM INPUT Edit -
SYSTEM OUTPUT Edit -
RIN Edit -
REGISTER Edit -
IN/OUT AUXILIARY RELAY Edit -
CONTROL INPUT Edit -
PSEUDO INPUT SIGNAL Edit Management
NETWORK INPUT Edit -
ANALOG OUTPUT Edit -
SV POWER STATUS Edit -
LADDER PROGRAM Management Management
I/O ALARM Management Management
I/O MESSAGE Management Management
Page 8 Revised: 04-05-28 Mrs6101GB-ch8.fm

NX100 system setup

Main menu Sub menu
DISPLAY EDIT
CURRENT POSITION Operation -
COMMAND POSITION Operation -
SERVO MONITOR Management -
SECOND HOME POS Operation Edit
WORK HOME POSITION Operation Edit
DROP AMOUNT Management Management
POWER ON/OFF POS Operation -
TOOL Edit Edit
INTERFERENCE Management Management

ROBOT SHOCK SENS LEVEL Operation Management
USER COORDINATE Edit Edit
HOME POSITION Management Management
MANIPULATOR TYPE Management -
ROBOT CALIBRATION Edit Edit
ANALOG MONITOR Management Management
OVERRUN&S-SENSOR Edit Edit
LIMIT RELEASE Edit Management
ARM CONTROL Management Management
SHIFT VALUE Operation -
MONITORING TIME Operation Management
ALARM HISTORY Operation Management

SYSTEM INFO
I/O MSG HISTORY Operation Management
VERSION Operation -
LOAD Edit -
SAVE Operation -
FD/PC CARD VERIFY Operation -
DELETE Operation -
DEVICE Operation Operation

NX100 system setup

Main menu Sub menu
DISPLAY EDIT
S1CxG Management Management
S2C Management Management
A1P Management Management

PARAMETER
RS Management Management
S1E Management Management
TEACHING COND Edit Edit
OPERATE COND Management Management
DATE/TIME Management Management
GRP COMBINATION Management Management
SET WORD Edit Edit

SETUP
RESERVE JOB NAME Edit Edit
USER ID Edit Edit
SET SPEED Management Management
KEY ALLOCATION Management Management
RESERVED START (CONNECT) Management Management
ARC START CONDITION Operation Edit
ARC END CONDITION Operation Edit
ARC AUXILIARY CONDITION Operation Edit

ARC WELDING
WELDER CONDITION Operation Edit
ARC WELD DIAGNOSIS Operation Edit
WEAVING Operation Edit
HANDLING HANDLING DIAGNOSIS Operation Edit
WELD DIAGNOSIS Operation Edit
I/O ALLOCATION Management Management

SPOT WELDING
GUN CONDITION Management Management
WELDER CONDITION Management Management

NX100 system setup

Main menu Sub menu
DISPLAY EDIT
WELD DIAGNOSIS Operation Edit
GUN PRESSURE Edit Edit

SPOT WELDING
(MOTOR GUN) PRESSURE Edit Edit
I/O ALLOCATION Management Management
GUN CONDITION Management Management
GUN CONDITION AUX Management Management
WELDER CONDITION Management Management
GENERAL GENERAL DIAGNOSIS Operation Edit
PAINT SYSTEM Management Management
PAINT DEVICE Management Management

PAINT
CCV-PAINT TABLE Management Management
PAINT CONDITION Operation Edit

NX100 system setup
Changing the security mode

Operation Explanation
The main menu is shown.
DATA EDIT DISPLAY UTILITY
FD/PC CARD
FLOPPY DISK/Compact Flash
JOB
DOUT
MOVE
END CF
ARC WELDING PARAMETER DEVICE FC1

FC2
PC CARD
VARIABLE SETUP
B001
Select {SYSTEM INFO} under the MONITORING TIME
1 IN/OUT
main menu. In Out
ALARM HISTORY
ROBOT
I/O MSG HISTORY
SYSTEM INFO
VERSION
Main Menu SECURITY Turn on servo power
Note: Icons for the main menu such as arc welding system differ
depending on the system being used.
The selection window of security mode is shown.

JOB FD/PC CARD SECURITY MODE

DOUT
MOVE
END CF
ARC WELDING PARAMETER
MODE EDITING MODE
VARIABLE SETUP
B001
2 Select {SECURITY}.
IN/OUT
In Out
ROBOT
SYSTEM INFO
Main Menu ShortCut Turn on servo power

DOUT
MOVE
END CF
ARC WELDING PARAMETER
MODE OPERATING MODE
EDITING MODE
VARIABLE SETUP MANAGEMENT MODE
Press [SELECT] and select B001
3
"SECURITY MODE."
IN/OUT
In Out
ROBOT
SYSTEM INFO

NX100 system setup
The user ID input window is shown.


DOUT
MOVE
END CF
ARC WELDING PARAMETER PASSWORD=

MODE
VARIABLE SETUP
B001
IN/OUT
In Out
ROBOT
4 Select "SECURITY MODE."
SYSTEM INFO
Supplement
At the factory, the following below user ID number is preset.
> Editing Mode:[00000000]
> Managememt Mode:[99999999]
5 Input the user ID.
The input user ID is compared with the user ID of the selected

6 Press [ENTER]. security mode. When the correct user ID is entered, the security
mode is changed.

NX100 system setup
1.1.2 User ID
User ID is requested when Editing Mode or Managememt Mode is operated.
User ID must be between 4 characters and 8, and they must be numbers and symbols (“0 to
9”,“-” and “.”).
Changing a user ID
In order to change the user ID, the NX100 must be in Editing mode or Managememt mode.
Higher security modes can make changes the user ID of to lower security modes.
Select {SETUP} under the main

1
menu.
User ID window is shown.
USER ID
EDITING MODE
MANAGEMENT MODE
2 Select {USER ID}.
The character input line is shown, and the message "Input current
ID no. (4 to 8 digits)" is shown.
USER ID
EDITING MODE
MANAGEMENT MODE
3 Select the desired ID.
Main Menu ShortCut Input new ID no. (4 to 8 digits)

NX100 system setup
When the correct user ID is entered, a new user ID is requested to

be input. "Input new user ID no.(4 to 8 digits)" is shown.
USER ID
EDITING MODE
MANAGEMENT MODE
Input current ID and press
4
[ENTER].
Main Menu ShortCut Input new ID no. (4 to 8 digits)
5 Input new ID and press [ENTER]. User ID is changed.

NX100 system setup

NX100 system setup
Parameter configuration
2. Parameter
2.1 Parameter configuration
The parameters of NX100 can be classified into the following seven:
Motion speed setting parameter

Determines the manipulator motion speed for jog operation at teaching, test operation, or
playback operation.
Mode operation setting parameter
Makes the setting for various operations in the teach mode or remote mode.
Parameter according to interference area
Limits the P-point maximum envelope of the manipulator or sets the interference area for axis
interference or cubic interference.
Parameter according to status I/O
Sets the parity check or I/O setting for user input/output signals.
Parameter according to coordinated or synchronized operation
Makes the settings for coordinated or synchronized operations between manipulators or bet-
ween manipulators and stations.
Parameter for other functions or applications
Makes the settings for other functions or applications.
Hardware control parameter
Makes the hardware settings for fan alarm or relay operation, etc.
Supplement
S1CxG Parameters
The initial setting of S1CxG parameters depends on the manipulator model.
For a system in which two manipulators are controlled, the following two types of parameters
are used: S1C1G type and S1C2G type.

NX100 system setup
Motion speed setting parameters
2.2 Motion speed setting parameters

These parameters set the manipulator motion speed for jog operation at teaching, test opera-
tion, or playback operation.
S1CxG000: In-guard safe operation max. speed

Units: 0.01%
The upper speed limit is set for in-guard safe operation. While the in-guard safe operation
command signal is being input, the TCP speed is limited to the TCPmax speed.
S1CxG001: Dry-run speed

Units: 0.01%
This is a dry-run operation speed setting value used when checking the path. Take safety into
consideration when setting changes are unnecessary.
Normal playback operation speed
Safety speed limit

Operation speed under in-guard
safe operation
Teach speed
Dry-run speed limit
Operation
speed when
dry-run is
specified
S1CxG002 to S1CxG009: Joint speed for registration

Units: 0.01%
The value set in these parameters is registered as the joint speed for each speed level when
teaching the position data with the programming pendant. The percentage corresponding to
the set value at each level is registered as 100% of the value set in the playback speed limit.
Values greater than those set as speed limit values cannot be set.
S1CxG010 to S1CxG017: Linear speed for registration

Units: 0.1mm/s
The value set in these parameters is registered as the linear speed for each speed level when
teaching the position data with the programming pendant. Values greater than those set as
playback speed limit values cannot be set.
S1CxG018 to S1CxG025: Position angle speed

Units: 0.1°/s
The value set in these parameters is registered as the position angle speed for each speed
level when teaching the position data with the programming pendant. Values greater than
those set as playback speed limit cannot be set.

NX100 system setup
S1CxG026 to S1CxG029: Jog operation absolute value speed

Units: 0.1mm/s
These are setting values of jog operation speed set by the programming pendant. Values gre-
ater than those set as jog operation speed limit value cannot be set.
Low level : Jog operation speed when “LOW” manual speed is specified.
Medium level : Jog operation speed when “MEDIUM” manual speed is specified.
High level : Jog operation speed when “HIGH” manual speed is specified.
High-speed-level : Jog operation speed when [HIGH SPEED] is pressed.
S1CxG030 to S1CxG032: Inching move amount

These parameters specify the amount per move at inching operation by the programming
pendant. The referenced parameter differs according to the operation mode at inching opera-
tion.
Joint Operation : 1 to 10 pulses in units of 1 pulse
Cartesian/cylindrical,user,tool : 0.01 to 2.55mm in units of 0.01mm
Motion about TCP : 0.1 to 1.0° in units of 0.1°
S1CxG033 to S1CxG040: Positioning zone

This parameter value will be referenced when positioning is specified with the “MOVE” ins-
truction : MOVJ (joint movement) or MOVL (linear movement).
<Example>
MOVL V=100.0 PL=1

Positioning level
Positioning specification
The value set in this parameter specifies the range to enter in relation to the teaching point for
that step positioning. After entering the specified positioning zone, the manipulator starts
moving to the next step. The system is also set up so circular movement is carried out in the
moving section when moving to the next path; speed changeover is smooth.
Since operation will be turning inward during playback, as shown in the following diagram,
use setting values taking safety aspects into consideration.
P1
P1
l1
l2
l l3
P1 l4
l8
P1

NX100 system setup
Note1
This process becomes effective when change in direction of steps is between 250° and 155°.
Supplement
Position Level
Position levels are divided into nine stages of 0 to 8 with the “MOV” instruction.
e.g. MOVL V=500 PL=1 (PL:Position Level)
The functions at each level are as follows:
0 : Complete positioning to the target point
1 to 8 : Inward turning operation
Following are explanations of the respective processing details and their relations with the
parameter.
Level 0
Determines positioning completion when the amount of deviation (number of pulses) to
the target point of each axis comes within the position set zone specified by the
parameter.
After the positioning completes, the instruction system starts instruction to the next target
point.
Level 1 to 8
Recognizes virtual positioning before the target point. The distance of the virtual target
position from the target point is specified at the positioning level.
Distance data corresponding to each level are set in the parameter. Determination of the
virtual target position is carried out in the instruction system.
Set zone: The zone of each positioning level set in the parameter. (µm)
S1CxG044: Low-speed start

Units: 0.01%
This parameter specifies max. speed at low speed start. Specify the starting method for “initial
operation speed of manipulator” (S2C169).
S1CxG045 to S1CxG048: Jog operation link speed

Units: 0.01%
These parameters prescribe the link speed at jog operation by the programming pendant.
Specify the percentage (%) for the jog operation speed limit, the joint max. speed.
S1CxG045: Jog operation link speed at level “LOW”

S1CxG046: Jog operation link speed at level “MEDIUM”
S1CxG047: Jog operation link speed at level “HIGH”
S1CxG048: Jog operation link speed at level “HIGH SPEED”

NX100 system setup
S1CxG056: Work home position return speed

Units: 0.01%
This parameter specifies the speed for returning to work home position against the maximum
speed.
S1CxG057: Search max. speed

Units: 0.1mm/s
This paramter specifies the max. speed for searching.
S2C153: Posture control at cartesian operation of jog

This parameter specifies whether or not posture control is performed at cartesian operation of
“JOG” by the programming pendant. Use posture control unless a special manipulator model
is used.
0: With posture control
1: Without posture control
S2C154: Operation in user coordinate system

(when external reference point control function used)
This parameter specifies the TCP or reference point of motion about TCP when the external
reference point control function is used and the user coordinate system is selected by the pro-
gramming pendant.
0: When robot TCP is selected
1: When external reference point is selected
Robot TCP
External
reference
point

NX100 system setup
S2C238: Controlled group job teaching position change

This parameter is used to change only the job teaching position of controlled group axis.
0: Not changed
1: Changed
S2C324, S2C325: Operation after reset from path deviation

These parameters specify the method of restarting the manipulator that has deviated from the
normal path such as an emergency stop or jog operation.
0: Move to the indicated step (initial setting).
1: After moving back to the deviated position, move to the indicated step.
2: Move back to the deviated position and stop.
Parameter
Movement when restarting
setting value
Move to next step.
Emergency stop
Move back to the deviated position and then move to the indicated step.
Emergency stop
Move back to the deviated position and stop. When restarting, move to the
indicated step.
Emergency stop
2
Fig.2 Parameter S2C324

NX100 system setup
Parameter
setting value
Move to the next step.
JOG Movement when restarting
Move back to the deviated position and then move to the indicated step.
Emergency stop
JOG
Move back to the deviated position and stop. When restarting, move to the
indicated step.
Emergency stop
JOG
Fig.3 Parameter S2C325
Note!
Moving speed to the deviated position is the same as the speed at low-speed starting. It is
linear movement. After resetting from deviation, the speed becomes the same as taught
speed.

NX100 system setup
S2C326: Deviated position

This parameter specifies whether deviated position is to be robot current (reference) position
or feedback position.
0: Return to the feedback position.
1: Return to the current value (reference) position.
When emergency stop is applied during high-speed motion, the deviated position differs from
the robot current value (reference) position and feedback position as shown in the following.
Current value
Feedback position (reference position)
Emergency stop
S2C515: Emergency stop cursor advance control function

This parameter specifies whether to use the cursor advance control function or not.
0: Not use
1: Use
S2C516: Emergency stop cursor advance control function cont process

completion position
Units: %
When the manipulator stops during moving inner corner by CONT process, this parameter
specifies which position of the inner corner should be considered as the end of step.
Step 4
100%
B When 50% is set, moves to step 3 if the robot stops in

section A, and to step 4 if robot stops in section B.
50%
A
Step 3
0%

NX100 system setup
S2C517: Emergency stop advance control function work start instruction

step motion completion delay time
Units: ms
In order to recognize securely the completion of motion to the step of work start instruction
(such as ARCON instruction), this parameter specifies the delay time for motion completion of
the work start instruction step only.
S2C560: Base axis operation key allocation setting
Coordinates/Parameter S2C560= “0” S2C560= “1”
Joint Axis number order Specified
Cylindrical Axis number order Specified
Cartesian Specified Specified
Tool Specified Specified
User Specified Specified
Fig.4 Parameter setting and jog operation key allocation
Axis number order: X: First axis, Y: Second axis, Z: Third axis

Specified: X: X-direction(RECT-X), Y: Y-direction(RECT-Y), Z: Z-direction(RECT-Z)
S3C806 to S3C808: Position correcting function during playback

These parameters specify the necessary data for position correcting function (PAM) during
playback operation.
S3C806 Specifies the limit of position correcting range (Units: µm)
S3C807 Specifies the limit of speed correcting range (Units: 0.01%)
Specifies the correcting coordinates
0 : Base
1 : Robot
S3C808 2 : Tool
3 : User 1
to
26:User 24

NX100 system setup
Mode operation setting parameters
2.3 Mode operation setting parameters

These parameters set various operations in the teach mode or remote mode.
S2C147: Security mode when control power supply is turned ON

The operation level when the control power supply is turned ON is set.
0: Operation Mode
1: Editing Mode
2: Management Mode
S2C148: Selection of cartesian/cylindrical

This parameter specifies whether the cartesian mode or cylindrial mode is affected when car-
tesian/cylindrical mode is selected by operation (coordinate) mode selection at axis operation
of programming pendant. This specification can be done on the TEACHING CONDITION win-
dow.
0: Cylindrical mode
1: Cartesian mode
S2C149: Coordinate switching prohibited

This parameter prohibits switching coordinates during JOG operation by the programming
pendant.
0: Switching permitted for tool coordinates and user coordinates
1: Switching prohibited for tool coordinates
2: Switching prohibited for user coordinates
3: Switching prohibited for tool coordinates and user coordinates

NX100 system setup
S2C150: Execution units at “FORWARD” operation

This parameter specifies the execution units at step mode of “FORWARD” operation by the
programming pendant.
Parameter setting
Operation units
value
MOVL
DOUT
0 TIMER Stops at every instruction
DOUT
MOVL
MOVL
DOUT
1 TIMER Stops at move instruction
DOUT
MOVL
S2C151: Instruction (except for move) execution at “FORWARD” operation

This parameter specifies the method of instruction (except for move) execution at “FOR-
WARD” operation by the programming pendant.
0: Executed by pressing [FWD] + [INTERLOCK]
1: Executed by pressing [FWD] only
2: Instruction not executed
S2C155: Changing step only

This parameter specifies whether to permit only step changes in an editing-prohibited job.
When permitted, only position data can be changed but additional data such as speed cannot
be changed. This specification can be done on the TEACHING CONDITION window.
0: Permitted
1: Prohibited
S2C156: Manual speed storing for each coordinate

This parameter specifies whether to assign different manual speeds for the joint coordinates
and other coordinates. If “NOT STORED” is selected, manual speed is not affected by chang-
ing the coordinates. If “STORED” is selected, manual speeds can be selected separately for
the joint coordinates and other coordinates.
0: Not stored
1: Stored

NX100 system setup
S2C158: Additional step position

This parameter designates either “before next step” or “after the cursor position (between ins-
tructions)” as additional step position. This specification can be done on the TEACHING
CONDITION window.
<Example>
Line Instruction
10 MOVL V=100
11 TIMER T=1.00
12 DOUT OT# (1) ON
13 MOVL V=50
Cursor position
S2C158-0 (Before the Next Step)

Line Instruction
10 MOVL V=100
11 TIMER T=1.00
12 DOUT OT#(1) ON
13 MOVL V=100
14 MOVL V=50
Added step
S2C158-1 (Between Instructions)
Line Instruction
10 MOVL V=100
11 TIMER T=1.00
12 MOVL V=100
13 DOUT OT# (1) ON
14 MOVL V=50
Added step
S2C159: Master job changing operation

This parameter specifies whether to permit or prohibit master job changing operation. If
“PROHIBIT” is specified, the master job cannot be changed (or registered) easily. The specifi-
cation can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited

NX100 system setup
S2C160: Check and machine-lock key operation in play mode

This parameter specifies whether to permit or prohibit in play mode to change the operation
that changes the operation condition. Even if an error occurs because of the operation with
the keys, the manipulator does not stop. The specification can be done on the OPERATING
CONDITION window.
0: Permitted
1: Prohibited
S2C161: Reserved work job changing operation

This parameter specifies whether to permit reserved work job changing operation.
The designation can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
S2C162: Master or submaster call operation in play mode

This parameter specifies whether the master or submaster call operation in play mode is per-
mitted or not. When the independent control function is valid, the master job for sub-task is
specified at the same time. The specification can be done on the OPERATING CONDITION
window.
0: Permitted
1: Prohibited
S2C163: Language level

This parameter specifies the level of the robot language (INFORM III). The levels simplify the
instruction registering operation. With NX100, all robot instructions can be executed regard-
less of specification of instruction sets. The specification can be done on the TEACHING
CONDITION window.
0: Contracted Level
Only frequently used robot instructions are selected to reduce the number of instructions to
be registered. Robot instructions displayed on the instruction dialog box are also reduced so
that specification is simplified.
1: Stardard Level
2: Expanded Level
All the robot instructions are available in standard and expanded levels. The two levels are
distinguished by the number of additional information items (tags) that can be used with robot
instructions. At the expanded level, the flowing functions are available.
Local variables and array variables
Use of variables for tags (Example: MOVJ VJ=I000)
The above functions are not available at the standard level, however, which reduces the num-
ber of data required to register instructions, thereby simplifying the operation.

NX100 system setup
S2C166: Instruction input learning function

This parameter specifies wheter to set a line of instructions that has been input on the input
buffer line when pressing the first soft key for each instruction. If “PROVIDED” is selected, the
instructions are set.
0: Without learning function
1: With learning function
S2C167: Address setting when control power is turned ON

This parameter specifies the processing of the job name ,step No. , and line No. that are set
when the control power supply is turned ON.
0: Reproduces the address when power supply is turned ON.
1: Lead address (Line”0”) of the master job.
S2C168: Job list display method at job selection

These parameters specify the displaying method on the JOB LIST window at job selection.
0: Order of Names
1: Order of Date
2: Order of Registration
S2C169: Initial operation of manipulator

This parameter specifies the operation speed level of the first section when starting. Specify
the operation speed with the low-speed start (S1CxG044). When starting at low-speed, the
manipulator stops after reaching the indicated step regardless of the cycle setting. Once the
manipulator is paused during the low-speed operation, it moves at teaching speed when
restarted.
Specified on the SPECIAL PLAY window. Operates at low speed only when low speed start is set. Oper-
0:
ates at taught speed when not instructed.
1: Starts at low speed after editing regardless of soft key instructions.

NX100 system setup
S2C170: Playback execution at cycle mode “1- step”
Parameter Setting
Operation Units
Value
MOVL
DOUT
0 TIMER Stops at every instruction.
DOUT
MOVL
MOVL
DOUT
1 TIMER Stops at move instruction.
DOUT
MOVL
Note!
When operating “FORWARD” by the programming pendant, the units for exection are set in
another parameter (S2C150).
S2C171: External start

This parameter specifies whether a start instruction from external input is accepted or not.
The specification can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
S2C172: Programming pendant start

This parameter specifies whether a start instruction from the programming pendant is accep-
ted or not.
0: Permitted
1: Prohibited
S2C173: Speed data input form

This parameter specifies the units for speed data input and display.
0: mm/s : in units of 0.1 mm/s
1: cm/min : in units of 1cm/min
2 inch/min : in units of 1 inch/min
3 mm/min : in units of 1 mm/min
The specification can be done on the OPERATING CONDITION window.

NX100 system setup
S2C174: Reserved start

This parameter specifies whether a reserved start instruction from the programming pendant
is accepted or not. The specification can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
S2C176: Job selection at remote function (play mode)

This parameter specifies whether a job selection in play mode at remote function is prohibited
or not.
0: Permitted
1: Prohibited
S2C177: External mode switch

This parameter specifies whether mode switching from the outside is accepted or not. The
specification can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
S2C178: Mode switching from programming pendant

This parameter specifies whether mode switching from the programming pendant is accepted
or not. The specification can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
S2C179: External cycle switching

This parameter specifies whether cycle switching from the outside is accepted or not. The
specification can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited
S2C180: Programming pendant cycle switching

This parameter specifies whether cycle switching from the programming pendant is accepted
or not. The specification can be done on the OPERATING CONDITION window.
0: Permitted
1: Prohibited

NX100 system setup
S2C181: Servo on from external device prohibition

This parameter specifies whether a servo ON instruction is accepted or not. More than one
instruction can be specified. For example, to permit the servo ON instruction from an external
input only, set “6.” In this case, servo ON instruction from the programming pendant is not
accepted.The specification can be done on the OPERATING CONDITION window.
d7 d0
External input prohibited : 1

Programming pendant : 2 (Valid)
S2C182: Programming pendant operation when “IO” is selected for remote

mode
This parameter specifies whether each operation of the following is valid when “IO” is selec-
ted for remote function selection. IO and command are available for remote function selec-
tion: “IO” is set prior to shipping. “Command” is valid when transmission function (optional) is
specified.
d7 d0
Programming pendant servo ON valid/invalid : 1 (Valid)
Mode switching valid/invalid : 4 (Valid)

Master call valid/invalid : 8 (Valid)
Cycle switching valid/invalid : 16 (Valid)
Start valid/invalid : 32 (Valid)
S2C186: Step registration at tool no. change

The registration of the step when the tool number is changed allows the setting to be made as
prohibited.
If this parameter is set to “1” (prohibited), the following operations are prohibited.
0: Permitted
1: Prohibited
Modification of a step
When the tool number of the teaching step differs from the currently-selected tool
number, the step cannot be modified.
Deletion of a step
Even if the teaching step position coincides with the current position, the step cannot be
deleted when the tool number of the teaching step differs from the currently-selected tool
number.

NX100 system setup
Addition of a step
When the tool number of the teaching step indicated by the cursor differs from the
currently-selected tool number, the step cannot be added.
S2C211: Remote first cycle mode

This parameter sets the cycle that changes from the local mode to the remote mode.
The setting can be made on the OPERATING CONDITION window.
0: Step
1: 1 cycle
2 Continuous
3 Setting retained
S2C212: Local first cycle mode

This parameter sets the cycle that changes from the remote mode to the local mode.
0: Step
1: 1 cycle
2 Continuous
3 Setting retained
S2C230: Power on first cycle mode

This parameter sets the first cycle mode for when the power is turned ON.
0: Step
1: 1 cycle
2 Continuous
3 Setting retained
S2C231: Teach mode first cycle mode

This parameter sets the cycle that changes from the play mode to the teach mode.
0: Step
1: 1 cycle
2 Continuous
3 Setting retained
S2C232: Play mode first cycle mode

This parameter sets the cycle that changes from the teach mode to the play mode.
0: Step
1: 1 cycle
2 Continuous
3 Setting retained

NX100 system setup
S2C234: Start condition after absolute data allowable range error occurs
This parameter specifies the activating method after the absolute data allowable range error
occurs.
0: Position check operation required
1: Low-speed start up
S2C317 to S2C321: Time reset

These parameters specify whether resetting operation of the specified times is permitted or
not.
S2C317 : CONTROL POWER ON TIME
S2C318 : SERVO POWER ON TIME
S2C319 : PLAYBACK TIME
S2C320 : WORK TIME
S2C321 : WEAVING TIME
0: Prohibit Resetting
1: Permit Resetting
“PERMIT” is set as the initial value for the work time and motion time.
S2C333: Tool No. switching

This parameter specifies whether tool number switching is permitted or not. If “PERMIT” is
selected, 24 types of tools from number 0 to 23 can be switched. If “NOT PERMIT” is selec-
ted, only number “0” can be used.
0: Prohibited
1: Permitted
S2C335: Position teaching buzzer

This parameter specifies whether the buzzer sound at position teaching is used or not.
0: With buzzer
1: Without buzzer

NX100 system setup
S2C336: Job linking designation (when twin synchronous function used)

This parameter specifies whether the manipulator at the synchronizing side is to be linked
when the manipulator and the station at the synchronized side are performing FWD/BWD or
test run, by using the twin synchronous function.
0: Not operating
1: Linking
Synchronizing side
0: Does not operate the synchronizing side

while teaching the synchronized side
Synchronizing side
1 : Links the synchronizing side while

teaching the synchronized side.

NX100 system setup
Parameters according to interference area
2.4 Parameters according to interference area

These parameters limit the P-point maximum envelope of the manipulator or set the interfe-
rence area for axis interference or cubic interference.
S1CxG200 to S1CxG215: Pulse soft limit

Soft limit is set independently for each axis by pulse value setting. Set current value (pulse
value) of the axis at the soft limit set up position.
Operation area
Soft limit
Limit switch
Mechanical limit
S2C001: Cube soft limit check

This parameter specifies whether to check the cube soft limit. More than one soft limit can be
specified.
d7 d0
Cube 1 soft limit (base coordinates value of robot 1 TCP)

If “WITH CHECK” is selected, set up the following parameters.

S3C000 to S3C023: Cube soft limit
Supplement
Soft Limit
Soft limit is a software-type function to limit the range of movement of the manipulator.
If the TCP reaches the soft limit during operation, the manipulator automatically stops and no
longer moves in that same direction. An alarm occurs if this soft limit is exceeded during play-
back. This soft limit is classified into two types.

NX100 system setup
Cube soft limit

Soft limit is set with the absolute value on the base coordinates.
x
Y
Pulse soft limit (Independent axis soft limit)

Refer to “S1CxG200 to S1CxG215: Pulse soft limit” on page 37
S2C002: S-axis interference check

This parameter specifies whether to check for interference with each manipulator. If “WITH
CHECK” is selected, set up the following parameters.
S3C024 to S3C031: S-axis Interference Area
S2C003 to S2C050: Cube/axis interference check

1. Designation of checking
These parameters specify the cube/axis interference to be used by bit.
0 : Cube interference/Axis interference not used

1 : Robot 1 2 : Robot 2 3 : Robot 3 4: Robot 4
5 : Base axis 1 6 : Base axis 2 7 : Base axis 3 8: Base axis 4
9 : Station axis 1 10 : Station axis 2 11 : Station axis 3 12: Station axis 4
13 : Station axis 5 14: Station axis 6 15: Station axis 7 16: Station axis 8
17 : Station axis 9 18: Station axis 10 19: Station axis 11 20: Station axis 12
2. Checking method
Designates whether checking is performed by command or feedback.
Designation of checking (data setting)

0: Not used
1: Robot 1, -----, 20: station axis 12
Checking method (bit setting)

0: Command, 1: Feedback

NX100 system setup
Supplement
Checking method
The cheking method differs according to ON/OFF status of servo power supply.
Checking method designation Servo power supply ON Servo supply OFF

Command Command Feedback
Feedback Feedback Feedback
During the servo float function operation, checking is performed by feedback regardless of the
checking method designation.
Supplement
Interference Area
It is possible to output whether the TCP during operation is inside or outside as a status sig-
nal, and to set the area to control the position by parameters S2C003 to S2C114. When the
manipulator attempts to enter this area, the corresponding input signal (e.g. an “entrance pro-
hibit signal”) is detected. The manipulator stops immediately if there is an input signal and
goes into waiting status until this signal is cleared. This signal is processed in the I/O section.
Three methods of interference area settings are prepared for manipulators and stations. For a
system with one manipulator, use robot 1.
S-axis interference area

Position is controlled by the pulse value of the S-axis.
(+) side (-) side
In left area In right area

NX100 system setup
Cubic interference area

Up to 32 cubic areas can be set. The edges of the cubes are set parallel to
the robot coordinates or the user coordinates.
Z Base coordinates C ube s etting m ethod

(robot coordinates,
user coordinates) S 2 C 00 3 -S 2 C 03 4
U se cu be No
in trf. c he ck?
S 2 C 05 1 -S 2 C 11 4 Y es
D e cid e th e u sing m e tho d
S 3 C 03 2 -S 3 C 54 3
X Y
S et the area
32 cubic areas can be set, each cube is

set paralel to the set coordinates
C om p le te d
Axis interference area

Up to 32 areas can be set. Each operation area maximum and minimum
value are set for the robot, base axis, and station axis plus and minus side.
Max value Min value

0
Positive side (+) Negative side (-)
ON
OF F
S2C051 to S2C114: Cube using method

These parameters specify the coordinates for defining the cube. If the user coordinates are
selected, also specify the user coordinate system numbers. Set cubic area referring to the
cubic interference areas shown below.
Coordinate specification
0 : Pulse(axis interference)
1 : Base coordinates
2 : Robot coordinates
3 : User coordinates
Coordinate No. : Specify the user coordinate number when selecting “3: User coordinates.”
Units: 1µm

NX100 system setup
Supplement
Precaution when setting the interference area
It will be necessary to consider the following when setting the cubic interference and S-axis
intereference areas. The manipulator is processed to decelerate to stop from the point where
it enters in the area. Therefore, set the areas in consideration of the amount of the manipula-
tor movement in the deceleration section shown in the figure below.
Interference area
Deceleration
Stop
Speed
Movement
Speed reduction section
The move amount in the speed reduction section is dependent on the moving
speed of the manipulator at that time.
V = 1500mm/s > approx. 300mm (Max.)

V = 1000mm/s > approx. 160mm
V = 30mm/s > approx. 3 to 4 mm
V = 20mm/s > approx. 2mm

NX100 system setup
Supplement
Interference prevention in interference area
Processing to prevent interference is executed in the I/O processing section. The relation bet-
ween the NX100 I/O signal and manipulator operation is shown below.
Start
Is the TCP w ithin Yes

the cube?
No
Is the "CUBE Yes
ENTRANCE PRO HIBIT"
signal O N?
No
O utputs "W AIT" signal.
"W AIT" reset
M anipulator stops.
"O PERATING IN CUBE"
signal output
Has it left the check

cube? No
Yes
In wait status with the entrance prohibit signal, the manipulator just barely enters the area for
speed reduction processing and then stops.

NX100 system setup
Suppement
NX100
Operating inside
CUBE1
Output in cube during
Operating inside operation.
CUBE2
Output during waiting by
Interference waiting
entrance prohibit signal.
Inside CUBE1
entrance prohibit These signals are checked
when entering the cube.
Inside CUBE2
entrance prohibit
Manipulator A Manipulator B
Operating inside Inside CUBE1

CUBE1 entrance prohibit
Operating inside Inside CUBE2

CUBE2 entrance prohibit
Inside CUBE1 Operating inside

entrance prohibit CUBE1
Inside CUBE2 Operating inside

entrance prohibit CUBE2
Interference waiting Interference waiting
Alarm signal
Fig.5 Connection example where two manipulators are operated in the same area
S2C188 to S2C193: Robot interference check

This parameter specifies whether to check interference between robots 1, 2, 3, and 4. Interfe-
rence check is executed in the spherical range having the TCP in the center. If “provided” is
selected, also select the following parameters.
Robot interference check (units: µm)

S3C801 : ROBOT1 SPHERE RADIUS
S3C802 : ROBOT 2 SPHERE RADIUS

NX100 system setup
S3C000 to S3C023: Cube soft limit

These parameters specify auxiliary functions of S2C001 parameter. For details, see the
explanation of the S2C001 parameter.
S3C024 to S3C031: S-axis interference area

These parameters specify auxiliary functions of S2C002 parameter. For details, see the
explanation of the S2C002 parameter.
S3C032 to S3C543: Cubic interference area

These parameters specify auxiliary functions of S2C003 to S2C034 parameters. For details,
see the explanation of the S2C003 to S2C050 parameters.
S3C801 to S3C804: Robot interference area

These parameters specify auxiliary functions of S2C188 to S2C193 parameters. For details,
see the explanation of the S2C188 to S2C193 parameters.
S3C805: A SIDE Length of work-home-position cube

Units: 1µm
This parameter specifies a side length of the cube for the work home position.

NX100 system setup
Parameters according to status I/O
2.5 Parameters according to status I/O

These parameters set the parity check or I/O setting for user input/output signals.
S2C187: User output relay when control power is on

This parameter specifies the state of the user output relays when the control power is turned
ON. Since the power OFF state, including peripheral devices, cannot be completely reprodu-
ced, take note when restarting.
0: Reset to the power OFF state
1: Initialized (all user relays OFF)
S4C000 to S4C007: Parity of user input groups

These parameters specify whether to execute priority checks with parameters when instruc-
tions covering the input group (1G#) are executed. The instructions covering the input groups
are as shown below.
IF Sentence (JUMP, CALL, RET, PAUSE)
Pattern Jump, Pattern Job Call
DIN
WAIT
d15 d0 d15 d0
S4C000 S4C001
IG#01 IG#17
IG#02 IG#18
IG#03 IG#19
IG#04 IG#20
IG#05 IG#21
IG#06 IG#22
IG#07 IG#23
IG#08 IG#24
IG#09 IG#25
IG#10 IG#26
IG#11 IG#27
IG#12 IG#28
IG#13 IG#29
IG#14 IG#30
IG#15 IG#31
IG#16 IG#32
d15 d0
S4C002
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
Parity bits are set as the highest level bits of each input group and are written in even parity. If
an error is detected during parity check, an alarm occurs and the manipulator stops. Remains
unchanged if no parity check is specified.

NX100 system setup
S4C008 to S4C015: Parity of user output groups

These parameters specify whether the output group instruction is executed with parity check
(even parity).
d15 d0 d15 d0
S4C008 S4C009
OG#01 OG#17
OG#02 OG#18
OG#03 OG#19
OG#04 OG#20
OG#05 OG#21
OG#06 OG#22
OG#07 OG#23
OG#08 OG#24
OG#09 OG#25
OG#10 OG#26
OG#11 OG#27
OG#12 OG#28
OG#13 OG#29
OG#14 OG#30
OG#15 OG#31
OG#16 OG#32
PARITY CHECK AT BIT-ON (1) PARITY CHECK AT BIT-ON (1)

d15 d0
S4C010
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
PARITY CHECK AT BIT-ON (1)
Parity bits are set as the highest level bits of each output group. For example, if OG#01 is
specified with parity and DOUT OG# (1) 2 is executed, the result will be 00000010 if 2 is
binary converted. Since there will be only one bit (odd) ON at this time, the parity bit (highest
level bit) will be set to ON and 10000010 (130) will be output to OG# (1).
As in the case of a variable such as DOUT OG# (1) B003 parity bits are added to the contents
of the variable data. However, if the contents of the variable exceed 127, as in the case of
DOUT OG# (1) 128, an alarm will occur. Remains unchanged if no parity check is specified.

NX100 system setup
S4C016 to S4C023: Data of user input groups

These parameters specify whether to handle the input group data as binary data or as BCD
data when an instruction for the input group (1G#) is executed. The instructions covering the
input groups are as shown below.
IF Sentence (JUMP, CALL, RET, PAUSE)
Pattern Jump, Pattern Job Call
DIN
WAIT
d15 d0 d15 d0
S4C016 S4C017
IG#01 IG#17
IG#02 IG#18
IG#03 IG#19
IG#04 IG#20
IG#05 IG#21
IG#06 IG#22
IG#07 IG#23
IG#08 IG#24
IG#09 IG#25
IG#10 IG#26
IG#11 IG#27
IG#12 IG#28
IG#13 IG#29
IG#14 IG#30
IG#15 IG#31
IG#16 IG#32
BCD DATA SPECIFICATION AT BIT-ON (1) BCD DATA SPECIFICATION AT BIT-ON (1)
d15 d0
S4C018
IG#33
IG#34
IG#35
IG#36
IG#37
IG#38
IG#39
IG#40
IG#41
IG#42
IG#43
IG#44
IG#45
IG#46
IG#47
IG#48
BCD DATA SPECIFICATION AT BIT-ON (1)

NX100 system setup
S4C024 to S4C031: Data of user output groups

These parameters specify whether the output group instruction is executed with binary data
or BCD data.
d15 d0 d15 d0
S4C024 S4C025
OG#01 OG#17
OG#02 OG#18
OG#03 OG#19
OG#04 OG#20
OG#05 OG#21
OG#06 OG#22
OG#07 OG#23
OG#08 OG#24
OG#09 OG#25
OG#10 OG#26
OG#11 OG#27
OG#12 OG#28
OG#13 OG#29
OG#14 OG#30
OG#15 OG#31
OG#16 OG#32
BCD DATA SPECIFICATION AT BIT-ON (1) BCD DATA SPECIFICATION AT BIT-ON (1)
d15 d0
S4C026
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
BCD DATA SPECIFICATION AT BIT-ON (1)

NX100 system setup
Supplement
Differences between binary data and BCD data
For the input group and output group, the result will depend on whether the binary or BCD for-
mula is used.
<Example>
When the input function is [10101010]
DATA EDIT DISPLAY

State Binary BCD
Case Case
USER INPUT
GROUP IG#01 0:10 00:16 1 20 = 1 1 20 = 1 1
IN#0001 #10010 z 0 21 = 2 0 21 = 2 Total 0
IN#0002 #10011 { 5
IN#0003 #10012 z 1 22 = 4 4 22 = 4 is in 4
IN#0004 #10013 { 0 23 = 8 0 23 = 8 ones. 0
IN#0005 #10014 z
IN#0006 #10015 { 1 24 = 16 16 20 = 1 1
IN#0007 #10016 z 0 25 = 32
0 21 = 2 Total 0
IN#0008 #10017 { 5
1 26 = 64 64 22 = 4 is in 4
tens.
0 27 = 128 0 23 = 8 0
85 55
Binary data value BCD data value
!
However, in the case of BCD data, because the upper bound value is 99, it is not possible to
use any value which exceeds nine in the one or ten digit place.

NX100 system setup
S4C032 to S4C039: User output group to be initialized at switching mode

Set the user output group with bit to be initialized at switching mode. Use these parameters
when using user output signals as work instructions for peripheral devices.
d15 d0 d15 d0
S4C032 S4C033
OG#01 OG#17
OG#02 OG#18
OG#03 OG#19
OG#04 OG#20
OG#05 OG#21
OG#06 OG#22
OG#07 OG#23
OG#08 OG#24
OG#09 OG#25
OG#10 OG#26
OG#11 OG#27
OG#12 OG#28
OG#13 OG#29
OG#14 OG#30
OG#15 OG#31
OG#16 OG#32
INITIAL VALUE SPECIFICATION AT BIT-ON (1) INITIAL VALUE SPECIFICATION AT BIT-ON (1)
d15 d0
S4C034
OG#33
OG#34
OG#35
OG#36
OG#37
OG#38
OG#39
OG#40
OG#41
OG#42
OG#43
OG#44
OG#45
OG#46
OG#47
OG#48
INITIAL VALUE SPECIFICATION AT BIT-ON (1)
S4C126: User output no. when manipulator drop allowable range error
occurs
This parameter specifies the user output number to output the manipulator drop allowable
range error alarm occurrence externally. When this function is not used, set “0.”

NX100 system setup
Parameters according to coordinated or synchronized operation
2.6 Parameters according to coordinated or synchronized

operation
These parameters make the settings for coordinated or synchronized operations between
manipulators or between manipulators and stations.
S2C164: +MOV or +SMOV instruction speed input

This parameter specifies whether the speed inputting for move instructions of the master
robot in a coordinated job is permitted or not.
<Example>
0: Not provided 1: Provided
SMOVL V=100 SMOV L V=100
+MOVL ← Master side +MOV L V=100 ← Master side
Speed specifica- Speed specifica-

tion not provided tion provided
S2C165: +MOV instruction interpolation input

This parameter specifies which interpolation is permitted for move instructions for the master
robot in a coordinated job. More than one instruction can be specified.
d7 d0
+ MOVJ : 1 (VALID)
+ MOVJ : 2 (VALID)
+ MOVJ : 4 (VALID)
+ MOVJ : 8 (VALID)

NX100 system setup
S2C183: Operation method at fwd/bwd operation or test run by independent

control
This paramaeter specifies the operation method at FWD/BWD operation or test run by inde-
pendent control.
0: The job of the task that is currently displayed operates.
1: Jobs of all the tasks operate.
Sub task 1
Master : Operating
task
Sub task 2
Sub task 1 Sub task 1
Master Master
task task
Sub task 2 Sub task 2
Sub task 1
Master
task
Sub task 2
0: One of the task jobs that are currently 1: All task jobs operate.
displayed operates.
S2C184: Job at calling master of subtask 1, 2, 3, 4, 5 by independent control

This parameter specifies the job which is called up when the master of the subtask is called
up by independent control.
0: Master job
1: Root job
Master Job: Job registered in the master control window

Root Job: Job activated by PSTART instruction
S2C194: Station axis current value display function

This parameter specifies whether the function to display the current value of the station axis in
the following units is valid/invalid.
Rotary axis : Angle (deg)
Servo track : Distance (mm)
0: Invalid
1: Valid

NX100 system setup
S2C195 to S2C206: Station axis displayed unit

This parameter specifies the station axis displayed unit (bit specification).
0: Display angle (deg)
1: Display in distance (mm)
Setting method
Set a numerical value (decimal) where the bit of the axis to be displayed in the units of dis-
tance becomes 1.
d7 d6 d5 d4 d3 d2 d1 d0
Decimal
(32) (16) (8) (4) (2) (1)
Station 1st axis
Station 2nd axis
Station 3rd axis
Station 4th axis
Station 5th axis
Station 6th axis
<Example>
When 1st and 3rd axes of station 1 are displayed in the units of distance:
d7 d6 d5 d4 d3 d2 d1 d0
Set 1 to axis displayed
0 0 0 1 0 1
in distance
(4) (1)
4 + 1 = 5
Therefore, set parameter S2C195 of station 1 to 5.

NX100 system setup
S2C322: Posture control of synchronized manipulator

(when twin synchronous function used)
This parameter specifies the posture control method for syncronized manipulator performing
compensation during playback by using the twin synchronous function.
0: Change posture according to station movement
1: Fixed in relation to the ground

S2C323: Posture control of manipulator in multi-job (when twin synchro-

nous function used)
This parameter specifies the posture control method for manipulator executing compensation
at the linking side when job linking is performed during FWD/BWD operation by the twin
synchronous function.
S2C549: Operation of job without control group specification

When the servo power supply is individually turned OFF where jobs in multiple number of
tasks are operated using the independent control function, the job execution of the control
group whose servo power supply is turned OFF is interrupted. The jobs of other control
groups continue their execution.
For the jobs without control group specification such as master job, the conditions for execu-
tion can be set by the parameter.
0: Execution possible only when servo power supply to all the axes have been turned ON.
1: Execution possible when servo power supply to any axis is turned ON.

NX100 system setup
S2C550: Execution of “BWD” operation

This parameter prohibits step-back operation of a job without a step.
d7 d0
“BWD” operation for a job without a group axis. 0: Enable, 1: Disable

“BWD” operation for current job. 0: Enable, 1: Disable
S3C809: Maximum deviation angle of current station position

(when twin synchronous function used)
Used when the twin synchronous function is used. This parameter specifies the maximum
deviation between the teaching position and the current station position.
0 : No deviation check
Other than 0 : Deviation angle (units : 0.1°)
Compensation
Robot at
Sub-task 1 Sub-task 2 synchronizing side
R1 R2
Position set when
teaching
synchronizing side
Deviation
made at play-
back
S1
Station
In the above figure on the left, the follower R2 executes the job of subtask 2 in synchroniza-
tion with the motion of the station axis which is moved by the R1 job. In this procedure, the job
of subtask 2 controls only the R2 robot axis.
If the teaching position of the station in the subtask 2 differs from the station current position
(controlled by the subtask 1 job), the difference is automatically offset so that R2 keeps the
taught position in relation to the station.
Difference between the taught and the station current positions is always monitored. If the dif-
ference exceeds a set value of the parameter, the message “PULSE LIMIT (TWIN COORDI-
NATED)” appears.

NX100 system setup
Parameters for other functions or applications
2.7 Parameters for other functions or applications

These parameters make the settings for other functions or applications.
S1CxG049 to S1CxG051: YAG laser small circle cutting

These parameters prescribe cutting operation at small circle cutting by YAG laser.
S1CxG049 Set the minimum diameter of a figure in the units of µm that can be processed by
:
(Minimum diameter) small-circle cutting machine.
S1CxG050 Set the maximum diameter of a figure in the units of µm that can be processed
:
(Maximum diameter) by small-circle cutting machine.
S1CxG051 Set the maximum cutting speed at operation by CUT instruction in the units of
:
(Maximum speed) 0.1mm/s.
S1CxG052 to S1CxG053: YAG laser small circle cutting direction limit value
These parameters set the cutting direction limits at small circle cutting by YAG laser.
S1CxG052 Set the limit value in the positive direction of cutting angle DIR set by CUT
:
(+ direction) instruction, in the units of 0.01°.
S1CxG053 Set the limit value in the negative direction of cutting angle DIR set by CUT
:
(- direction) instruction, in the units of 0.01°.
S1CxG054 to S1CxG055: YAG laser small circle cutting overlap value

These parameters set the overlapped value at small curcle cutting by YAG laser.
S1CxG054 Set the operation radius at inner rotation in the units of 1 µm after overlapping by
:
(Operation radius) CUT instruction.
S1CxG055 Set the rotation angle at inner rotation in the units of 0.1° after overlapping by
:
(Rotation angle) CUT instruction.
S1CxG063, S1CxG064: Pattern cutting dimension

These parameters set the minimum diameter (S1CxG063) and the maximum diameter
(S1CxG064) for the pattern cutting in units of µm.
S1CxG065: Mirror shift sign inversion

This parameter sets which axis to be shifted (mirror-shift: invert the sign).
1st axis (0: not invert, 1: invert)
6th axis

NX100 system setup
Parameters for other functions or applications
S2C332: Relative job operation method

This parameter specifies how to operate a relative job. A method to convert a relative job into
a standard job (pulse), and a conversion method to calculate the aimed position (pulse posi-
tion) when a relative job is operated can be specified.
0: Previous step with priority (B-axis moving distance mimimized.)
1: Form with priority
2 Previous step with priority (R-axis moving distance minimized.)
S3C819 to S3C898: Analogue output filter constant (when analogue output

corresponding to speed function is used)
By setting a constant to filter, a filter processing can be performed for the output analogue sig-
nal.
S3C899: Cut width correction value (when form cutting function is used)
This parameter specifies the path correction value for pattern cutting operation. A value 1/2 of
the cut width is set in units of µm.

NX100 system setup
Hardware control parameters
2.8 Hardware control parameters

These parameters make the hardware settings for fan alarm or relay operation, etc.
S2C646: Cooling fan alarm detection

This parametr specifies a detection for cooling fan 1 to 3 with alarm sensor, connected to
power ON unit.
0: No detection
1: Detected with message display
2: Detected with message and alarm display
S4C181 to S4C212: Setting of operating relay No.

Up to 32 output signals can be turned ON/OFF with the programming pendant. The object
relay No. is set in these parameters. Although it is possible to set optionable values for output
Nos. 1 to 1024 in the parameters, the following must be taken into consideration.
Avoid setting duplicate numbers.
The signal turned ON or OFF with the programming pendant is operated again or
remains unchanged until the instruction is executed.
S4C213 to S4C244: Operating method of relays

These parameters specify the operating method of output singals by the programming pen-
dant. The operating method can be specified for each output signal.
Paramater setting
Operation of output signal
value
+ON
ON
0
-OFF OFF
+ON ON/OFF with the key

ON while the key is
1 pressed ON
OFF if the key is not
OFF
pressed

NX100 system setup
Hardware control parameters
S2C647 to S2C649: Cooling fan alarm 1 operation

These parameters specify the operation of cooling fan 1 to 3 with alarm sensor, connected to
power ON unit.
Each bit specifies the power ON unit to which the detecting sensor is connected.
d7 d0
S2C647,S2C650,S2C653
SERVOPACK#1 - Power ON unit 1
d7 d0
S2C648,S2C651,S2C654
d7 d0
S2C649,S2C652,S2C655

NX100 system setup
Transmission parameters
2.9 Transmission parameters

RS000: Communication protocol
The protocol of the serial port of the NCP01 circuit board is specified.
0: No protocol
2: Basic protocol
3: FC1 protocol
2.9.1 Basic protocol

Specify when using Yaskawa data transmission functions.
RS030: Number of data bits

This parameter specifies the number of data bits.
RS031: Number of stop bits

This parameter specifies the number of stop bits.
RS032: Parity
This parameter specifies the parity bits.
RS033: Transmission speed

This parameter specifies the transmission speed in units of bauds.
RS034: Response waiting timer (timer a)

Units: 0.1 seconds
This timer monitors the sequence. It specifies the response waiting time for invalid or missing
responses.
RS035: Text termination monitoring timer (timer b)

This timer monitors text reception. Specify the monitoring time to wait for text termination cha-
racter.
RS036: Number of enq re-transmission retries

This parameter specifies the number of re-transmission attempts of the control characters for
invalid or missing responses.
RS037: Number of data re-transmission retries

This parameter specifies the number of re-transmission attempts of text for block check error
(NAK reception).
RS038: Block check method

This parameter specifies the checking method for text transmission errors. Set “0” for this pro-
tocol.

NX100 system setup
Transmission parameters
2.9.2 FC1 protocol

The following protocols naturally correspond to the external memory unit, YASNAC FC1 or
FC2.
RS050: Number of data bits

This parameter specifies the number of data bits.
RS051: Number of stop bits

This parameter specifies the number of stop bits.
RS052: PARITY
This parameter specifies the parity bits.
RS053: Transmission speed

This parameter specifies the transmission speed in units of bauds.
RS054: Response waiting timer (timer a)

Units: 0.1 seconds
This timer monitors the sequence. It specifies the response waiting time for invalid or missing
responses.
RS055: Text termination monitoring timer (timer b)

This timer monitors text reception. Specify the monitoring time to wait for text termination cha-
racter.
RS056: Number of enq re-transmission retries

This parameter specifies the number of re-transmission attempts of the control characters for
invalid or missing responses.
RS057: Number of data re-transmission retries

This parameter specifies the number of re-transmission attempts of text for block check error
(NAK reception).
RS058: FC2 format specification

Specify the format type of the floppy disk used with external memory (YASNAC FC2).
Note!
720 kilobytes are unconditionally specified for YASNAC FC2 (2DD floppy disk exclusive use).
RS059: External memory file overwrite specification

Specify whether to accept the file overwrite of the external memory (YASNAC FC2 or FC1).

NX100 system setup
Application parameters
2.10 Application parameters

2.10.1 Arc welding
AxP000: Application
This parameter specifies the application. Set “0” for arc welding.
AxP003: Welding assignment of welding start condition file

This parameter specifies the beginning condition number in the welding start condition file to
be assigned to Power Source 2. Condition files of a lower number are automatically assigned
to Power Source 1. For a system with one Power Source, set “49” (maximum value).
Condition file
Power
source 1
Power
source 2
AxP004: Welding assignment of welding end condition files

This parameter specifies the beginning condition number in the welding END condition file to
be assigned to Power Source 2. Condition files of a lower number are automatically assigned
to Power Source 1. For a system with one Power Source, set “13” (maximum value).
Power
source 1
Power
source 2
AxP005: Welding speed priority

This parameter specifies whether the welding speed is specified by the “ARCON” instruction,
by the welding start condition file, or by the additional times of the “MOV” instruction.
AxP009: Work continuing

This parameter specifies whether to output an “ARCON” instruction to restart after the mani-
pulator stopped while the “ARCON” instruction is being output.
AxP010: Welding instruction output

This parameter specifies the beginning number (0 to 12) of the analog output channel to the
Power Source. “0” indicates that no Power Source exists.

NX100 system setup
AxP011, AxP012: Manual wire operation speed

These parameters specify the manual wire operation speed as a percentage of the maximum
instruction value. Instruction polarity is determined by the current instruction in the power
source characteristic file. The setting range is from 0 to 100.
AxP013, AxP014: Welding control time

These parameters specify the welding control time in units of minutes. The setting range is
from 0 to 999.
AxP015 to AxP017: Number of welding control

These parameters specify the number of welding controls. The setting range is from 0 to 99.
AxP026 to AxP029: Tool on/off user output no. (jigless system)

These parameters specify the user output number for the tool open/close operation by speci-
fic keys.

NX100 system setup
2.10.2 Handling application

AxP002, AxP004: f1 Key function
These parameters set the output signal to assign for f1 key.
0: Not specified
1 to 4: Specific outputs for HAND-1 to HAND4-1
5: User output (No. is specified by AxP004).
AxP003, AxP005: f2 Key function

These parameters set the output signal to assign for f2 key.
0: Not specified
1 to 4: Specific outputs for HAND-2 to HAND4-2
5: User output (No. is specified by AxP005)

NX100 system setup
2.10.3 Spot welding

AxP003: Maximum numbers of connected power sources
The initial value is set to 4. The value is automatically set at start-up. No modification is
needed.
AxP004: Gun full open stroke on/off signal

This parameter specifies which stroke switching signal is output ON or OFF to make the gun
fully-opened for each gun.
Bit specification (1 for 01) for 8 guns. The initial setting is “0.”
00000000
| | | | | | | |
8 7 6 5 4 3 2 1 Gun number
AxP005: Stroke change answer time limit

When using the X2 gear mechanical stopper gun and switching gun stroke, this parameter
sets the time from the stroke-switching-sequence start until the pressure instruction end.
Setting range : 0.0 to 9.9 sec.
The initial setting is “0,” with which the switching signal is output for the “stopper-type stroke
switching time” set in the file, and then the gun pressure instruction is turned OFF.
AxP006: Parity specification for welding conditions

When adding the parity signal to the welding condition signal with the Power Source connec-
ted to each welding gun, this parameter specifies odd or even parity.
Bit specification for 4 Power Sources. (0 : odd number, 1 : even number) The initial setting is
“0.”
00000000
| | | |
4 3 2 1 Power source number
AxP007: Anticipate time

When executing the GUNCL or SPOT instruction with NWAIT specified in the previous move
instruction but the time is not specified by ATT in the GUNCL or SPOT instruction, this para-
meter specifies the anticipate condition (time). The initial setting is “0,” with which the each
instruction is executed as soon as the taught position of the previous move instruction is
reached, as normal operation.

NX100 system setup
AxP015: Welding error reset output time

This parameter sets the output time of the welding error reset signal to the Power Source
when the alarm reset signal is input.
If the setting is "0," the welding error reset signal is not output to the Power Source even if the
alarm reset signal is input.
AxP016, AxP017: Electrode wear amount alarm value

These parameters set the electrode wear amount alarm values (AxP016: movable side,
AxP017: fixed side) at the wear detection.

NX100 system setup
2.10.4 General-purpose application

AxP009: Work continue prohibit
This parameter specifies whether to output TOOLON instruction or not at restarting when the
work is stopped for some reasons during the output of TOOLON instruction.

NX100 system setup

NX100 system setup
Home position calibration
3. System setup
3.1 Home position calibration
Warning!
Before operating the manipulator, check that the SERVO ON lamp goes out when the
emergency stop buttons on the NX100 programming pendant is pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case
of an emergency.
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.
Prior to performing the following operations, be sure that no one is in the P-point
maximum envelope of the manipulator, and be sure that you are in a safe place when:
Turning ON the NX100 power.

Moving the manipulator with the programming pendant.
Injury may result from contact with the manipulator if persons enter the P-point
maximum envelope of the manipulator.
Always press the emergency stop button immediately if there are problems.
Emergency stop buttons is located on the programming pendant.
Perform the following inspection procedures prior to teaching the manipulator. If

problems are found, correct them immediately, and be sure that all other necessary
tasks have been performed.
Check for problems in manipulator movement.

Check for damage to the insulation and sheathing of external wires.
Always return the programming pendant to its hook on the NX100 cabinet after use.
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the

floor, the manipulator or a tool could collide with it during manipulator movement,
possibly causing injury or equipment damage.

NX100 system setup
3.1.1 Home position calibration
Note!
Teaching and playback are not possible before home position calibration is complete.
In a system with two or more manipulators, the home position of all the manipulators must be
calibrated before starting teaching or playback.
Home position calibration is an operation in which the home position and absolute encoder
position coincide. Although this operation is performed prior to shipment at the factory, the fol-
lowing cases require this operation to be performed again.
Change in the combination of the manipulator and NX100

Replacement of the motor or absolute encoder
Clearing stored memory (by replacement of NCP01 circuit board, weak battery, etc.)
Home position deviation caused by hitting the manipulator against a workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the home position mark on each
axis so that the manipulator can take its posture for the home position. There are two opera-
tions for home position calibration:
All the axes can be moved at the same time: Recalibrate the home position by moving all
the axes together if changing the combination of manipulator and circuit board.
Axes can be moved individually: Recalibrate the home position for the individual axes
that were affected by the replacement, if replacing the motor or absolute encoder.
If the absolute data of its posture for the home position is already known, set the absolute
data again after completing home position registration.
Supplement
Home Position
The home position is the pulse value "0" for each axis and its posture.
See "Home Position of the Robot"

NX100 system setup
3.1.2 Calibrating operation

Registering all axes at one time
Select {ROBOT} under the main
1
menu.
The HOME POSITIONING window appears.
HOME POSITIONING
SELECT ABSOLUTE DATA
R1:S
L
U
R
2 Select {HOME POSITION}. B
T
Main Menu ShortCut
The pull down menu appears.

Select {DISPLAY} under the
3 ROBOT1
menu. HOME POSITIONING
SELECT STATION1
ABSOLUTE DATA
R1:S
L
4 Select the desired control group.

The pull down menu appears.
5 Select {EDIT} under the menu. DATA EDIT DISPLAY UTILITY
SELECT ALL AXIS
HOME POSITIONING
The confirmation dialog box appears.
6 Select {SELECT ALL AXES}. Create home position?
Yes No
Shown position data of all axes are registered as home position.

7 Select “YES.”
When “NO” is selected, the registration will be canceled.

NX100 system setup
Registering individual axes

1
menu.
2 Select {HOME POSITION}. The HOME POSITIONING window appears.
3 The pull down menu appears.
menu.
HOME POSITIONING
R1:S
L
U
R
B
4 Select the desired control group. T
Main Menu ShortCut
5 Select the axis to be registered. Create home position?
Yes No
Shown position data of axis are registered as home position.

6 Select “YES.”
When “NO” is selected, the registration will be canceled.

NX100 system setup
Changing the absolute data

To change the absolute data of the axis when home position calibration is completed, perform
the following:
1
menu.
3 Select {DISPLAY}. The pull down menu appears.
The number input buffer line appears.
HOME POSITIONING
R1:S 193
L { 2965
U { 2698
R { -66398
Select the absolute data to be reg- B { 692
5 T 968
istered. {
Main Menu ShortCut
Enter the absolute data using the

6
Numeric keys.
Press [ENTER]. Absolute data are changed.

NX100 system setup
Clearing absolute data

1
menu.
3 Select {DISPLAY}. The pull down menu appears.
5 Select {DATA} under the menu.
The all absolute data are cleared.
HOME POSITIONING
R1:S
L {
U {
R {
B {
6 Select {CLEAR ALL DATA}. T {
Main Menu ShortCut

NX100 system setup
3.1.3 Home position of the robot

In case of UP6, the home position is as follows.
U-axis angle against horizontal line

on the ground (-0°) B-axis center line angle against
U-axis center line (-90°)
L-axis angle against vertical line

to the ground (-0°)
Note!
Other robot models have different positions. Always refer to "Installation or Service manual"
for the correct robot model.

NX100 system setup
Second home position (check point)
3.2 Second home position (check point)
Warning
Be aware of safety hazards when performing the position confirmation of the second
home position (check point).
Abnormality of the PG system may be a cause for alarm. The manipulator may operate
in an unexpected manner, and there is a risk of damage to equipment or injury to
personnel.
Before operating the manipulator, check that the SERVO ON lamp goes out when the
emergency stop buttons on the programming pendant is pressed.
Injury or damage to machinery may result if the manipulator cannot be stopped in case
of an emergency.
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.
Prior to performing the following operations, be sure that no one is in the P-point
maximum envelope of the manipulator, and be sure that you are in a safe place when:
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 from contact with the manipulator if persons enter the P-point
maximum envelope of the manipulator.
Always press the emergency stop button immediately if there are problems.
Emergency stop buttons is attached on the programming pendant.
Perform the following inspection procedures prior to teaching the manipulator. If

problems are found, correct them immediately, and be sure that all other necessary
tasks have been performed.
Check for problems in manipulator movement.

Check for damage to the insulation and sheathing of external wires.
Always return the programming pendant to its hook on the NX100 cabinet after use.

NX100 system setup
If the programming pendant is inadvertently left on the manipulator, a fixture, or on the

floor, the manipulator or a tool could collide with it during manipulator movement,
possibly causing injury or equipment damage.

NX100 system setup
3.2.1 Purpose of position check operation

If the absolute number of rotation detected at power supply ON does not match the data sto-
red in the absolute encoder the last time the power supply was turned off, an alarm is issued
when the controller power is turned ON.
There are two possible causes of this alarm:
Error in the PG system

The manipulator was moved after the power supply was turned OFF.
If there is an error with the PG system, the manipulator may stall when playback is started. If
the absolute data allowable range error alarm has occurred, playback and test runs will not
function and the position must be checked.
After absolute data allowable range alarm occurs
Reset alarm
Turn ON servo power
Procedure After Alarm Occurs
Position confirmation
operation
Compare second home NG

position (check point)
pulses with current
position pulses Alarm occurs again
OK
Correct defective axis
• Replace PG system
• Home position calibration
∗ Position checking point
Playback possible
1. Position check
After the absolute data allowable range alarm occurs, move to the second home position
using the axis keys and check the position. To prevent the position from changing, play-
back, test runs, and FWD operation will not function.
2. Pulse difference check
The pulse number at the second home position is compared with that at the current posi-
tion. If the difference is within the allowable range, playback is enabled. If not, the error

NX100 system setup
alarm occurs again.

The allowable range pulse is the number of pulses per rotation of the motor (PPR data).
The initial value of the second home position is the home position (where all axes are at
pulse 0). The second home position can be changed. For details, refer to "Second Home
Position (Check Point)."
3. Alarm occurence
If the error alarm occurs again, there may be an error in the PG system. Check the sys-
tem. After adjusting the erroneous axis, calibrate the home position of the axis, then
check the position again.
Note!
Home position calibration of all the axes at the same time enables playback operations
without having to check the position.
Sometimes in a system with a manipulator that has no brake, it is possible to enable

playback without position checking after the absolute data allowable range error alarm
occurs. However, as a rule, always check the position.
Under the above special conditions, the manipulator moves as follows:
After starting, the manipulator moves at low speed (1/10 of the maximum speed) to the
step indicated by the cursor. If it is stopped and restarted during this motion, the low
speed setting is retained until the step at cursor is reached. Regardless of cycle setting,
the manipulator stops after the cursor step is reached. Starting the manipulator again
then moves it at the programmed speed and cycle of the job.

NX100 system setup
3.2.2 Setting the second home position (check point)

Apart from the normal home position of the manipulator, the second home position can be set
up as a check point for absolute data. Use the following steps to set the specified point.
If two or more manipulators or stations are controlled by one controller, the second home
position must be set for each manipulator or station.
1
menu.
The SECOND HOME POSITION window appears.
The message “Available to move to any modify second home posi-
tion” is shown.
SECOND HOME POSITION
HOME POSITION CURRENT DIFFERENCE
R1:S 0 0 0
L 0 0 0
U 0 0 0
2 Select {SECOND HOME POS}. R 0 0 0
B 0 0 0
T 0 0 0
Main Menu ShortCut
GO BACK
The group axes by which the second home position is set is
3 Press the page key .
PAGE selected when there are two or more group axes.
4 Press the axis keys. Move the manipulator to the new second home position.
5 Press [MODIFY] and [ENTER]. The second home position is chaged.

NX100 system setup
3.2.3 Procedure after an alarm
Warning!
Be aware of safety hazards when performing the position confirmation of the specified
point.
Abnormality of the PG system may be cause for alarm. The manipulator may operate in
an unexpected manner, and there is a risk of damage to equipment or injury to
personnel.
If the absolute data allowable range alarm occurs, perform the followings
Reset the alarm
Turn Servo power ON
and confirm the second home position. After the confirmation, if the PG system is found to be
the cause of the alarm, perform the necessary operation, such as replacing the PG, etc.
The robot current position data when turning main power supply OFF and ON can be confir-
med in “Power ON/OFF Position Window.”
Supplement
Refer to NX100 MAINTENANCE MANUAL "Position data when power is turned ON/OFF" for
details on the “Power ON/OFF Position Window.”
1
menu.
2 Select {SECOND HOME POS}. The SECOND HOME POSITION window appears.
GO BACK
The group axes by which the second home position is set is
PAGE selected when there are two or more group axes.
TCP moves to the second home position. The robot moving speed
4 Press [FWD].
is set as selected manual operation speed.
The message “Home position checked” appears.
Pulse data of the second home position and current pulse data are
6 Select {CONFIRM POSITION}. compared. If the compared error is in allowed range, playback
operation can be done.
If the error is beyond the allowed range, the alarm occurs again.

NX100 system setup
Setting the controller clock
3.3 Setting the controller clock

The clock inside of the NX100 controller can be set.
1
menu.
The DATE/CLOCK SET window appears.
DATE/CLOCK SET
DATE 2003 . 06 . 30
CLOCK 12:00
2 Select {DATE/TIME}.
Main Menu ShortCut
3 Select “DATE” or “CLOCK.” The input buffer line appears.

For instance, to make the date June 30, 2003, input [2003.6.30].
4 Input the new date or time.
To set the time at exactly twelve o’clock, enter [12.00].
Date and time are changed.
DATE/CLOCK SET
5 Press [ENTER].
DATE 2003 . 06 . 30
CLOCK 12:00

NX100 system setup
Setting play speed
3.4 Setting play speed

1
menu.
The SPEED SET window appears.
SPEED SET
JOINT R1:1 0.78 %
2 1.56 %
3 3.12 %
4 6.25 %
5 12.50 %
2 Select {SET SPEED}.
6 25.50 %
7 50.00 %
8 100.00 %
Main Menu ShortCut
GO BACK
When two or more manipulators and stations exist in the system,
GO BACK
PAGE the control group is changed by the page key .
PAGE
The type of speed alternately changes from “JOINT” to “LNR/CIR”.
SPEED SET
LNR/CIR R1:1 12.0 mm/sec
2 25.0 mm/sec
4 Select “JOINT” or “LNR/CIR.”
3 50.0 mm/sec
4 100.0 mm/sec
5 200.0 mm/sec
6 400.0 mm/sec
7 800.0 mm/sec
8 1600.0 mm/sec
5 Select desired speed value. The input buffer line appears.

6 Input the speed value.
The speed value is changed.
SPEED SET
JOINT R1:1 0.78 %
7 Press [ENTER]. 2 1.56 %
3 3.12 %
4 6.25 %
5 12.50 %
6 25.50 %
7 50.00 %

NX100 system setup
All limits releasing
3.5 All limits releasing
Warning!
To operate the manipulator with all limits released, pay extra attention to the
operating environment around you.
When all limits are released, the manipulator or equipment may be damaged.
The following limits can be released by the operation explained in the following.
Limit type Contents
Mechanical limit Limit for checking manipulator’s range of motion
L-U interference Limit for checking L- and U-axes interference area
Every axis soft limit for checking manipulator’s range of

Software limit
motion
Cube interference Limit for checking cube interference area set by user
Note!
If the security mode is not at managememt mode, all limits releasing is not allowed. Refer to
"Security System" of the NX100 INSTRUCTIONS for details about security modes.

NX100 system setup
All limits releasing
1
menu.
The LIMIT RELEASE window appears.
LIMIT RELEASE
SOFT LIMIT RELEASE INVALID
ALL LIMITS RELEASE INVALID
2 Select {LIMIT RELEASE}.
Main Menu ShortCut
“VALID” and “INVALID” are shown alternately every time [SELECT]

is pressed.
When ALL LIMITS RELEASE is changed to “VALID,” the message
“All limits have been released” appears. When the setting
changes to “INVALID,” the message “All limits release has been
canceled” appears for three seconds.
3 Select “ALL LIMITS RELEASE.”
LIMIT RELEASE

NX100 system setup
Overrun / tool shock sensor releasing
3.6 Overrun / tool shock sensor releasing
Warning!
To operate the manipulator with overrun released or with tool shock sensor
released, pay extra attention to the operating environment around you.
If the manipulator stops by overrun detection or tool shock sensor detection, release the over-
run or tool shock sensor by the following procedure and reset the alarm and move the mani-
pulator using the axis keys.
1
menu.
The OVERRUN & TOOL SHOCK SENSOR window appears.
The stopping condition when the tool shock sensor is detected can
be selected “EMERGENCY STOP” or “HOLD” at the “TOOL
SHOCK SENSOR STOP COMMAND”. “E-STOP” and “HOLD” are
displayed alternately every time [SELECT] is pressed.
OVERRUN&SHOCK SENSOR
SHOCK SENSOR STOP COMMAND: E-STOP
OCCUR GRP OVERRUN S-SENSOR
Select {OVERRUN & S-SEN- ROBOT1
2
SOR}.
RELEASE ALM RST
Main Menu ShortCut
“ " is shown at the control group which detects overrun or tool

shock sensor. If “RELEASE” is selected, overrun or tool shock sen-
sor is released and “CANCEL” is shown.
OVERRUN&SHOCK SENSOR
SHOCK SENSOR STOP COMMAND: E-STOP
OCCUR GRP OVERRUN S-SENSOR
ROBOT1
3 Select “RELEASE.”
RELEASE ALM RST
Main Menu ShortCut
4 Select “ALM RST.” Alarm is reset and manipulator can be moved using the axis keys.

NX100 system setup
Overrun / tool shock sensor releasing
Note!
After overrun or tool shock sensor releasing, the manipulator can be moved using the
axis keys with low speed or inching motion only.
After overrun or tool shock sensor releasing, if “CANCEL” is selected or the window is
changed to the other one, overrun or tool shock sensor releasing is canceled.
The axis operation can be performed only in the joint.

NX100 system setup
Interference area
3.7 Interference area

3.7.1 Interference area
The interference area is a function that prevents interference between multiple manipulators
or the manipulator and peripheral device. The area can be set up to 32 area. There are two
types of interference areas, as follows:
The NX100 judges whether the TCP of the manipulator is inside or outside this area, and out-
puts this status as a signal.
If the TCP of the manipulator is inside the area, the interference 1 inside signal or interfe-
rence 2 inside signal are turned on and the manipulator automatically decelerates to a stop.
The manipulator stands by until these signals are turned off, whereupon it automatically
restarts.
3.7.2 Cubic interference area

This area is a rectangular parallelepiped which is parallel to the base coordinate, robot coordi-
nate, or user coordinate. The NX100 judges whether the current position of the manipulator’s
TCP is inside or outside this area, and outputs this status as a signal. The cubic interference
areas can be set, parallel to the base coordinate or user coordinate.
Z-axis
Cubic
interference Robot coordinate
area
Cubic
Cubic
interference
interference
area
area
Z-axis
Y-axis X-axis
Y-axis
User coordinate X-axis

NX100 system setup
Interference area
Cube setting method

There are three ways to set cubic interference areas, as described in the following:
X-axis
Maximum
value Number input of cube coordinates
Cubic Enter the maximum and minimum
interference values for the cube coodinates.
area Z-axis
Y-axis
X-axis
Maximum
value
Teaching corner
Move the manipulator at the maxi-
mum and minimum value posi-
Z-axis
tions of the cube corner using the
axis keys.
Minimum
value
Y-axis
Number input of the side of cube

X-axis and teaching center
Y X
After entering the lengths of the
three faces of the cube (axial
length) using the numeric keys,
Center Z-axis move the manipulator to the
Z
point center point of the cube using the
axis keys.
Y-axis

NX100 system setup
Interference area
Setting operation
1
menu.
The INTERFERENCE AREA window appears.
INTERFERENCE AREA
INTERFERENCE SIG: 1 / 32
METHOD AXIS INTERFERENCE
CONTROL GROUP
CHECK MEASURE COMMAND POSITION
2 Select {INTERFERENCE}.
DIRECT PAGE
Main Menu ShortCut
GO BACK
Select the desired cube number using the page key or by

PAGE
number input.
3 Select the desired cube number.
The method for number input is as follows: Move cursor to “INTER-
FERENCE SIG” and press [ENTER] to display the number input
line. Input desired signal number and press [ENTER].
”AXIS INTERFERENCE” and “CUBIC INTERFERENCE” are dis-
played alternately every time [SELECT] is pressed. If “CUBIC
INTERFERENCE” is selected, the window is changed.

4 Select “METHOD.”
INTERFERENCE AREA
METHOD CUBIC INTERFERENCE
CONTROL GROUP
CHECK MEASURE COMMAND
The selection dialog box appears. Select desired control group.
INTERFERENCE AREA
CONTROL GROUP R1: ROBOT1
CHECK MEASURE R2: ROBOT2
REF COORDINATE BASE
TEACHING METHOD MAX/MIN
5 Select “CONTROL GROUP.” MAX MIN
DIRECT PAGE
Main Menu ShortCut

NX100 system setup
Interference area
The selection dialog box appears. Select desired coordinate.
If the user coordinates are selected, the number input line
appears. Input the user coordinate number and press [ENTER].
INTERFERENCE AREA
CONTROL GROUP R1
6 Select “REF COORDINATES.” REF COORDINATE BASE
TEACHING METHOD ROBOT
<MAX> USER
X 0.000 0.000
Y 0.000 0.000
Z 0.000 0.000
DIRECT PAGE
Main Menu ShortCut
Each time [SELECT] is pressed, “COMMAND POSITION” and

“FEEDBACK POSITION” are shown alternately.
INTERFERENCE AREA
METHOD CUBE INTERFERENCE
CONTROL GROUP R1
REF COORDINATE BASE
7 Select “CHECK MEASURE.” TEACHING METHOD MAX/MIN
<MAX> <MIN>
X 0.000 0.000
Y 0.000 0.000
Z 0.000 0.000
DIRECT PAGE
Main Menu ShortCut
Note!
To stop the manipulator movement using the interference signal (use the cube interference
signal for mutual interference between robots), set CHECK MEASURE to “COMMAND POSI-
TION”.
When set to the “FEEDBACK POSITION”, the manipulator decelerates to a stop after ente-
ring the interference area.
When informing an external unit of the actual manipulator position, use the “FEEDBACK
POSITION” setting so the timing of the output signal is more accurate.

NX100 system setup
Interference area
Number input of cube coordinates

Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS”
alternate.
Select “MAX/MIN”.
INTERFERENCE AREA
CONTROL GROUP R1
1 Select “METHOD.” REF COORDINATE BASE
<MAX> <MIN>
X 0.000 0.000
Y 0.000 0.000
Z 0.000 0.000
DIRECT PAGE
Main Menu ShortCut
The cubic interference area is set.
INTERFERENCE AREA
CONTROL GROUP R1
REF COORDINATE BASE
Input number for “MAX” and “MIN” TEACHING METHOD MAX/MIN
2 <MAX> <MIN>
data and press [ENTER]. X 100.000 0.000
Y 50.000 0.000
Z 0.000 0.000
DIRECT PAGE
Main Menu ShortCut

NX100 system setup
Interference area
Teaching corner
1 Select “METHOD.” alternate.
Select “MAX/MIN”.
The message “Teach max./min. position” appears.
INTERFERENCE AREA
CONTROL METHOD R1
REF COORDINATE BASE
2 Press [MODIFY]. <MAX> <MIN>
X 0.000 0.000
Y 0.000 0.000
Z 0.000 0.000
DIRECT PAGE
Main Menu ShortCut Teach max./min. position
Move cursor to “<MAX>” for changing maximum value and move

Move the cursor to “<MAX>” or cursor to “<MIN>” for changing minimum value. The cursor moves
3
“<MIN>.” to only either “<MIN>” or “<MAX>” at this time. The cursor moves
freely when this operation is canceled by pressing [CANCEL].
Move the manipulator using the Move the manipulator to the maximum or minimum position of the
4
axis keys. cube using the axis keys.
The cubic interference area is registered.
INTERFERENCE AREA
CONTROL GROUP R1
REF COORDINATE BASE
5 Press [ENTER]. <MAX> <MIN>
X 100.000 0.000
Y 50.000 0.000
Z 0.000 0.000
DIRECT PAGE
Main Menu ShortCut

NX100 system setup
Interference area
Number input of the side of cube and teaching center

alternate. Select “CENTER POS”
INTERFERENCE AREA
CONTROL GROUP R1
REF COORDINATE BASE
1 Select “METHOD.” TEACHING METHOD CENTER POS
<MAX> <MIN> <LENGTH>
X 0.000 0.000 0.000
Y 0.000 0.000 0.000
Z 0.000 0.000 0.000
DIRECT PAGE
Main Menu ShortCut
The length is set.
INTERFERENCE AREA
CONTROL GROUP R1
REF COORDINATE BASE
Input data for length of the cube TEACHING METHOD CENTER POS
2 <MAX> <MIN> <LENGTH>
and press [ENTER].
X 0.000 0.000 0.000
Y 0.000 0.000 50.000
Z 0.000 0.000 0.000
DIRECT PAGE
Main Menu ShortCut
The message “Move to center point and teach” appears.

The cursor moves to only either “<MIN>” or “<MAX>” at this time.
The cursor moves freely when this operation is canceled by press-
ing [CANCEL].
INTERFERENCE AREA
CONTROL GROUP R1
3 Press [MODIFY]. REF COORDINATE BASE
TEACHING METHOD CENTER POS
<MAX> <MIN> <LENGTH>
X 0.000 0.000 0.000
Y 0.000 0.000 50.000
Z 0.000 0.000 0.000
DIRECT PAGE
Main Menu ShortCut Move to center point and teach
Move the manipulator using the Move the manipulator to the center point of the cube using the axis
4
axis keys. keys.
5 Press [ENTER]. The current position is registered as the center point of the cube.

NX100 system setup
Interference area
3.7.3 Axis interference area

The axis interference area is a function that judges the current position of the each axis and
outputs a signal. Once the maximum and minimum values have been set at the plus and
minus sides of the axis to define the working range, a signal indicating whether the current
position of the axis is inside or outside this range is output. (ON: inside, OFF: outside)
O
Max value Min value
+ side ON - side
OFF
Fig. 1: Axis interference signal for station axis
Setting operation
Number input of axis data
1
menu.
The INTERFERENCE AREA window appears.
INTERFERENCE AREA
CONTROL GROUP
<MAX> <MIN>
DIRECT PAGE
Select the desired interference signal number using the page

GO BACK
key or by number input.

Select the desired interference PAGE
3
signal number.
The method for number input is as follows: Move cursor to “INTER-
FERENCE SIG” and press [SELECT] to display the number input
line. Input desired signal number and press [ENTER].
”AXIS INTERFERENCE” and “CUBIC INTERFERENCE” are
4 Select “METHOD.” shown alternately every time [SELECT] is pressed. Select “AXIS
INTERFERENCE.”

NX100 system setup
Interference area
The selection dialog box appears. Select desired control group.
INTERFERENCE AREA
CONTROL GROUP R1: ROBOT1
CHECK MEASURE R2: ROBOT2
<MAX> <MIN>
5 Select “CONTROL GROUP.”
DIRECT PAGE
Each time [SELECT] is pressed, “COMMAND POSITION” and

“FEEDBACK POSITION” alternate.
INTERFERENCE AREA
CONTROL GROUP R1
CHECK MEASURE FEEDBACK POSITION
<MAX> <MIN>
6 Select “CHECK MEASURE.” S 0 0
L 0 0
U 0 0
R 0 0
B 0 0
T 0 0
DIRECT PAGE
The axis interference area is set.
INTERFERENCE AREA
CONTROL GROUP R1
<MAX> <MIN>
Input data for desired axis and S 300 0
7
press [ENTER]. L 0 0
U 0 0
R 0 0
B 0 0
T 0 0
DIRECT PAGE

NX100 system setup
Interference area
Setting axis data by moving manipulator using the axis key

1
menu.
Select the desired interference
3
signal number.
4 Select “METHOD.”
Operate in the same way as shown in Explanation 2 to 5 in
5 Select “CONTROL GROUP.”
”Number Input of Axis Data”.
Move cursor to “<MAX>” for changing maximum value and move
cursor to “<MIN>” for changing minimum value. The cursor moves
to only either “<MIN>” or “<MAX>” at this time. The cursor moves
freely when this operation is canceled by pressing [CANCEL].
INTERFERENCE AREA
CONTROL GROUP R1
6 Press [MODIFY]. <MAX> <MIN>
S 0 0
L 0 0
U 0 0
R 0 0
B 0 0
T 0 0
DIRECT PAGE
Move the manipulator using the

7 Move the manipulator to the desired position using the axis keys.
axis keys.
The axis interference area is registered.
INTERFERENCE AREA
CONTROL GROUP R1
<MAX> <MIN>
8 Press [ENTER]. S 510 0
L 1004 0
U 213 0
R 10 0
B 3501 0
T 260 0
DIRECT PAGE

NX100 system setup
Interference area
3.7.4 Clearing interference area data
Select the desired interference signal number for clearing using
the page
GO BACK
Select interference signal for key or by number input.

1 PAGE
clearing.
The method for number input is as follows: Move cursor to the sig-
nal number and press [SELECT] to display the number input line.
Input desired signal number and press [ENTER].
3 Select {CLEAR DATA}. Initialize?
Yes No
All the data of the interference signal number are cleared.
INTERFERENCE AREA
CONTROL GROUP R1
<MAX> <MIN>
4 Select “YES.”
DIRECT PAGE

NX100 system setup
Work home position
3.8 Work home position

3.8.1 Function outline
The work home position is a reference point for manipulator operations. It prevents interfe-
rence with peripheral device by ensuring that the manipulator is always within a set range as
a precondition for operations such as starting the line. The manipulator can be moved to the
set work home position by operation from the programming pendant, or by signal input from
an external device. When the manipulator is in the vicinity of the work home position, the work
home position signal turns ON.
3.8.2 Setting work home position

Work home position window
1
menu.
The WORK HOME POSITION window appears.
WORK HOME POSITION
INTERFERENCE SIG: HOME POS CUR POS
R1:S 0 0
L 0 0
U 0 0
R 0 0
Select {WORK HOME POSI- B 0 0
2 T 0 0
TION}.
Main Menu ShortCut
When two or more manipulators exist in the system, the control

GO BACK group is
3 Press the page key . GO BACK
PAGE
changed using the page key .
PAGE

NX100 system setup
Work home position
Registering/changing the work home position

Press the axis keys in the work
1 Move the manipulator to the new work home position.
home position display.
2 Press [MODIFY] and [ENTER]. New work home position is set.
Note!
When the work home position is changed, the cubic interference area is automatically set as
cube 32 to 29 in the base coordinate system.
The cube 32 is for ROBOT 1
The work home position cube is a cube like the one shown in the figure below; the length of its
sides is determined by a parameter setting made by the user (units: µm). By changing this
parameter setting, the size of the cube can be changed.
S3C805 : The work home position cube length of its sides( µm)
P
a
a
a
Specify whether “COMMAND POSITION” or “FEEDBACK POSITION” is to be set to the work

home position cube signal’s CHECK MEASURE in the interference area settings. “COM-
MAND POSITION” is the default setting.

NX100 system setup
Work home position
Returning to the work home position

In the teach mode
The manipulator moves to the new work home position. During
Press [FWD] in the work home movement, the message “Manipulator is moving to work home
1
position display. position” is shown. The moving speed is the selected manual
speed.
In the play mode

When the work home position return signal is input (detected at leading edge), the TCP of the
manipulator is moved to the work home position using the same operation as
the teach mode. However, the speed for this is set in the parameters.
Output of the work home position signal

This signal is output any time the current position of the TCP of the manipulator is checked
and found to be within the work home position cube.

NX100 system setup
Tool data setting
3.9 Tool data setting

3.9.1 Registering tool files
Number of tool files
There are 24 tool files numbered 0 to 23. Each file is called as a tool file.
TOOL FILE 0
TOOL FILE 23
Registering coordinate data

When the number input operation is used for registering the tool file, input the TCP of the tool
on the flange coordinates.
XF
Tool YF
TCP
ZF

NX100 system setup
Tool data setting
1
menu.
The TOOL window appears. When the tool extension function is
valid, the list is shown. When the tool extension function is invalid,
the TOOL COORDINATE window is shown.
Note!
Tool File Extension Function
Normally, one robot uses one kind of tool file. The tool file exten-
sion function can change many tool files to be used by one robot.
Use the following parameter to set this function.
S2C333: TOOL NO. SWITCHING (1: enabled, 0: disabled)
For more details, refer to "Parameter.”
TOOL
NO. NAME
00 TORCH MT-3501
01 TORCH MTY-3501
02 TORCH MT-3502
03
04
2 Select {TOOL}. 05
06
07
Main Menu ShortCut
TOOL
TOOL NO. 00
NAME: dhhh
X 1.556 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 5.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 9999.000 mm Ix 0.000 kg.m2

Yg 0.000 mm Iy 0.000 kg.m2
Zg 0.000 mm Iz 0.000 kg.m2
Main Menu ShortCut

NX100 system setup
Tool data setting
When the TOOL window is shown, move the cursor and press
[SELECT]. The coordinate window of the selected tool appears.
GO BACK
If the coordinate window appears, press the page key to

PAGE
select the desired tool.
3 Select the desired tool number. To switch the TOOL window and the coordinate window, press
{DISPLAY} {LIST} or {DISPLAY} {COORDINATE DATA}.
TOOL LIST
TOOL NO. 00
NAME: dhhh
Select the desired coordinate axis

4 The number input line appears.
to modify.
5 Input the tool data.
The tool data is registered.
TOOL
TOOL NO. 00
NAME TORCH MT-3501
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 260.000 mm Rz 0.00 deg.
6 Press [ENTER]. W 0.000 kg
Xg 0.000 mm
Main Menu ShortCut
<Example>
260 mm 260 mm 260 mm
TCP TCP TCP

145 mm
ZF ZF
Tool A Tool B Tool C
X 0.000 mm Rx 0.00 deg.

Y 0.000 mm Ry 0.00 deg. Case of Tool A, B
Z 260.000 mm Rz 0.00 deg.
X 0.000 mm Rx 0.00 deg.

Y 145.000 mm Ry 0.00 deg.
Case of Tool C
Z 260.000 mm Rz 0.00 deg.

NX100 system setup
Tool data setting
Registering tool angle

The tool pose data is angle data which shows the relation between the flange coordinates
and the tool coordinates. The angle when the flange coordinates are rotated to meet to the
tool coordinates becomes an input value. Clockwise toward the arrow is the positive direction.
Register in the order of Rz > Ry > Rx.
The following, register Rz=180, Ry=90, Rx=0
Flange
coordinates X F
YF
ZF XT
Tool
coordinates YT
ZT
1
menu.
2 Select {TOOL}.
In the same way shown in Explanation 2, 3 in "Registering Coordi-
3 Select the desired tool number.
nate Data," the desired TOOL COORDINATE window appears.
Select the desired coordinate axis
4 First, select Rz.
to modify.
Input rotation angle around ZF of the flange coordinates.
XF
YF
ZF YF
5 Input the tool pose data.
X F Rz = 180
X 0.000 mm Rx 0.00 deg.

Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 180.00 deg.

NX100 system setup
Tool data setting
The rotation angle of Rz is registered.
In the same way, register the angle of Ry,Rx.
Ry must be the input rotation angle around Y’F flange coordinates.
X F
ZF
Y F (Y F )
Z F
Ry = 90
X 0.000 mm Rx 0.00 deg.

Y 0.000 mm Ry 90.00 deg.
Z 0.000 mm Rz 180.00 deg.
6 Press [ENTER].
Rx must be the input rotation angle around X’F of flange coordi-
nates.
X F
YF
Z F Rx = 0
X 0.000 mm Rx 0.00 deg.

Y 0.000 mm Ry 90.00 deg.
Z 0.000 mm Rz 180.00 deg.
Note!
If tool data is registered in the tool file by tool calibration, the old data will be deleted.
Setting the tool load information

The tool load information includes weight, a center of gravity position, and moment of inertia
at the center of gravity of the tool installed at the flange.
Note!
For more details on the tool load information, refer to " "Tool load information setting".”

NX100 system setup
Tool data setting
3.9.2 Tool calibration

Tool calibration
To ensure that the manipulator can perform motion type operations such as linear and circular
motion type correctly, accurate dimensional information on tools such as torches, tools, and
guns must be registered and the position of the TCP must be defined. Tool calibration is a
function that enables this dimensional information to be registered easily and accurately.
When this function is used, the TCP is automatically calculated and registered in the tool file.
What is registered in tool calibration is the coordinates of the TCP in the flange coordinates.
XF
<Flange coordinates>
XF: Vertically upward direction when the current
position on the T-axis of the robot is “0”.
YF: Y-axis complementing XF and ZF
ZF
XF: Direction perpendicular to the flange face
XT
YT
YF
ZT
Teaching
In order to perform tool calibration, five different angle (TC1 to 5) must be taught with the TCP
as the reference point. The tool dimensions are automatically calculated on the basis of these
five points.
TC2
TC1 TC3
TC4
TCP
TC5
Each angle must be arbitrary. Accuracy may decrease when pose setting is rotated in a con-
stant direction.
Note!
There are 24 tool files numbered 0 to 23. In a basic system with one manipulator and one
tool, the tool file for tool No.0 is used. If there is more than one tool, for example when using a
multihand, use the tool numbers in the order 0, 1, 2, .... etc.
Tool pose data is not registered in tool calibration. For details on how to register pose data,
refer to "Registering tool angle" of " "Registering tool files "."

NX100 system setup
Tool data setting
1
menu.
2 Select {TOOL}.
In the same way shown in Explanation 2, 3 in "Registering Coordi-
nate Data" of "Registering Tool Files" the desired coordinate win-
dow appears.
TOOL
TOOL NO. 00
NAME: dhhh
X 1.556 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
3 Select the desired tool number. Z 5.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 9999.000 mm Ix 0.000 kg.m2

Yg 0.000 mm Iy 0.000 kg.m2
Zg 0.000 mm Iz 0.000 kg.m2
Main Menu ShortCut
4 Select {UTILITY} under the menu.

The TOOL CALIBRATION window appears.
TOOL CALIBRATION
TOOL NO. 00
POSITION: T C 1
:S <STATUS>
L TC1
U TC2
5 Select {CALIBRATION}. R TC3
B TC4
T TC5
COMPLETE CANCEL
Main Menu ShortCut

NX100 system setup
Tool data setting
Select the robot to calibrate. (When the robot has already been
selected or there is only one of robot, this operation should not be
performed.) Select “**” in the TOOL CALIBRATION window and
select the robot in the shown selection dialog box.
TOOL CALIBRATION
TOOL NO. 00
POSITION: T C 1
:S <STATUS>
6 Select the robot. L TC1
U R1: ROBOT1 TC2
R R2: ROBOT2 TC3
B TC4
T TC5
COMPLETE CANCEL
Main Menu ShortCut
The selection dialog box appears. Select the teaching point for cal-
ibration.
TOOL CALIBRATION
TOOL NO. 00
POSITION: T C 1
:S <STATUS>
L TC1
TC1
U TC2
7 Select “POSITION.” TC2
R TC3
TC3
B TC4 TC4
T TC5 TC5
COMPLETE CANCEL
Main Menu ShortCut

8
axis key.

NX100 system setup
Tool data setting
Taught position is registered.
Repeat 7 to 9 operation to teach TC1 to TC5.
indicates that teaching is completed and indicates that it is not
completed.
TOOL CALIBRATION
TOOL NO. 00
POSITION: T C 4
:S 0 <STATUS>
L 10 TC1
U 1000 TC2
R 53 TC3
B 200 TC4
9 Press [MODIFY] and [ENTER]. T 8 TC5
COMPLETE CANCEL
Main Menu ShortCut
To check the taught positions, call up the required window among

TC1 to TC5 and press [FWD]. The manipulator moves to the set
position.
If there is a difference between the current position of the manipu-
lator and the shown position data, “TC ” next to “POSITION” in
the window flashes.
Calibration data is registered in the tool file. Once calibration is
completed, the coordinate window appears.
TOOL CALIBRATION
TOOL NO. 00
X 0.000 mm Rx 0.00 deg.

Y 0.000 mm Ry 0.00 deg.
Z 300.000 mm Rz 0.00 deg.
10 Select “COMPLETE.”
W 0.000 kg
Xg 0.000 mm
Main Menu ShortCut

NX100 system setup
Tool data setting
Clearing calibration data

Before the calibration of a new tool, clear the robot information and calibration data.
Select {DATA} under the main
1
menu.
2 Select {CLEAR DATA}. Clear data?
Yes No
All data is cleared.
TOOL CALIBRATION
TOOL NO. 00
POSITION: T C 1
:S <STATUS>
L TC1
U TC2
3 Select “YES.” R TC3
B TC4
T TC5
COMPLETE CANCEL
Main Menu ShortCut
Note!
Only tool coordinate data are calculated using tool calibraton. If tool angle data is required,
input the data number in the coordinate window.
Refer to "Registering tool angle" of "Registering tool files " for the operation.

NX100 system setup
Tool data setting
Checking the TCP

After registering the tool file, check if the TCP is correctly registered by performing a TCP
fixed operation like the one shown below, in any coordinate system other than the joint.
Tool center point
Select any coordinate system except “ JOINT” by pressing

[COORD].

1 Press [COORD].
TOOL
TOOL NO. 00
NAME TORCH MT-3501
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 30.000 mm Rz 0.00 deg.
Show the coordinate window of the desired tool by pressing the

GO BACK
2 Select desired tool number.
page key PAGE
or selecting it in the TOOL window.
By pressing the axis keys for the R, B, and T axes, change the
manipulator pose without changing the TCP position.
If this operation shows a large TCP error, adjust the tool data.
Move the R, B, or T axes using

3
the axis key.
TCP
Supplement
For details on TCP fixed operation, see "Motion about TCP."

NX100 system setup
Tool data setting
3.9.3 Automatic measurement of the tool load and the center of gravity
Function outline
With this function, the user can register the load of tool and the position of the tools center of
gravity.
The tool load and the position of it’s center of gravity are measured and registered in a tool
file.
Note!
This function can be used where the manipulator is installed level on the ground.
For the conditions required for manipulator installation, refer to "ARM Control."
Measurement of the tool load and the center of gravity

To measure the tool load and the center of gravity, move the manipulator to its home position
(horizontal to the U-, B- and R-axes) and operate the U-, B- and T-axes.
U-axis
U+
R-axis
B-axis
B+
T+
T-axis
L-axis
U- B- T- Home position
(Horizontal to the U-, B- and R-axis)
S-axis
Zero-degree installation on the ground
Note!
To measure the tool load or the center of gravity, remove the cables or wires connected to the
tool. Otherwise, the measurements may not be correct.

NX100 system setup
Tool data setting
1
menu.
The TOOL window appears. The TOOL window is called up only
when the file extension function is valid. If the file extension func-
tion is invalid, the coordinate window appears.
Supplement
Tool File Extension Function
Use the following parameter to set the Tool File Extension Func-
tion.
S2C333: TOOL NO. SWITCHING
“0”: Tool switching prohibited.
“1”: Can change 24 kinds of tools numbering from 0 to 23.
TOOL
NO. NAME
00 TORCH MT-3501
01 TORCH MTY-3501
02 TORCH MT-3502
03
04
2 Select {TOOL}. 05
06
07
Main Menu ShortCut
TOOL
TOOL NO. 00
NAME: dhhh
X 1.556 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 5.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 9999.000 mm Ix 0.000 kg.m2

Yg 0.000 mm Iy 0.000 kg.m2
Zg 0.000 mm Iz 0.000 kg.m2
Main Menu ShortCut

NX100 system setup
Tool data setting
Move the cursor to the desired number in the TOOL window and
press [SELECT]. The coordinate window of the selected number
appears. In the coordinate window, change the desired number by
GO BACK
pressing the page key . To alternate between the TOOL

PAGE
3 Select the desired tool number. and the coordinate window, select {DISPLAY} and {LIST}, or {DIS-
PLAY} and {COORDINATE VALUE} under the menu.
LIST
TOOL
TOOL NO. 00
NAME: dhhh
X 1 556 mm Rx 0 00 deg.
4 Select {UTILITY} under the menu.

The window for the automatic measurement of the tool load and
the center of gravity appears.
W.GRAV.POS MEASURE
TOOL NO. 00
R1:W . kg <STATUS>
HOME
Select {W.GRAV.POS MEAS- Xg . mm U
5
URE}. Yg . mm B
Zg . mm T (1)
T (2)
REGISTER CANCEL
Main Menu ShortCut
GO BACK GO BACK
6 Press the page key . In a system with several manipulators, use the page key
PAGE PAGE
to change the group to be controlled.
Press [FWD] once, and the manipulator moves to the home posi-
7 Press [FWD].
tion (horizontal to the U-, B- and R-axes).

NX100 system setup
Tool data setting
Press [FWD] again, and measurement starts. Keep the button
pressed until measurement is completed. The manipulator moves
in the order listed below. Once measurement is completed, “ “
changes to “ “.
Measurement of the U-axis: U-axis home position + 4.5 degrees

-4.5 degrees
Measurement of the B-axis: B-axis home position + 4.5 degrees
-4.5 degrees
First measurement of the T-axis: T-axis home position + 4.5
degrees -4.5 degrees
Second measurement of the T-axis: T-axis home position +60
degrees + 4.5 degrees -4.5 degrees
Note!
The speed during measurement automatically changes to
“Medium”.
During measurement, “HOME” or “U” blinks on the screen.
During measurement, the [FWD] button has to be kept pressed. If
the button is released during measurement or if it is released
8 Press [FWD] again. before “ “ changes into “ “, measurement is aborted and the fol-
lowing message appears.
“Stopped measurement”
Measurement starts again from the first home position.
When all measurements are completed or when all the “ “ marks

have changed into “ “, the measurements appears on the screen.
W.GRAV.POS MEASURE
TOOL 00
R1:W 4.513 kg <STATUS>

HOME
Xg 10.112 mm U
Yg 10.435 mm B
Zg 55.123 mm T (1)
T (2)
REGISTER CANCEL
Main Menu ShortCut
The measurements are registered in the tool file, and the coordi-
9 Select “REGISTER.” nate window are shown. Select “CANCEL” to call up the TOOL
window without registering the measurements in the tool file.

NX100 system setup
User coordinates setting
3.10 User coordinates setting

3.10.1 User coordinates
Definition of User Coordinates
User coordinates are defined by three points that have been taught to the manipulator
through axis operations. These three defining points are ORG, XX, and XY, as shown in the
diagram below. These three points of positional data are registered in a user coordinate file.
Z-axis
X-axis
XX
XY
Y-axis ORG
User coordinate definition point

ORG: Home position
XX: Point on the X-axis
XY: Point on the Y-axis
ORG is the home position, and XX is a point on the X-axis. XY is a point on the Y-axis side of
the user coordinates that has been taught, and the directions of Y- and Z-axes are determined
by point XY.
Note!
It is important that the two points ORG and XX be taught accurately.
User coordinates file

Up to 24 kinds of user coordinates can be registered. Each coordinate has a user coordinate
No. and is called a user coordinate file.
User coordinate file 1

..... 24

NX100 system setup
3.10.2 User coordinates setting

Selecting user coordinates file
1
menu.
The USER COORDINATE window appears.
USER COORDINATE
NO. SET NAME

01 WORK1
02 WORK2
03
04
05
06
07
08
Main Menu ShortCut
indicates that the user coordinates is completed to set and

2 Select {USER COORDINATE}. indicates that it is not completed.
To check the position of the user coodinates select {DISPLAY}
{COORDINATE DATA}. The following window appears.
USER COORDINATE
NO. SET NAME

01
02
03
04
05
06
07
08
Main Menu ShortCut
Select the desired user coordinate number for setting in the USER
COORDINATE window. The following window appears.
USER COORDINATE
TOOL NO. 03
SET POS.: ORG
:S <STATUS>
L : ORG
Select desired user coodinate U : XX
3 R : XY
number.
B
T
REGISTER CANCEL
Main Menu ShortCut

NX100 system setup
Teaching user coordinates

Select the robot for teaching user coordinates. (When the robot
has already been selected or there is only one robot, this operation
should not be performed.) Select “**” in the following window and
select the robot in the shown selection dialog box. The robot is reg-
istered.
USER COORDINATE
TOOL NO. 03
SET POS.: ORG
:S <STATUS>
1 Select the robot. L : ORG
U : XX
R R1: ROBOT1
: XY
R2: ROBOT2
B
T
REGISTER CANCEL
Main Menu ShortCut
The selection dialog box appears. Select the teaching point.
USER COORDINATE
TOOL NO. 03
SET POS.: ORG
:S <STATUS>
ORG
L : ORG XX
U : XX XY
2 Select “SET POS.” R : XY
B
T
REGISTER CANCEL
Main Menu ShortCut

3
axis key.

NX100 system setup
Taught position is registered.
Repeat 2 to 4 operation to teach ORG, XX and XY.
indicates that teaching is completed and indicates that it is not
completed.
USER COORDINATE
USER COORDINATE NO. 03
SET POS.: XY
:S 0 <STATUS>
L 10 : ORG
U 100 : XX
R 53 : XY
4 Press [MODIFY] and [ENTER]. B 200
T 8
REGISTER CANCEL
Main Menu ShortCut
To check the taught positions, call up the required window among

ORG to XY and press [FWD]. The manipulator moves to the set
position.
If there is a difference between the current position of the manipu-
lator and the shown position data, “ORG”, “XX”,or “XY” flashes.
User coordinates are registered in the file. Once the user coordi-
nate setting is completed, the following window appears.
TOOL
NO. SET NAME

01 WORK1
02 WORK2
5 Select “COMPLETE.” 03
04 WORK3
05
06
07
08
Main Menu ShortCut

NX100 system setup
Clearing user coordinates

Select {DATA} under the main
1
menu.
2 Select {CLEAR DATA}. Clear data?
Yes No
All data is cleared.
USER COORDINATE
TOOL NO. 03
SET POS.: ORG
:S <STATUS>
L : ORG
U : XX
3 Select “YES.” R : XY
B
T
REGISTER CANCEL
Main Menu ShortCut

NX100 system setup
ARM control
3.11 ARM control

3.11.1 ARM control
In NX100, the operation performance of the robot which satisfies various demands on the
production site such as the improvement of the path accuracy and the cycle time shortening is
achieved by adopting the ARM(Advanced Robot Motion) control which Yaskawa originally
developed.
The moment of inertia and the gravity moment etc. of each axis are calculated in the ARM
control, and NX100 controls robot motion according to it. It is necessary to set the Robot
setup condition and the tool load information to request these accurately.
The robot setup condition is robot installation angle relative to ground and the weight and a
center of gravity position of the load installed at each part of robot, etc.
The tool load information is weight, a center of gravity position, and moment of inertia at the
center of gravity, of the tool installed at the flange.
It is necessary to set these information correctly to do a better operation control by the ARM
control.
3.11.2 ARM control window

In ARM CONTROL window, the robot setup condition etc. are set.
Warning!
Set the robot setup condition exactly.
Set the robot setup condition very noting of mistake the unit, the value or the positive
and negative of number.
An appropriate operation control cannot be done, decrease the speed reducer longevity,
or occur the alarm when these are not correctly set.
Confirm the operation path of robot of each job when you change setting.
Set the robot setup condition when you basically set up the robot.
Confirm the operation path of robot of each job afterwards when you change the setting
unavoidably.
Injury or damage to machinery may result by collision between tool and positioner
because the operation path might be changed slightly when the setting about the ARM
control is changed.

NX100 system setup
ARM control
Robot setup condition

It is necessary to set the following robot setup condition to execute the ARM control appropri-
ately.
Robot installation angle
S-head payload
U-arm payload
Robot installation angle

The angle of the manipulator installed relative to ground is set in ANGLE REL. TO GROUND
to calculate the gravity moment which loads to each axis of the manipulator.
The robot installation angle sets how much X axis of the robot coordinates has inclined with
the earth around Y axis of the robot coordinates. The direction of + in the U axis operation
from the home position posture of the manipulator becomes direction of + of the robot installa-
tion angle. Therefore, the robot installation angle for a vertical downward wall mount specifi-
cation becomes -90 degrees.
Robot
installation +
angle
0° -90° +90° 180°
Because the gravity moment which loads to each axis can't be calculated correctly when this
value is not correctly set, it can not be possible to control the manipulator appropriately. Set
the value correctly. Especially, note the direction “+” or “-”.
Note!
Only rotation angle around Y-axis of the robot coordinates can be set in the robot installation
angle.
Contact YASKAWA representative when robots is installed to incline Y axis of the robot coor-
dinates relative to ground.

NX100 system setup
ARM control
S-head payload
Set the weight and the center of gravity position roughly when the equipment such as trans-
former is installed at the S-head.
It is not necessary to set these value when there is no installed load at the S-head.
WEIGHT (unit:kg)
The weight of the installed load is set.
Set a little large value though it does not care by a rough value.
(rase to a unit in each 0.5 to 1kg)
X (from S-axis), Y (from S-axis) (unit: mm)
The center of gravity position of the installed load is set by the distance in the direction of X
and the direction of Y from S-axis center here. It does not care by a rough value.
The direction of X and Y applies to the robot coordinates. The value is set by a negative num-
ber when the position is in “-” direction.
-X
S-axis center
-Y +Y
X position, Y position
+X
Fig.6 Load at S-head (top view)
U-arm payload
Set the weight and the center of gravity position roughly when the equipment such as the wire
supplying motors is installed on U arm.
A standard value is set when shipping from the factory.
Set the weight in “0” if there is no installing equipment on U arm.
WEIGHT (Unit:kg)
The weight of the installing load is set here.
Set a little large value though it does not care by a rough value. (Rase to a unit in each 0.5 to
1kg)
X (from U-axis), HEIGHT (from U-axis) (unit: mm)
The center of gravity position of the installing load is set here. It does not care by a rough
value.
X (from U-axis) is horizontal distance from U axis rotation center to the center of gravity posi-
tion of the load. Set negative number when there is mass side in the back from U axis rotation
center.

NX100 system setup
ARM control
HEIGHT (from U-axis) is height of the vertical direction from U axis rotation center to the cen-
ter of gravity position of the load.
X (from U-axis)
( - ) ( + )
U-axis rotation center

Center of gravity
HEIGHT
(from U-axis)
Fig.7 Load on U arm : center of gravity position (side view )

NX100 system setup
ARM control
Setting
Note!
The ARM CONTROL window is shown only when the security mode is set as management
mode.
1
menu.
The ARM CONTROL window appears.
ARM CONTROL
CONTROL GROUP: ROBOT1
<ROBOT SETUP CONDITION>
ANGLE REL. TO GROUND 0 deg.
S-HEAD PAYLOAD
WEIGHT 0.000 kg
X (FROM S-AXIS) 0 mm
2 Select {ARM CONTROL}. Y (FROM S-AXIS) 0 mm
U-ARM PAYLOAD
WEIGHT 9.000 kg
X (FROM U-AXIS) 12 mm
HEIGHT (FROM U-AXIS) 198 mm
Main Menu ShortCut
GO BACK
Select the desired control group when there are two or more group
PAGE axes.
4 Select the desired item.

Input the value and press
5
[ENTER].

NX100 system setup
ARM control
3.11.3 Tool load information setting
Warning
Set the tool load information correctly.
The speed reducer longevity might decrease or the alarm might occur when the tool load
information is not set correctly.
Confirm the operation path of robot of each job which uses the tool file after the tool load
information is changed.
Set the tool load information basically before teaching the job after the tool is installed.
Confirm the operation path of each job which uses the tool file when the tool load
information is changed after teaching, unavoidably.
Injury or damage to machinery may result by collision between tool and positioner
because the operation path might be changed slightly when the tool load information is
changed.
Tool load information

Tool load information includes weight, a center of gravity position, and moment of inertia at
the center of gravity of the tool installed at the flange. These are registered in the tool file.
XF' Moment of inertia around the Center of Gravity

Ix, Iy, Iz
XF
Ix
YF'
Iy
YF
ZF' Iz
Weight:W
* Flange Coodinates
XF: It is a direction right above when T axis
ZF is 0 pulse position and the flange surface
of the manipulator turned to the front.
Center of Gravity Position YF: Y axis led by XF,ZF
( Xg, Yg, Zg ) ZF: Perpendicular direction from flange surface
How to calculate tool load information

Weight : W (Unit:kg)
The total weight of the installing tool is set.
Set a little large value though it does not care by a rough value. Rase to a unit in each 0.5 to
1kg for small or middle robot and rase to a unit in each 1 to 5kg for large robot.

NX100 system setup
ARM control
Center of gravity position : xg, yg, zg (Unit : mm)

The center of gravity position of the installed tool is set as the position in the flange coordina-
tes.
It does not care by setting a rough value because it is usually difficult to get a strict center of
gravity position. Presume and set a center of gravity position roughly from outline of the tool.
Set the value when the center of gravity position of the installed tool is clear from specifica-
tions etc.
Moment of inertia at the center of gravity: lx, ly, lz (Unit : kg m2)
It is an moment of inertia of the tool at the center of gravity position.
The value is calculated around the each axis of the coordinates which is in parallel to the
flange coordinates and which home position is the center of gravity position of the tool.
Set a little large value though it does not care by a rough value.
This setting is used to calculate the moment of inertia which loads to each axis of the manipu-
lator. However, the moment of inertia at the center of gravity need not usually set because
this data is small enough to the moment of inertia calculated from weight and the center of
gravity position.
Only when the moment of inertia of the tool is large (The size of the tool is, as a standard, in
case of about twice or more the distance from the flange to the center of gravity position), this
setting is needed.
If the size of the tool is not to big. If the size of the tool is big.
Setting the moment of inertia at center of grav- Setting the moment of inertia at center of grav-
ity is not necessary. ity is necessary.
Rough value of the moment of inertia at the center of gravity can be calculated by followings
methods.
- Method to approximate the entire tool in hexahedron or cylinder.
- Method to calculate from each weight and center of gravity position of plural mass.
Refer to the following setting examples for details.

NX100 system setup
ARM control
<Example1>
In the example of sealing gun of the figure below, it is assumed that there is center of gravity
in the position where inclined to head from the center a little, and sets the center of gravity
position on the flange coordinates.
There is no problem even if the moment of inertia at the center of gravity is not set because
the size of the gun is not too large.
YF
Center of gravity
= (100, 0, 70)
XF
70
Total weight
Approx. 6.3 kg 100
7.00 kg
ZF
W : 7.000 kg
Xg : 100.000 mm
Yg : 0.000 mm
Zg : 70.000 mm
Ix : 0.000 kg m2
Iy : 0.000 kg m2
Iz : 0.000 kg m2

NX100 system setup
ARM control
Supplement
The own moment of inertia calculation for hexahedron and cylinder
The own moment of inertia of hexahedron and cylinder can be calculated by the next expres-
sion when the center of gravity is at the center.
Refer to the expression when the calculation of the moment of inertia at the center of gravity.
Z Z
Ly
r
Lx
Iz Iz
Iy Lz
Ix Y H Y
Ix Iy
Weight: W X Weight: W
X
Ly2 + Lz2 3 r 2 + H2
Ix = *W Ix = Iy = *W
12 12
r2
Lx2 + Lz2 Iz = *W
Iy = *W 2
12 * Unit of
weight: [kg]
* Unit of length: [m]
Lx2 + Ly2 * Unit of lx, ly, lz: [kgm2]
Iz = *W
12

NX100 system setup
ARM control
<Example 2>
It is necessary to set the moment of inertia at the center of gravity when the entire size of the
tool and workpiece is large enough compareing with the distance from the flange to the center
of gravity position.
Calculate the moment of inertia at the center of gravity roughly from the expression (Refer to
the above-mentioned supplement: "The own moment of inertia calculation for hexahedron
and cylinder"), by approximating the entire tool in the shape of the hexahedron or the cylinder.
If the weight of held workpiece is greatly different like in the handling usage etc, it is more
effective to set tool load information on each workpiece and to switch the tool on each step
according to the held workpiece. Set the tool load information in the state to hold the heaviest
workpiece when the tool is not switched.
Weight of tool:
0 YF
50 approx. 55 kg
Weight of workpiece:
ZF
250
XF approx. 40 kg
400
1000
Weight : W = 55 + 40 = 95 = approx. 100[kg]

Center of gravity : Position at flange right under 250mm almost (Xg, Yg, Zg) = (0,0,250)
Moment of inertia at the center of gravity :

The hexahedron of 0.500 x 0.400 x 1.000[m] which encloses the entire tool + workpiece is assumed.
By the expression to calculate the own moment of inertia of hexahedron,

Ix = ( Ly2 + Lz2 / 12) * W = ( (0.4002 + 1.0002) / 12 ) * 100 = 9.667 = approx. 10.000
Iy = ( Lx2 + Lz2 / 12) * W = ( (0.5002 + 0.4002) / 12 ) * 100 = 3.417 = approx. 3.500
Iz = ( Lx2 + Ly2 / 12) * W = ( (0.5002 + 1.0002) / 12 ) * 100 = 10.417 = approx. 10.500
<Setting>
W : 100.000 kg
Xg : 0.000 mm
Yg : 0.000 mm
Zg : 250.000 mm
Ix : 10.000 kg.m2
Iy : 3.500 kg.m2
Iz : 10.500 kg.m2

NX100 system setup
ARM control
Supplement
How to calculate "Center of gravity position" and "moment of inertia at center of gravity"
for plural mass.
The center of gravity position and the moment of inertia at the center of gravity of the
entire tool can be calculated by the weight and the center of gravity position of each
mass when the tool can be thought that the tool consists of two or more big mass like the
twin gun system etc.
1. Divide the tool into some parts as the weight and the center of gravity position can be
roughly presumed. It is not necessary to divide in detail. The tool is approximated in
construction of rough parts.
2. Calculate the weight and the center of gravity position of the each parts on flange coordi-
nates. It does not care by a rough value. Calculate the own moments of inertia of the big
parts. (If parts are small, it is not necessary to calculate the own moments of inertia.
Refer to above-mentioned supplement : "The own moment of inertia calculation for hex-
ahedron and cylinder" for how to calculate the own moment of inertia.
wi: Weight of the i-th parts [kg]
(xi, yi, zi): Center of gravity position of the i-th parts (On flange coordinates)[mm]
Icxi, Icyi, Iczi: Own moments of inertia of the i-th parts [kg*m2]
3. The center of gravity position of the entire tool is calculated by the next expression.
xg = {w1 * x1 + w2 * x2 + .... + wi * xi} / (w1 + w2 + .... + wi)
yg = {w1 * y1 + w2 * y2 + .... + wi * yi} / (w1 + w2 + .... + wi)
zg = {w1 * z1 + w2 * z2 + .... + wi * zi} / (w1 + w2 + .... + wi)
4. The moment of inertia at the center of gravity position of the entire tool is calculated by
the next expression.
Ix = { w1 * ((y1 - yg)2 + (z1 - zg)2) * 10-6 + Icx1}
+ { w2 * ((y2 - yg)2 + (z2 - zg)2) * 10-6 + Icx2}
.....................
+ { wi * ((yi - yg)2 + (zi - zg)2) * 10-6 + Icxi}
Iy = { w1 * ((x1 - xg)2 + (z1 - zg)2) * 10-6 + Icy1}

+ { w2 * ((x2 - xg)2 + (z2 - zg)2) * 10-6 + Icy2}
.....................
+ { wi * ((xi - xg)2 + (zi - zg)2) * 10-6 + Icyi}
Iz = { w1 * ((x1 - xg)2 + (y1 - yg)2) * 10-6 + Icz1}
+ { w2 * ((x2 - xg)2 + (y2 - yg)2) * 10-6 + Icz2}
.....................
+ { wi * ((xi - xg)2 + (yi - yg)2) * 10-6 + Iczi}

NX100 system setup
ARM control
<Example 3>
When there is two or more big mass like the twin gun system like the figure below,
Set the center of gravity position when the center of gravity position of the entire tool is
roughly understood, and set the moment of inertia at the center of gravity calculated by
approximating the entire tool in the shape of hexahedron or cylinder. (It is enough in this set-
ting usually)
Or, when weight in each mass and the center of gravity position are understood, the center
of gravity position and the moment of inertia at the center of gravity of the entire tool can be
calculated. (Refer to above-mentioned supplement: "How to calculate "Center of gravity posi-
tion" and "moment of inertia at the center of gravity" for plural mass")
How by the method of 2 to calculate the value is shown here.
(Top view)
Center of flange
YF
YF
100
50 150
40
X F
Gun 1
70
XF Gun 2
Gun 1
ZF Gun 1 Gun 2
Weight: W1 = 3 kg Weight: W2 = 6kg
Center of gravity: Center of gravity:
X1 = 100 mm X1 = 100 mm
Gun 2
Y1 = 50 mm Y1 = -150 mm
Z1 = 40 mm Z1 = 70 mm
Weight : W = w1 + w2 = 3 + 6 = 9 = approx. 10[kg]

Center of gravity Xg = (w1 * x1 + w2 * x2) / (w1 + w2)
Xg = (3 * 100 + 6 * 100) / (3+6) = 100.0 [mm]
Yg = (3 * 50 + 6 * (-150)) / (3+6) = -83.333 [mm]
Zg = (3 * 40 + 6 * 70) / (3+6) = 60.0 [mm]
The moment of inertia at the center of gravity position :

Ix = { w1 * ((y1 - Yg)2 + (z1 - Zg)2) * 10-6 + Icx1}
+ { w2 * ((y2 - Yg)2 + (z2 - Zg)2) * 10-6 + Icx2}
= 3 * ((50 - (-83))2 + (40 - 60)2) * 10-6
+ 6 * (((-150) - (-83))2 + (70 - 60)2) * 10-6
= 0.082 = approx. 0.100
Iy = 3 * ((100 - 100)2 + (40 - 60)2) * 10-6
+ 6 * ((100 - 100)2 + (70 - 60)2) * 10-6
= 0.002 = approx. 0.010
Iz = 3 * ((100 - 100)2 + (50 - (-83))2) * 10-6
+ 6 * ((100 - 100)2 + ((-150) - (-83))2) * 10-6
= 0.080 = approx. 0.100

NX100 system setup
ARM control
* Here, the own moment of inertia (Icxi,Icyi,Iczi) of the gun is disregarded, because each gun
are smaller enough than the entire tool.
<Setting>
W : 10.000 kg
Xg : 100.000 mm
Yg : -83.333 mm
Zg : 60.000 mm
Ix : 0.100 kg.m2
Iy : 0.010 kg.m2
Iz : 0.100 kg.m2

NX100 system setup
ARM control
Tool load information registering

Tool load Information is registered in the tool file.
1
menu.
The TOOL window appears. Only when the file expansion function
is valid, the TOOL window appears. When the file expansion
function is invalid, the coordinate window appears.
TOOL
TOOL NO. : 00
NO. NAME
00 TORCH MT-3501
01 TORCH MTY-3501
02
03
04
05
06
07
2 Select {TOOL}. Main Menu ShortCut
TOOL
TOOL NO. 00
NAME: dhhh
X 1.556 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 5.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 9999.000 mm Ix 0.000 kg.m2

Yg 0.000 mm Iy 0.000 kg.m2
Zg 0.000 mm Iz 0.000 kg.m2
Main Menu ShortCut
Move the cursor to the number of the desired tool, and press
[SELECT] in the TOOL window. The coordinate window of the
selected number appears. Select the desired number with page
GO BACK
key PAGE
in the coordinate window.
3 Select the desired tool number. Select { DISPLAY } { LIST } or { DISPLAY } {COORDINATE
DATA } under the menu in order to switch between the TOOL win-
dow and the coordinate window.
LIST
TOOL
TOOL NO. 00
NAME: dhhh
X d

NX100 system setup
ARM control
The window can be scrolled by the cursor. The menu enters the
state of a numeric input if the cursor is on the desired item to regis-
ter and the [SELECT] is pressed.
Center of Moment of inertia
Weight gravity at center of gravity
TOOL
TOOL NO. 00
R1:W 0.000 kg
Select the desired item to register
4
and input the value. Xg 0.000 mm
Yg 0.000 mm
Zg 0.000 mm
0.000
Ix 0.000 kg.m2
Iy 0.000 kg.m2
Main Menu ShortCut
The input value is registered. The servo power is automatically

turned off when editing the value during the servo power turned on,
5 Press [ENTER].
and the message "Servo off by changing data " is shown for three
seconds.
Note!
When the data setting is not done
It is considered that data is not set correctly in tool load information in the following cases.
When the weight (W) is "0".
When the center of gravity position (Xg, Yg, Zg) are all “0”.
In these cases, the manipulator is controlled by using the standard parameter value (Differ in
each robot model) which were set when shipping.
Standard Value.....Weight: W = Payload
Center of gravity position:
(Xg, Yg, Zg) = (0, 0, Allowed value of B axis for payload)
In this case, when an actual tool load is not too heavy, the manipulator can’t be performed
enough.
Moreover, when the tool which an actual tool center of gravity position greatly offsets in X
direction or Y direction is installed the generated moment by the tool cannot be compensated.
Switch of the tool file

In case that two or more tool files are used, Information on an effective tool file is referred for
tool load information used by the ARM control at that time in according to switch tool file.
Set the same value of tool load information in each tool file when the tool file is switched to
change only TCP (when neither the weight nor the center of gravity position of the entire tool
installed in the flange is changed).
Moreover, set tool load information to the corresponding tool file respectively when total
weight and the center of gravity position etc. of the tool is changed (when the system which
exchange the tool by automatic tool changer).

NX100 system setup
Shock detection function
3.12 Shock detection function

3.12.1 Shock detection function
The shock detection function is a function to decrease damage because of the collision by
instantaneously detecting the shock and stopping the manipulator without any external sen-
sor when the tool or the manipulator collide with peripheral device.
When the shock is detected either in teach mode and in play mode, the manipulator is stop-
ped instantaneously.
Warning!
This function cannot do away with the damage to peripheral device completely.
Moreover, this function does not guarantee safety to the person. Prepare the safety
measures such as the safeguarding etc. Refer to the NX100 INSTRUCTIONS for the
safety measures in detail.
Injury or damage to machinery may result by contact with the manipulator.
3.12.2 Shock detection function setting

The shock detection function is set not to mis-detect the shock even if operating by the ratings
load with the maximum speed when shipping from the factory. If tool load information is set
correctly, the detection sensitivity can be improved. Moreover, it is possible to set the lower
sensitivity of detection only for a specific section where the contact work etc. The sensitivity
of detection is set by setting the detection level.
Shock detection level setting

The shock detection level is set in the shock detection level set file.
The shock detection level set file are nine condition files as following figure.
Condition number 1 to 7 are used when the detection level is changed in a specific section in
play mode.
Condition number 8 is a file used as standard in play mode. This function is operated by the
detection level set in this file when playback operation.
Condition number 9 is a file for teach mode. The shock is detected by the detection level set
in this file when the manipulator is operated in teach mode.
The detection level is changed by the SHCKSET instruction. After this instruction is execu-
ted, the shock will be detected by the detection level of the specified file when the condition
number is specified at SHCKSET instruction. The detection level is returned to standard level
when the SHCKRST instruction is executed.

NX100 system setup
Files for specific section

in play mode
(condition No 1 to 7)
Standard file for play

mode
(condition No 1 to 8)
Shock detection
level file
File for teach

Condition No 1
mode
Condition No 7 (condition No 9)
Condition No 8
Condition No 9
Supplement
The detection level of condition number 8 which is a standard file in play mode is adopted in
play mode excluding the range between SHCKSET and SHCKRST in the job.

NX100 system setup
Method of shock detection level file setting

1
menu.
The SHOCK DETECTION LVL window appears.
SHOCK DETECTION LVL
c DETECTION MODE PLAY
d COND. NO. 8 (STANDARD)
FUNC. MAX. DISTURBANCE DETECTION LVL
R1 VALID 80 100
R2 VALID 80 100
S1 VALID 80 100
S2 VALID 80 100
S3 VALID 80 100
e g
f
Main Menu ShortCut
2 Select {SHOCK SENS LEVEL}.
1. Detection Mode
The shock detection mode is indicated.
2. Condition Number (1 to 9)
1 to 7 : For changing detection level in play mode
8 : For standard detection level in play mode
9 : For detection level in teach mode
Do either of the following operations to display the desired condi-

tion number. When the desired condition number is input with a
Numeric key and the [ENTER] is pressed after the cursor is moved
on the condition number and [SELECT] is pressed, the file of the
selected condition number is shown.
GO BACK
When page key is pressed, the condition number file is

PAGE
changed.

NX100 system setup
3. Function select
VALID/INVALID of the shock detection function is specified here.
The shock detection function is specified by each manipulator or
each station axes which has this function.
The cursor is moved to the robot or the station axis which is
desired to change the function "VALID" or "INVALID" and
[SELECT] is pressed. "VALID" and "INVALID" is changed alter-
nately whenever [SELECT] is pressed. The changing of "VALID"
or "INVALID" is effective for all the condition number files.
4. Max. disturbance force

The maximum disturbance force to the manipulator when the
manipulator is moved in paly back operation or axis operation is
shown here.
Refer to this value when the detection level in “5” is input.
2 (cont’d)
The maximum disturbance force can be cleared by setting in
menu {DATA} {CLEAR MAX VALUE }.
5. Detection level (Level range : 1 to 500)

The shock detection level is specified here. Bigger value than
the maximum disturbance force should be set.
The value (The detection level:100) not mis-detected the shock
even if robot is operated at the maximum speed is set when
shipping from the factory.
To change "Detection level", move the cursor to the robot or the
station axis which is desired to change to appear the numeric
input status and press [SELECT] moreover input the value by a
Numeric key and press [ENTER]. Set the level to small value to
raise the detection sensitivity or set the level to large value to
lower sensitivity.
Select the desired condition
3
number.
4 Select the desired item and set it.
Note!
Set the level 20% or more greatly than the maximum disturbance force for the mis-detection
prevention when the manipulator works.
An instaneously stopping the manipulator by the mis-detection may become a factor to
damage the speed reducer or the tool.
<Example>
When the maximum disturbance force is 80, set the detection level 96 or more.
Note!
"Detection level” can be changed only when the security mode is set as managememt mode.

NX100 system setup
Tool load information setting

To be the more accurate shock detection, the tool load information is set in the tool file.
Supplement
Refer to "Tool Load Information Setting" for details concerning the tool load information set-
ting.
Method of the tool load information setting

1
menu.
The TOOL window appears. Only when the file expansion function
is valid, the TOOL window appears. When the file expansion
function is invalid, the coordinate window appears.
TOOL
NO. NAME
00 TORCH MT-3501
01 TORCH MTY-3501
02 TORCH MT-3502
03
04
05
06
07
2 Select {TOOL}.
Main Menu ShortCut
TOOL
TOOL NO. 00
NAME: dhhh
X 1.556 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 5.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 9999.000 mm Ix 0.000 kg.m2

Yg 0.000 mm Iy 0.000 kg.m2
Zg 0.000 mm Iz 0.000 kg.m2
Main Menu ShortCut

NX100 system setup
Move the cursor to the number of the desired tool and press
[ENTER] in the TOOL window. The coordinate window of the
selected number is shown. Select the desired number with page
GO BACK
key in the coordinate window.

PAGE
Select { DISPLAY } { LIST } or { DISPLAY } {COORDINATE

DATA } under the menu in order to switch between the TOOL and
the coordinate window. The coordinate window is scrolled by the
cursor.
TOOL
TOOL NO. 00
c R1:W 0.000 kg
Xg 0.000 mm
d Yg 0.000 mm
Zg 0.000 mm
0.000
e Ix 0.000 kg.m2
Iy 0.000 kg.m2
3 Select the desired tool number.

Main Menu ShortCut
1. Weight
This is total weight of the installed tool.
Input weight by a Numeric key and press [ENTER] after the
numeric input status is appeared by moving the cursole and
pressing [SELECT].
2. Center of gravity position

This is center of gravity position of the installed tool. The value
are specified by the coordinates value on each axis of the flange
coordinates. Input the center of gravity position by a numeric
key and press [ENTER] after the numeric input status is
appeared by moving the cursole and pressing [SELECT].
3. Moment of inertia at the center of gravity

This is moment of inertia of the tool at the center of gravity in “2”.
The value are specified around each axis of the coordinates
which is in parallel to the flange coordinates and which home
position is the center of gravity position.
Input the moment of inertia by a numeric key and press [ENTER]
after the numeric input status is appeared by moving the cursole
and pressing [SELECT].
4 Select the desired item and set it.

NX100 system setup
Instruction of shock detection function

SHCKSET instruction
The SHCKSET instruction changes the shock detection level to the value set in the shock
detection level file during play back operation.
The additional items of the SHCKSET instruction are as follows.
SHCKSET R1 SSL#(1)
1. Robot / Station setting

The robot or the station axis which is desired to change the shock detection level is spe-
cified. If nothing is specified, the shock detection level of the control group of the job to
which this instruction is registered is changed.
However, if the job is coordinated job, the shock detection level of the slave axis group
is changed.
2. Shock detection level file (1 to 7)
The shock detection level file number is specified here. The shock detection level value
when playback operation is set in the file. The shock detection level is changed by the
condition of the file set here.
SHCKRST instruction
The shock detection level changed by the SHCKSET instruction is reset and returned to the
detection level of the standard (value set in condition number 8) by the SHCKRST instruction.
The additional item of the SHCKRST instruction is as follows.
SHCKRST R1
1. Robot / Station setting

The robot or the station axis which is desired to reset the shock detection level is speci-
fied here. If nothing is specified, the shock detection level of the control group of the job
to which this instruction is registered is changed.
However, if the job is coordinated job, the shock detection level of the slave axis group is
changed.

NX100 system setup
Instruction registration
The instruction is registered when the cursor is in the address area in the JOB CONTENT
window in teach mode.
Address area Instruction
JOB CONTENT
JOB NAME: WORK A STEP NO.: 0000
CONTROL GROUP TOOL: 00
0000 NOP
0001 SET B000 0
Select {JOB} under the main 0002 SET M001 1
1
menu. 0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OGH#(13) B0 02
0006 WAIT IF IN#(5)=ON
0007 MOVL V=880.0
0008 MOVL V=880.0
0009 MOVL V=880.0
0010 DOUT OGH#(14) B0 03
0011 DOUT OT#(5) ON
0012 DOUT OT#(6) ON
=> MOVJ VJ=80.00
Main Menu ShortCut
2 Select {JOB}.
Move the cursole in the address
3
area.
SHCKSET
Move the cursole to the line just
before the location where SHCK-
1
SET instruction is desired to reg-
ister.
The inform list dialog box appears.
ARITH
SHIFT
2 Press [INFORM LIST].
SHCKSET OTHER
SHCKRST SAME
PRIOR
The SHCKSET instruction appears in the input buffer line.

3 Select SHCKSET instruction.
=> SHCKSET SSL#(1)

NX100 system setup
< When registering as it is >
Operate 5 procedure when the instruction the input buffer line as it
is should be registered.
< When adding or changing the additional item >

When the shock detection level file is changed, move the cursor to
the shock detection level file number, and increase or decrese the
file number by pressing about [SHIFT] and the cursor key simulta-
neously.
=> SHCKSET SSL#(1)
When the value is input with the Numeric key, press [SELECT] to
display the input buffer line.
Shock_sens_file no. =
SHCKSET SSL#( )
And press [ENTER] to change the number in the input buffer line.
When robot/station specification is added, move the cursor to the

instruction in the input buffer line and press [SELECT] to show the
DETAIL window.
DETAIL
SHCKSET
ROBOT/STATION : UNUSED
S-DETECT. FILE : SSL#( ) 1
Change the value of additianal

4
item and numerical data.
=> SHCKSET SSL#(1)
Main Menu ShortCut
Move the cursor to "UNUSED" of "ROBOT/STATION", and press

[SELECT]. The selection dialog box appears. Move the cursor to
added robot or station and press [SELECT].
DETAIL
SHCKSET
S-DETECT. FILE : SSL#( ) 1
R1:ROBOT1
R2:ROBOT2
USED
=> SHCKSET SSL#(1)
Main Menu ShortCut
When the addition of robot/station ends, press [ENTER]. The

DETAIL window shuts and the JOB CONTENT window appears.
5 Press [INSERT] and [ENTER]. The instruction shown in the input buffer line is registered.

NX100 system setup
SHCKRST
Move the cursole to the line just
before the location where
1
SHCKRST instruction is desired
to register.
The inform list dialog box appears.
ARITH
SHIFT
2 Press [INFORM LIST].
SHCKSET OTHER
SHCKRST SAME
PRIOR
The SHCKRST instruction appears in the input buffer line.

3 Select SHCKRST instruction.
=> SHCKRST
< When registering as it is >

Operate 5 procedure when the instruction the input buffer line as it
is should be registered.
< When adding or changing the additional item >

When robot/station specification is added, move the cursor to the
instruction in the input buffer line and press [SELECT] to show the
DETAIL window.
DETAIL
SHCKRST
Change the value of additianal ROBOT/STATION : UNUSED
4
item.
=> SHCKRST
Main Menu ShortCut
Move the cursor to "UNUSED" of "ROBOT/STATION", and press

[SELECT]. The selection dialog box appears. Move the cursor to
added robot or station and press [SELECT].

NX100 system setup
DETAIL
SHCKRST
R1:ROBOT1
R2:ROBOT2
UNUSED
4 (cont’d)
=> SHCKRST
Main Menu ShortCut
When the addition of the robot/the station ends, press [ENTER].

The DETAIL window shuts and the JOB CONTENT window
appears.
5 Press [INSERT] and [ENTER]. The instruction shown in the input buffer line is registered.

NX100 system setup
Reset shock detected

When the tool and the manipulator are collided with peripheral device and it is detected by the
shock detection function, the manipulator is stopped in the instantaneously with alarm output.
At this time, the shock detection alarm is shown.
ALARM
ALARM 4315 [ S L U R B T ]

COLLISION DETECT
OCCUR TIMES : 1
RESET
Main Menu ShortCut
The shock detection alarm in teach mode and play mode can be reset by the following opera-
tion.
The alarm is reset when "RESET" is selected on the alarm display,
1 Press [SELECT].
and the shock detection status is released.
In teach mode, the JOG operation of the manipulator becomes
Operation after resetting the possible again after resetting. In play mode, confirm the damage
2
detection status. after moving the manipulator to the safety position once with teach
mode though the playback operation is possible after resetting.
Note!
When manipulator was stopped instantaneously while having contact with the object and the
detection alarm is tried to reset on the alarm window, the situation in which the alarm cannot
be reset might be occured because the collision might be detected again after resetting.
In this case, set the collision detection function "INVALID" with the shock detection level file
or enlarge the detection level in teach mode and move the manipulator to safety position.

NX100 system setup
Instruction level setting
3.13 Instruction level setting

3.13.1 Setting contents
Instruction set
There are three instruction sets that can be used when registering the instructions for the
robot programming language (INFORM III) : the subset instruction set, the standard instruc-
tion set, and the expanded instruction set.
Subset instruction set
The instructions displayed in the instruction list are limited to just those that are most fre-
quently used, reducing the number of instructions that can be registered. Since few instruc-
tions are shown, selection and input are simple.
Standard instruction set / expanded instruction set
All the INFORM III instructions can be used. The number of additional items to be used in
each instruction differ in the standard instruction set and expansion instruction set.
In the standard instruction set, the following functions cannot be used. However, operation
becomes easier because the number of data items decreases when registering an instruction.
Use of local variables and arrangement variable
Use of variables for additional items (Example: MOVJ VJ = I000)
When instructions are executed, for example during playback, all the instructions can be exe-
cuted regardless of the instruction set used.
Expanded instruction set

Standard instruction set
Subset instruction set
Frequency used
All instructions
instructions
Use of local variables and arrangement variables

Use of variables for additional items
Job calls with arguments
Fig.8 Instruction set

NX100 system setup
Learning function
When an instruction is entered from the instruction list, the additional items that were entered
last time are also shown. This function can simplify instruction input.
To register the same additional items as those in the former operation, register them without
changing.
Register an 0003 WAIT IN#(1)=ON An instructions are

instruction 0004 END registered
The next time an attempt

=> WAIT IN#(1)=ON is made to register the
The instruction and
the additional items ! same instruction as in ,
that were entered the same additional items
Main Menu ShortCut
last time are shown. as were registered last time
are also shown in the input
buffer line.

NX100 system setup
3.13.2 Setting instruction set level operation

1
menu.
The TEACHING CONDITION window appears.
TEACHING CONDITION
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
MOVE INSTRUCTION SET LINE
STEP ONLY CHANGING PROHIBIT
2 Select {TEACHIG COND}.
Main Menu ShortCut
The selection dialog box appears.
TEACHING CONDITION
LANGUAGE LEVEL SUBSET
MOVE INSTRUCTION SET SUBSET
STEP ONLY CHANGING
STANDARD
3 Select “LANGUAGE LEVEL.” EXPANDED
Main Menu ShortCut
Language level is set.
TEACHING CONDITION
LANGUAGE LEVEL STANDARD
MOVE INSTRUCTION SET LINE
STEP ONLY CHANGING PROHIBIT
4 Select desired language level.
Main Menu ShortCut

NX100 system setup
Numeric key customize function
3.14 Numeric key customize function

3.14.1 What is the numeric key customize function?
With this function, the user can set the function of an application that has been allocated to
the Numeric key of the programming pendant to the other function.
Since any frequently used operation can be allocated to a numeric keys on the programming
pendant, decreasing the number of key operations reduces the teaching time.
Note!
The numeric key customize function is only valid when the security mode is set to the mana-
gememt mode.
3.14.2 Allocatable functions

There are two allocation methods as follows:
Key allocation (EACH)
Key allocation (SIM)
Key allocation (EACH)

With key allocation (EACH), the manipulator operates according to the allocated function
when the numeric key is pressed. The following shows the functions that can be allocated.
Function Description
Manufacturer Allocated by Yaskawa. Allocating another function invalidates the function allo-
allocation cated by the manufacturer.
Instruction allocation Allocates any instructions assigned by the user.
Allocates job call instructions (CALL instructions). The jobs to be called are only
Job call allocation
those registered in the reserved job names. (Specify it by the registration No.)
Display allocation Allocates any displays assigned by the user.

NX100 system setup
Key allocation (SIM)

With key allocation (SIM), the manipulator operates according to the allocated function when
the [INTERLOCK] and the numeric key are pressed at the same time. The following shows
the functions that can be allocated.
Function Description
Alternate output Turns ON/OFF the specified user output signal when [INTERLOCK] and the allo-
allocation cated numeric key are pressed at the same time.
Momentary output allo- Turns ON the specified user output signal user when [INTERLOCK] and the allo-
cation cated user key are pressed at the same time.
Pulse output Turns ON the specified user output signal only for the specified period when
allocation [INTERLOCK] and the allocated numeric key are pressed at the same time.
Group output Sends the specified output to the specified general group output signals when
allocation (4-bit/8-bit) [INTERLOCK] and the allocated numeric key are pressed at the same time.
Analog output Sends the specified voltage to the specified output port when [INTERLOCK] and
allocation the allocated numeric key are pressed at the same time.
Analog incremental out- Sends the voltage increased by the specified value to the specified output port
put allocation when [INTERLOCK] and the allocated numeric key are pressed at the same time.
Supplement
In a system for multiple applications, a numeric key can be allocated for each application.

NX100 system setup
3.14.3 Allocating an operation

Allocation window
1
menu.
The KEY ALLOCATION (EACH) window appears.
KEY ALLOCATION (EACH)
APPLI. NO.: 1
KEY FUNCTION ALLOCATION CONTENT
- MAKER
. MAKER
0 MAKER
2 Select {KEY ALLOCATION}. 1 MAKER
2 MAKER
3 MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
The pull-down menu appears. To call up the KEY ALLOCATION

(SIM) window, select {ALLOCATE SIM. KEY}.
ALLOCATE EACH KEY
KEY ALLOCATION EACH
ALLOCATE SIM.KEY
APPLI. NO.: 1
- MAKER
. MAKER
0 MAKER
3 Select {DISPLAY}. 1 MAKER
2 MAKER
3 MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
The KEY ALLOCATION (SIM) window appears. GO BACK
In a system multiple applications, press the page key to

PAGE
change the window to the allocation window for each application.
APPLI. NO.: 1
- MAKER
4 Select {ALLOCATE SIM. KEY}. . MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut

NX100 system setup
Instruction allocation
Use this function in the KEY ALLOCATION (EACH) window.
APPLI. NO.: 1
- MAKER
. MAKER
MAKER
Move the cursor to “FUNCTION” 0 MAKER
INSTRUCTION
1 of the key to be allocated and 1 MAKER
2 JOB CALL
MAKER
press [SELECT]. 3 DISPLAY
MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
The instruction is shown in the “ALLOCATION CONTENT.”
APPLI. NO.: 1
- INSTRUCTION DOUT
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the instruction, move the cursor to the instruction and

press [SELECT]. Then the instruction group list dialog box
2 Select “INSTRUCTION.” appears. Select the group containing the instruction to be
changed.
IN/OUT
APPLI. NO: 1 CONTROL
- INSTRUCTION DOUT DEVICE
. MAKER
0 MAKER MOTION
1 MAKER
2 MAKER ARITH
3 MAKER
4 MAKER SHIFT
5 MAKER
6 MAKER OTHER
7 MAKER
8 MAKER SAME
9 MAKER
PRIOR
Main Menu ShortCut
When the instruction list dialog box is shown, select the instruction
to be changed.

NX100 system setup
APPLI. NO.: 1
- INSTRUCTION WAIT
. MAKER
0 MAKER
2 (cont’d) 1 MAKER
2 MAKER
3 MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut

NX100 system setup
Job call allocation

Use this function in the KEY ALLOCATION (EACH) window.
Move the cursor to the “FUNC-
1 TION” of the key to be allocated The selection dialog box appears.
and press [SELECT].
The reserved job registration No. is shown in the “ALLOCATION
CONTENT” (reserved job registration No.: 1 to 10).
APPLI. NO.: 1
- INSTRUCTION DOUT
. JOB CALL 1
0 MAKER
1 MAKER
2 MAKER
2 Select “JOB CALL.” 3 MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the reserved job registration No., move the cursor to the
No. and press [SELECT]. Numeric values can now be entered.
Input the number to be changed, and press [ENTER].

NX100 system setup
Window allocation
Use this function is used in the KEY ALLOCATION (EACH) window.
and press [SELECT].
2 Select “DISPLAY.”
Move the cursor to “ALLOCATION
3 The character input status is entered.
CONTENT” and press [SELECT].
The reserved name input to the “ALLOCATION CONTENT” is
shown.
APPLI. NO.: 1
- INSTRUCTION DOUT
. JOB CALL 1
Input the name of the reserved 0 DISPLAY WORK POSITION DISP
4 1 MAKER
window and press [ENTER].
2 MAKER
3 MAKER
4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
5 Open the window for allocation.

Press [INTERLOCK] and the allo- A message “Reserved window registered” appears, and the win-
6
cated key at the same time. dow is registered.

NX100 system setup
Alternate output allocation

Use this function is used in the KEY ALLOCATION (SIM) window.
KEY ALLOCATION (SIM)
APPLI. NO.: 1
- MAKER
. MAKER
MAKER
Move the cursor to the “FUNC- 0 MAKER
ALTERNATE OUTPUT
1 TION” of the key to be allocated 1 MAKER
MOMENTARY OUTPUT
2 MAKER
and press [SELECT]. 3 PULSE OUTPUT
MAKER
4 4 BIT OUTPUT
MAKER
5 MAKER
8 BIT OUTPUT
6 MAKER
ANALOG OUTPUT
7 MAKER
8 ANALOG INC OUTPUT
MAKER
9 WINDOW
MAKER
Main Menu ShortCut
The output No. is shown in the “ALLOCATION CONTENT.”
APPLI. NO.: 1
- ALTERNATE NO.: 1
. MAKER
0 MAKER
1 MAKER
2 MAKER
3 MAKER
2 Select “ALTERNATE OUTPUT.” 4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the output No., move the cursor to the No. and press
[SELECT]. Numeric values can now be entered. Input the number
to be changed, and press [ENTER].

NX100 system setup
Momentary output allocation

Use this function in the KEY ALLOCATION (SIM) window.
and press [SELECT].
The output No. is shown in the “ALLOCATION CONTENT.”
APPLI. NO.: 1
- ALTERNATE NO.: 1
. MOMENTARY NO.: 1
0 MAKER
1 MAKER
2 MAKER
3 MAKER
2 Select “MOMENTARY OUTPUT.” 4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the output No., move the cursor to the No. and press
[SELECT]. Numeric values can now be entered. Input the
number to be changed, and press [ENTER].
Pulse output allocation

and press [SELECT].
The output No. and output time are shown in the “ALLOCATION
CONTENT.”
APPLI. NO.: 1
- ALTERNATE NO.: 1
. MOMENTARY NO.: 1
0 PULSE NO.: 1 TIME: 0.01 SEC
1 MAKER
2 MAKER
3 MAKER
2 Select “PULSE OUTPUT.” 4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the output No. or output time, move the cursor to the
No. or time and press [SELECT]. Numeric values can now be
entered. Input the number or time to be changed, and press
[ENTER].

NX100 system setup
Group (4-bit/8-bit) output allocation

and press [SELECT].
The output No. and output value are shown in the “ALLOCATION
CONTENT.”
APPLI. NO.: 1
- ALTERNATE NO.: 1
. MOMENTARY NO.: 1
1 4BIT OUTPUT NO.: 1 OUT: 0
2 MAKER
Select “4 BIT OUTPUT” or “8 BIT 3 MAKER
2 4 MAKER
OUTPUT.”
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the output No. or output value, move the cursor to the
No. or value and press [SELECT]. Numeric values can now be
entered. Input the number or value to be changed, and press
[ENTER].
Analog output allocation

and press [SELECT].
The output port number and the output voltage value are shown in
the “ALLOCATION CONTENT.”
APPLI. NO.: 1
- ALTERNATE NO.: 1
. MOMENTARY NO.: 1
2 ANALOG OUT NO.: 1 OUT: 0.00
Select “ANALOG OUTPUT.” 3 MAKER
2 4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the output port No. or output voltage value, move the
cursor to the No. or voltage value and press [SELECT]. Numeric
values can now be entered. Input the number or voltage value to
be changed, and press [ENTER].

NX100 system setup
Analog incremental output allocation

and press [SELECT].
The output port No. and incremental value are shown in the
“ALLOCATION CONTENT.”
APPLI. NO.: 1
- ALTERNATE NO.: 1
. MOMENTARY NO.: 1
2 ANALOG OUT NO.: 1 OUT: 0.00
3 ANALOG INC NO.: 1 INC: 1.00
2 Select “ANALOG INC OUTPUT.” 4 MAKER
5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
To change the output port No. or incremental value, move the cur-
sor to the No. or incremental value and press [SELECT]. Numeric
values can now be entered. Input the number or incremental value
to be changed, and press [ENTER].

NX100 system setup
3.14.4 Allocation of I/O control instructions

In key allocation (SIM), output control instructions can be allocated to the numeric keys that
have been allocated one of the following I/O controls with key allocation (EACH).
Function Output control instruction to be allocated
Alternate output allocation

DOUT OT# (No.) ON
Momentary output allocation
Pulse output allocation PULSE OT# (No.) T = output time
Group output allocation (4-bit) DOUT OGH (No.) output value
Group output allocation (8-bit) DOUT OG# (No.) output value
Analog output allocation AOUT AO# (No.) output voltage value
APPLI. NO.: 1
Move the cursor to the “FUNC- - INSTRUCTION DOUT
. JOB CALL 1
TION” of the key that has been 0 DISPLAY WORK POSITION DISP
1 allocated with I/O control with key 1 MAKER
2 MAKER
MAKER
allocation (SIM) and press 3 MAKER
INSTRUCTION
[SELECT]. 4 MAKER
5 JOB CALL
MAKER
6 DISPLAY
MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
The instruction corresponding to the I/O control allocated by key

allocation (SIM) is shown in the “ALLOCATION CONTENT.”
KEY APPLICATION (EACH)
APPLI. NO.: 1
- INSTRUCTION DOUT
. JOB CALL 1
0 DISPLAY WORK POSITION DISP
1 INSTRUCTION DOUT OG#(1) 0
2 MAKER
3 MAKER
Select “OUTPUT CONTROL 4 MAKER
2
INST.” 5 MAKER
6 MAKER
7 MAKER
8 MAKER
9 MAKER
Main Menu ShortCut
The allocated instruction changes automatically when “ALLOCA-

TION CONTENT” is changed by key allocation (SIM).
Even if the I/O control allocation is changed to the default setting
allocated by the manufacturer with key allocation (SIM), the set-
tings for key allocation (EACH) remain the same.

NX100 system setup
3.14.5 Execution of allocation

Executing the instruction/output control allocation
Press the key allocated for The allocated instruction appears in the input buffer line.
1 instruction allocation or output
=> WAIT IN#(1)=ON
control allocation.
2 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.
Executing the job call allocation

The CALL instruction appears in the input buffer line.
Press the key allocated for the job
1
call allocation. => CALL JOB:ARCON
2 Press [INSERT] and [ENTER]. The CALL instruction shown in the input buffer line is registered.
Executing the window allocation

Press the key allocated for the
1 The allocated window appears.
window allocation.
Executing the I/O control allocation

Alternate output allocation, momentary output allocation, pulse output allocation, group output
allocation (4-bit/8-bit), analog output allocation, analog incremental output allocation are exe-
cuted by the following operation.
Press [INTERLOCK] and the key
1 allocated for I/O control allocation Allocated functions are executed.
at the same time.

NX100 system setup
Changing the output status
3.15 Changing the output status

The status of external output signals can be changed from the programming pendant by using
either of the following two methods.
On the user output status window

On the RELAY ON window
The method that uses the RELAY ON window, which is described here, simplifies the opera-
tion for changing the status of signals that are used frequently.
Note!
A maximum of 16 output signals can be shown on the RELAY ON window and they must be
set in advance with parameter settings S4C181 to S4C212. If not having set, the sub menu in
the RELAY ON window is not displayed.
Select {IN/OUT} under the main
1
menu.
The RELAY ON window appears.
RELAY ON
OUTPUT NO. STATUS ALLOCATION CONTENT

OUT#010 HAND 1 ON/OFF
OUT#008
OUT#014
2 Select {RELAY ON}. OUT#009
Main Menu ShortCut
Select the desired signal for

3 Select the status ( or ) of the desired signal to change.
changing.
The status is changed. ( : status ON, : status OFF)
RELAY ON
OUTPUT NO. STATUS ALLOCATION CONTENT

OUT#010 HAND 1 ON/OFF
OUT#008
OUT#014
4 Press [INTERLOCK] +[SELECT]. OUT#009
Main Menu ShortCut

NX100 system setup
Changing the output status
Supplement
It is also possible to turn the relevant external output signal on only for the duration that
[INTERLOCK]+[SELECT] are pressed. This selection is made in advance by setting the para-
meter to “1.”

NX100 system setup
Temporary release of soft limits
3.16 Temporary release of soft limits

The switches that are set to detect the motion range of the manipulator are called limit swit-
ches. The operating range is monitored by the software in order to stop motion before these
limit switches are reached. These software limits are called "soft limits." The operating range
of the manipulator is controlled by the following two soft limits.
Maximum motion range for each axis

Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system. When it is detected that the mani-
pulator (TCP) has reached a soft limit, the manipulator automatically stops.
When the manipulator is stopped at a soft limit, temporarily release the soft limit by following
the procedure below, then move the manipulator away from that which exceeded the soft
limit.
1
menu.
The LIMIT RELEASE window appears.
LIMIT RELEASE
2 Select {LIMIT RELEASE}.
Main Menu ShortCut
Each time [SELECT] is pressed, “VALID” and “INVALID” alternate.

When “SOFT LIMIT RELEASE” is set to “VALID,” the message
“Soft limits have been released” appears.
LIMIT RELEASE
SOFT LIMIT RELEASE VALID
3 Select “SOFT LIMIT RELEASE.”
Main Menu ShortCut Softlimits have been released
When “SOFT LIMIT RELEASE” is set to “INVALID,” the message

“Soft limits have not been released" appears for three seconds.

NX100 system setup
Temporary release of soft limits
Note!
The teaching data cannot be entered while releasing software limit.

NX100 system setup
Changing the parameter setting
3.17 Changing the parameter setting

The parameter settings can be changed only by the operator who has the correct user ID
number for the management mode.
Select {PARAMETER} under the
1
main menu.
The PARAMETER window appears. Select the desired parameter.
Decimal Data Binary Data
PARAMETER
S2C000 1 0000_0000
S2C001 2 0000_0000
S2C002 4 0000_0000
2 Select the parameter type. S2C003 8 0000_0000
S2C004 16 0000_0000
S2C005 2 0000_0000
S2C006 64 0000_0000
S2C007 89 0000_0000
S2C008 0 0000_0000
S2C009 0 0000_0000
S2C010 0 0000_0000
S2C011 0 0000_0000
Main Menu ShortCut
When the desired parameter number is not in the present window,

move the cursor to a parameter number and press [SELECT].
Enter the desired parameter number with the Numeric keys and
press [ENTER]. The cursor moves to the selected parameter
number.
PARAMETER
Move the cursor to the parameter S2C000 1 0000_0000

3 number whose setting is to be S2C001 2 0000_0000
changed. S2C002 4 0000_0000
S2C003 8 0000_0000
S2C004 16 0000_0000
S2C005 2 0000_0000
S2C006 64 0000_0000
S2C007 89 0000_0000
S2C008 0 0000_0000
S2C009 0 0000_0000
S2C010 0 0000_0000
S2C011 0 0000_0000
Main Menu ShortCut

NX100 system setup
Changing the parameter setting
Set the parameters in the following manner.
Move the cursor to the parameter number data (decimal or binary)
in the PARAMETER window, and press [SELECT].
- To enter a decimal setting, select the decimal figure.
- To enter a binary setting, select the binary figure.
PARAMETER
S2C055 64 0100_0000
S2C056 65 0100_0001
S2C057 66 0100_0010
1 Select a parameter setting. S2C058 0 0000_0000
S2C059 0 0000_0000
S2C060 0 0000_0000
S2C061 0 0000_0000
S2C062 0 0000_0000
S2C063 0 0000_0000
S2C064 0 0000_0000
S2C065 0 0000_0000
S2C066 0 0000_0000
Main Menu ShortCut
If a decimal figure is selected, enter a decimal value with the

Numeric keys.
S2C058 0010_0000
If a binary figure is selected, move the cursor to the binary figure

2 Enter the value.
data in the input buffer line, and press [SELECT]. Each time
[SELECT] is pressed, “0” and “1” alternate in the window. “0” or “1”
can also be entered with the Numeric keys.
S2C058 32
The new setting appears in the position where the cursor is

located.
PARAMETER
S2C055 128 0100_0000
S2C056 256 0100_0001
S2C057 512 0100_0010
S2C058 32 0010_0000
3 Press [ENTER]. S2C059 0 0000_0000
S2C060 0 0000_0000
S2C061 0 0000_0000
S2C062 0 0000_0000
S2C063 0 0000_0000
S2C064 0 0000_0000
S2C065 0 0000_0000
S2C066 0 0000_0000
Main Menu ShortCut

NX100 system setup
File initialize
3.18 File initialize

3.18.1 Initialize job file
Turn the power supply ON again
1 while pressing [MAIN MENU]
simultaneously.
Change the security mode to
2
managememt mode.
Select {FILE} under the main
3
menu.
The INITIALIZE window appears.
Item marked by
can not be selected.
INITIALIZE
JOB
FILE/GENERAL DATA
4 Select {INITIALIZE}.
PARAMETER
I/O DATA
SYSTEM DATA
Main Menu ShortCut Maintenance Mode
5 Select {JOB}. Initialize?

YES NO
6 Select “YES.” Job data is initialized.

NX100 system setup
File initialize
3.18.2 Initialize data file

simultaneously.
2
managememt mode.
3
menu.
The INITIALIZE window appears.
INITIALIZE
TOOL DATA TOOL .CND

WEAVING DATA WEAV .CND
USER COORDINATE DATA UFRAME .CND
5 Select {FILE/GENERAL DATA}.
VARIABLE DATA VAR .DAT
ARC START COND DATA ARCSRT .CND
ARC END COND DATA ARCEND .CND
ARC AUXILIARY COND DATA ARCSUP .DAT
WELDER CONDITION DATA WELDER .DAT
The selected data file /General data is marked with “ “.

File/Data marked by
INITIALIZE
TOOL DATA TOOL .CND

WEAVING DATA WEAV .CND
6 Select data file for initializing.
USER COORDINATE DATA UFRAME .CND
VARIABLE DATA VAR .DAT
ARC START COND DATA ARCSRT .CND
ARC END COND DATA ARCEND .CND
ARC AUXILIARY COND DATA ARCSUP .DAT
WELDER CONDITION DATA WELDER .DAT
7 Press[ENTER]. Initialize?
YES NO
8 Select “YES.” Selected data file /General data is initialized.

NX100 system setup
File initialize
3.18.3 Initialize parameter file

simultaneously.
2
management mode.
3
menu.
The parameter selection window appears.
INITIALIZE
ROBOT MATCH PRMTR RC .PRM
SYS DEF PRMTR SD .PRM
COORD ORG PRMTR RO .PRM
5 Select {PARAMETER}.
SYS MATCH PRMTR SC .PRM
CIO PRMTR CIO .PRM
FCTN DEF PRMTR FD .PRM
APPLI PRMTR AP .PRM
TRANSMISSION (UNIV) RS .PRM
The selected parameter is marked with “ “.

Parameter marked by
INITIALIZE
ROBOT MATCH PRMTR RC .PRM
SYS DEF PRMTR SD .PRM
6 Select parameter for initializing.
COORD ORG PRMTR RO .PRM
SYS MATCH PRMTR SC .PRM
CIO PRMTR CIO .PRM
FCTN DEF PRMTR FD .PRM
APPLI PRMTR AP .PRM
TRANSMISSION (UNIV) RS .PRM
7 Press [ENTER]. Initialize?

YES NO
8 Select “YES.” Selected parameter is initialized.

NX100 system setup
File initialize
3.18.4 Initializing I/O data

simultaneously.
2
management mode.
3
menu.
The I/O data selection window appears.
INITIALIZE
CIO PRGM CIOPRG .LST

IO NAME DATA IONAME .DAT
SIMULATED IN DATA PSEUDOIN .DAT
5 Select {I/O DATA}.
The selected data is marked with “ “.

Parameters marked by
INITIALIZE
CIO PRGM CIOPRG .LST

IO NAME DATA IONAME .DAT
6 Select data for initializing.
SIMULATED DATA PSEUDOIN .DAT

YES NO
8 Select “YES.” The selected data is initialized.

NX100 system setup
File initialize
3.18.5 Initializing system data

simultaneously.
2
management mode.
3
menu.
The system data selection window appears.
INITIALIZE
USER WORD UWORD .DAT

SV MONITOR SIGNAL SVMON .DAT
VARIABLE NAME VERNAME .DAT
5 Select {SYSTEM DATA}.
SECOND HOME POSITION HOME2 .DAT
HOME POS CALIB DATA ABSO .DAT
WORK HOME POSITION DATA OPEORG .DAT
The selected data is marked with “ “.

Parameter marked by
INITIALIZE
USER WORD UWORD .DAT

Select the parameter to be initial- SV MONITOR SIGNAL SVMON .DAT
6
ized. VARIABLE NAME VERNAME .DAT
SECOND HOME POSITION HOME2 .DAT
HOME POS CALIB DATA ABSO .DAT
WORK HOME POSITION DATA OPEORG .DAT

YES NO
8 Select “YES.” The selected data is initialized.

NX100 system setup
File initialize

NX100 system setup
Addition of I/O modules
4. Modification of system configuration

4.1 Addition of I/O modules
For addition of I/O modules, turn the power supply off.
Supplement
The additional operation must be done in the management mode.
In operation mode or editing mode, only reference of status setting is possible.
simultaneously.
Change the "SECURITY MODE"
2
to the "MANAGEMENT MODE."
The system window is shown.
SECURITY
SYSTEM
DOUT
MOVE
SETTING
END
FILE VERSION
TOOL SECURITY
Select {SYSTEM} under the main
3 B001
menu.
The SETUP window is shown.

Item marked by ■ can not be set.
SETUP
LANGUAGE
CONTROL GROUP
4 Select {SETUP}. APPLICATION
IO MODULE
OPTION BOARD
CMOS MEMORY
DISPLAYxCLOCK
OPTION FUNCTION

NX100 system setup
The current status of the mounted I/O module is shown.
IO MODULE
ST# D1 D0 AI A0 BOARD
00 040 040 - - NIO01-02
01 - - - - NONE
02 - - - - NONE
5 Select {IO MODULE}. 03 - - - - NONE
04 - - - - NONE
05 - - - - NONE
06 - - - - NONE
07 - - - - NONE
08 - - - - NONE
09 - - - - NONE
10 - - - - NONE
Confirm that each station (ST#) window is the same as the I/O
module’s actual mounting status.
The following information is shown for each station.
ST# Station address of I/O module

DI Number of contact input points (*1)
DO Number of contact output points (*1)
AI Number of analog input points (*1)
Confirm the status of mounted I/O
6 AO Number of analog output points (*1)
module.
BOARD Circuit board type (*2)
A hyphen, -, indicates that the corresponding I/O section is not

mounted.
If the system cannot recognize the circuit board type, a row of stars
(*****) are shown.
No problem will occur as long as the values displayed in DI, DO,
AI, and AO are correct.
Confirm the statuses of the mounted I/O modules for the other sta-
tions.
Note!
If the slot window is different, confirm the status again. If the status
is correct, the I/O module may be defective. Contact your Yaskawa
representative.
IO MODULE
7 Press [ENTER].
ST# D1 D0 AI A0 BOARD
07 040 040 - - NONE
08 - - - - NONE
09 - - - - NONE
10 - - - - NONE
11 - - - - NONE
12 - - - - NONE
13 - - - - NONE
14 - - - - NONE
15 - - - - NONE
16 - - - - NONE
17 - - - - NONE

NX100 system setup
The confirmation dialog box is shown.
8 Press [ENTER]. Modify?

YES NO
The system parameters are then set automatically according to the

9 Select “YES.” current mounted hardware status. The procedure for the addition
of the I/O module is complete.

NX100 system setup
Addition of base and station axis
4.2 Addition of base and station axis

For addition of base and station axis, mount all hardware correctly and then execute mainte-
nance mode.
Supplement
The additional operation must be done in the management mode.
In operation mode or editing mode, only reference of status setting is possible.
simultaneously.
Change the "SECURITY MODE"
2
to the "MANAGEMENT MODE."
The system window is shown.
SECURITY
SYSTEM
DOUT
MOVE
SETTING
END
FILE VERSION
TOOL SECURITY
Select {SYSTEM} under the main B001
3
menu.
The SETUP window is shown.

Item marked by ■ can not be set.
SETUP
LANGUAGE
CONTROL GROUP
4 Select {SETUP}. APPLICATION
IO MODULE
OPTION BOARD
CMOS MEMORY
DATE x CLOCK
OPTION FUNCTION

NX100 system setup
The window moves to the CONTROL GROUP window shown in
the followings pages.
The following items must be set for base and station axes.
-TYPE
Select one in the type list.
In case of base axis (B1,B2,B3)

Select one of RECT-X, -Y, -Z, -XY, -XZ, -YZ or -XYZ.
In case of station axis (S1,S2,S3,S4,S5,S6)

Select one of TURN-1, -2.
Select {CONTROL GROUP}. (Dis-
In case of other type, select one of UNIV-1, -2, -3, -4, -5, -6
5 play moves to the control group
display.)
-CONNECTION
In the CONNECTION window, specify the SERVOPACK which is
connected with each axis group and the contactor which is used
for the SERVOPACK.
-AXIS TYPE
Select one in the axis type list.
In case of TURN-* type

No need to select (The axis type is set as TURN type.)
In case of RECT-* type

Select BALL-SCREW type or RACK & PINION type.

NX100 system setup
In case of UNIV-* type
Select BALL-SCREW type, RACK & PINION type or TURN type.
-MECHANICAL SPECIFICATION
If axis type is ball-screw type, set the following items.
MOTION RANGE (+) [mm]

MOTION RANGE (-) [mm]
REDUCTION RATIO (numerator)
REDUCTION RATIO (denominator)
BALL-SCREW PITCH [mm/r]
If axis type is rack & pinion type, set the following items.
MOTION RANGE (+) [mm]

MOTION RANGE (-) [mm]
PINION DIAMETER [mm]
5
If axis type is turn type, set the following items.
MOTION RANGE (+) [deg]

MOTION RANGE (-) [deg]
OFFSET (1st and 2nd axis) [mm]
-MOTOR SPECIFICATION
Set the following items.
MOTOR
SERVO AMP
CONVERTER
ROTATION DIRECTION [NORMAL/REVERSE]
MAX. RPM [rpm]
ACCELERATION SPEED [sec]
INERTIA RATIO
* Select MOTOR, AMPLIFIER and CONVERTER from each type’s
list.

NX100 system setup
4.2.1 Base axis setting

First, select control group type
The type of the control group is shown.
CONTROL GROUP
R1 : UP6-A0
B1 : RECT-XYZ
Confirm the type of control group R2 : NONE
1
in CONTROL GROUP window. S1 : NONE
The MACHINE LIST window is shown.
MACHINE LIST
NONE : RECT-X
RECT-Y : RECT-Z
RECT-XY : RECT-XZ
RECT-YZ : RECT-XYZ
Select type of control group for

2
changing.
RECT-X: Travel X-axis base

RECT-Y: Travel Y-axis base
RECT-Z: Travel Z-axis base
RECT-XY: Travel XY-axis base
RECT-YZ: Travel YZ-axis base
RECT-XYZ: Travel XYZ-axis base
See figures on next page
After the type selection, the window returns to CONTROL GROUP
3 Select one in the type list.
window.
Press [ENTER] in CONTROL
4 The window moves to the CONNECTION window.
GROUP window.

NX100 system setup
RECT-X
Base axis direction of travel coincides with robot

coordinate X-axis.
CARTESIAN
X-AXIS
RECT-Y
coordinate Y-axis.
CARTESIAN
Y-AXIS
RECT-Z

coordinate Z-axis.
CARTESIAN
Z-AXIS
Fig.9 Direction of base axis (1-axis)

NX100 system setup
RECT-XY
Base 1st and 2nd axes direction of travel coin-

cide with robot coordinate X-axis and Y-axis,
respectively.
CARTESIAN
CARTESIAN
X-AXIS
Y-AXIS
RECT-YZ

cide with robot coordinate Y-axis and Z-axis,
respectively.
CARTESIAN
Y-AXIS
CARTESIAN
Z-AXIS
RECT-XZ
cide with robot coordinate X-axis and Z-axis,
respectively.
CARTESIAN CARTESIAN
Z-AXIS X-AXIS

NX100 system setup
RECT-XYZ CARTESIAN
Z-AXIS
Base 1st, 2nd and 3rd axes direction of travel

coincide with robot coordinate Y-axis, Y-axis and
Z-axis, respectively.
CARTESIAN CARTESIAN
Y-AXIS X-AXIS

NX100 system setup
In the CONNECTION windows, each axes in respective control groups are specified to be
connected to which connector of the SERVO board, or to which brake of the contactor unit, or
to which converter.
The connection status of each control group is shown.
Control group which is set as “NONE” in the CONTROLGROUP
window is not shown.
CONNECT
SV CN<1 2 3 4 5 6 7 8 9> TU BRK <1 2 3 4 5 6 7 8 9> CN<1 2 3 4 5 6 7 8 9>
R1 : #1 [1 2 3 4 5 6 - - - ] #1 [1 2 3 4 5 6 - - - ] CV[ 1 1 1 1 1 1 - - - ]

Confirm type of each control B1 : #1 [ - - - - - - 1 2 3 ] #1 [ - - - - - - 1 2 3 ] CV[ - - - - - - 2 3 4 ]
1 group in the CONNECTION win-
dow.
Main Menu ShortCut Choose the number of servo board which conne
The items which can be set are shown.

When the item is selected, the window returns to the CONNEC-
TION window.
CONNECT
SV CN<1 2 3 4 5 6 7 8 9> TU BRK <1 2 3 4 5 6 7 8 9> CN<1 2 3 4 5 6 7 8 9>
R1 : #1 [1 2 3 4 5 6 - - - ] #1 [1 2 3 4 5 6 - - - ] CV[ 1 1 1 1 1 1 - - - ]

B1 : #2
#1 [ - - - - - - 1 2 3 ] #1 [ - - - - - - 1 2 3 ] CV[ - - - - - - 2 3 4 ]
#2
Select connection item of desired

2
control group.
-It is possible to change the connection freely between each axis

of each control group and each connector (CN) of a SERVO
board. The number in [ ] means axis number, and it indicates
which axis is to be connected with which connector.

of each control group and each brake (BRK) of a contactor unit.
The number in [ ] means axis number, and it indicates which axis
is to be connected with which brake.

of each control group and each converter (CV). The number in
[ ] means converter number, and it indicates which axis is to be
connected with which converter.

NX100 system setup
The axes are connected as shown in the following manner:
R1(Robot)
1st axis SERVO board (SV #1), Connector (1CN)

Contactor unit (TU #1), Brake connector (BRK1)
Converter (CV #1)
2nd axis SERVO board (SV #1), Connector (2CN)
Converter (CV #1)
3rd axis SERVO board (SV #1), Connector (3CN)
Converter (CV #1)
4th axis SERVO board (SV #1), Connector (4CN)
Converter (CV #1)
2 Continued... Converter (CV #1)
Converter (CV #1)
B1(Base)
1st axis SERVO board (SV #1), Connector (7CN)

Converter (CV #2)
2nd axis SERVO board (SV #1), Connector (8CN)
Converter (CV #3)
3rd axis SERVO board (SV #1), Connector (9CN)
Converter (CV #4)
3 Select desired item.

Press [ENTER] in the CONNEC- The setting in the CONNECTION window is completed and the
4
TION window. window moves to the AXES CONFIG window.

NX100 system setup
In the AXES CONFIG window, the axis type are specified.
The axis type of each axis is shown.
AXES CONFIG
B1: RECT-XYZ
AXIS: AXIS TYPE
1 : BALL-SCREW
2 : BALL-SCREW
Confirm axis type of each axis in : BALL-SCREW
1 3
the AXES CONFIG window.
The axis type which can be set is shown.
AXES CONFIG
B1: RECT-XYZ
AXIS: AXIS TYPE
1 : BALL-SCREW
BALL-SCREW
2 RACK & PINION
: BALL-SCREW
3 : BALL-SCREW
2 Select desired axis type.
The travel axis of ball-screw type should be selected as “ BALL-

SCREW ”, the one of rack & pinion type should be selected as “
RACK & PINION ”. Then the window returns to the AXES CONFIG
window.
3 Select axis type.
Press [ENTER] in the AXES CON- The setting in the AXES CONFIG window is completed and the
4
FIG window. window moves to the MECHANICAL SPEC window.

NX100 system setup
In the MECHANICAL SPEC window, mechanical data are specified.
The mechanical specification of axis is shown.
The MECHANICAL SPEC window (In case of BALL-SCREW type)

Group, Type, Axis number and Axis type selected are shown.
The cursor is reserved.
MECHANICAL SPEC
B1 : RECT-XYZ AXIS :1
AXIS TYPE : BALL SCREW
MOTION RANGE (+) 0.000 mm
MOTION RANGE (−) 0.000 mm
REDUCTION RATIO (NUMER) 1.000
REDUCTION RATIO (DENOM) 1.000
BALL-SCREW PITCH 10.000 mm/r
MOTION RANGE: Input maximum moving position (+ direction

and - direction) from home position. (Unit: mm)
REDUCTION RATIO: Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/2, the numerator should be set as
1.0 and the denominator should be set as 2.0.
Confirm specification of each axis BALL-SCREW PITCH: Input the traveling length when the ball-
1 in the MECHANICAL SPEC win- screw rotates once. (Unit: mm/r)
dow.
The MECHANICAL SPEC window (In case of RACK & PINION
type)
The cursor is reserved.
MECHANICAL SPEC
B1 : RACT-XYZ AXIS :2
AXIS TYPE : RACK & PINION
PINION DIAMETER 10.000 mm/r

and - direction) from home position. (Unit: mm)
<e.g.>If the reduction ratio is 1/120, the numerator should be set
as 1.0 and the denominator should be set as 120.0.
PINION DIAMETER :Input the diameter of a pinion. (Unit: mm)
3 Change the setting contents.

NX100 system setup
After this setting, the window moves to the next axis. Set them for
all axes.
Press [ENTER] in the MECHANI-
4 When [ENTER] is pressed in the MECHANICAL SPEC window for
CAL SPEC window.
last axis the setting in the MECHANICAL SPEC window is com-
pleted and the window moves to the MOTOR SPEC window.
In the MOTOR SPEC display, motor data are specified.
The motor specification of each axis is shown.
The cursor is reserved
MOTOR SPEC
AXIS TYPE : BALL SCREW
MOTOR SGMP-15AW-YR1
Confirm specification of each axis
1 SERVO AMP SGDR-SDA710A
in the MOTOR SPEC window.
CONVERTER SGDR-COA250A01A
ROTATION DIRECTION NORMAL
MAX RPM 2000 rpm
ACCELARATION TIME 0.300 sec
INERTIA RATIO 300
When an item which is input by number is selected the number

input buffer line is shown.
When MOTOR (or SERVO AMP or CONVERTER) is selected, the
list window of MOTOR (SERVO AMP, or CONVERTER) is shown.
The cursor is reserved
The type list registered in ROM is shown.
MOTOR LIST
2 Select desired item. AXIS TYPE : BALL-SCREW
SGMRS-03AxA-YR SGMRS-06AxA-YR
SGMRS-37AxA-YR SGMPS-01AxA-YR
SGMPS-02AxA-YR SGM-A3AWG B
SGM-01AW SGM-02AW
SGM-04AW SGM-04AWG B
SGM-A5AWHGI SGMAH-A3AWG B
SGMAH-04AIA-YR1 SGMAH-A5AIA2B
SGMAH-05AIA-YR1 SGMAH-A5AIA-YR2
SGMAH-01AI SGMAH-08AIA

NX100 system setup
ROTATION DIRECTION : Set the rotation direction to which the
current position is increased. (The counterclock wise view from the
loaded side is positioned normal.)
Normal operation
2 Continued...
AC Servo motor
MAX. RPM: Input maximum rotation speed of a motor. (Unit: rpm)

ACCELARATION SPEED: Input time between 0.01 and 1.00 to
reach maximum speed from stopping status at 100% JOINT
speed.
(Unit: sec)
INERTIA RATIO: “ 300 ” when in case of travel axis or ” 0 ” when
in case of rotation axis is set as initial value.
But if the following phenomenon occurs in motion, deal with the fol-
lowed procedure.
<Phenomenon1> During motion, the axis moves unsteady on
advance direction.
Confirm the motion with increasing this ratio in each 100.
<Phenomenon2> during pause, the motor makes a lot of noise.
Confirm the motion with decreasing this ratio in each 100.
After this motor specification setting, the display moves to the next
axis. Set them for all axes.
When [ENTER] is pressed at the MOTOR SPEC window for last
axis, the setting in this display is completed and the confirmation
dialog box is shown.
Press [ENTER] in the MECHANI-

4 Modify?
CAL SPEC window.
YES NO
If “ YES ” is selected, the system parameter is set automatically.
The addition of the base axis setting is complete.

NX100 system setup
Warning
If the control axis configuration is changed by addition a base axis or station

axis, the internal data of the job file are also changed so that the job file data
should be initialized.
Initialize the job file data with the procedure “File Initialize” in this manual after
changing the construction.
When the data, for example motion range, must be changed after the addition of a base axis
or station axis, the change can be done with the same procedure shown above.
In that case, the control axis configuration is not changed so the job file data should not be ini-
tialized.

NX100 system setup
4.2.2 Station axis setting

The CONTROL GROUP window is shown.
CONTROL GROUP
R1 : UP6-A0
B1 : NONE
Confirm the type of control group R2 : NONE
1
in CONTROL GROUP window. S1 : TURN-2
S2 : NONE
The MACHINE LIST window is shown.
MACHINE LIST
NONE GUN TURN-1

TURN-2 UNIV-1
UNIV-2 UNIV-3
UNIV-4 UNIV-5
Select type of control group for UNIV-6
2
changing.
Main Menu ShortCut Maitenance Mode
TURN-1:TURN 1 AXIS STATION
TURN-2:TURN 2 AXES STATION
UNIV-1: UNIVERSAL 1 AXIS STATION
UNIV-2: UNIVERSAL 2 AXES STATION
xxx

NX100 system setup
After the type selection, the window returns to CONTROL GROUP
window.
When the station axis is not “TURN-1” and “TURN-2” (like a travel
axis) “UNIVERSAL” should be selected. When “UNIVERSAL” is
selected, interpolation motion (linear, circular, etc.) is not sup-
ported.
TURN-1
Station 1st axis
3 Select desired type in the type list.
TURN-2
Station 2nd axis

(Rotation table)
Offset
Station 1st axis

(Inclination axis)
If the number of axes is set beyond 27, error occurs.

Press [ENTER] in CONTROL The setting in the CONTROL GROUP window is completed and
4
GROUP window. the window moves to the CONNECTION window.

NX100 system setup
In the CONNECTION windows, each axes in respective control groups are specified to be
connected to which connector of the SERVO board, or to which brake of the contactor unit, or
to which converter.
Connection status of each control group is shown.
Control group which is set to “NONE” in the CONTROLGROUP
window is not shown.
CONNECT
SV CN<1 2 3 4 5 6 7 8 9> TU BRK <1 2 3 4 5 6 7 8 9> CN<1 2 3 4 5 6 7 8 9>
R1 : #1 [1 2 3 4 5 6 - - - ] #1 [1 2 3 4 5 6 - - - ] CV[ 1 1 1 1 1 1 - - - ]

Confirm type of each control S1 : #1 [ - - - - - - 1 2 - ] #1 [ - - - - - - 1 2 - ] CV[ - - - - - - 2 3 - ]
1 group in the CONNECTION win-
dow.
The items which can be set are shown.

When the item is selected, the window returns to the CONNEC-
TION window.
CONNECT
SV CN<1 2 3 4 5 6 7 8 9> TU BRK <1 2 3 4 5 6 7 8 9> CN<1 2 3 4 5 6 7 8 9>
R1 : #1 [1 2 3 4 5 6 - - - ] #1 [1 2 3 4 5 6 - - - ] CV[ 1 1 1 1 1 1 - - - ]

S1 : #2
#1 [ - - - - - - 1 2 - ] #1 [ - - - - - - 1 2 - ] CV[ - - - - - - 2 3 - ]
#2
Select connection item of desired

2
control group.

of each control group and each connector (CN) of a SERVO
board. The number in [ ] means axis number, and it indicates
which axis is to be connected with which connector.

of each control group and each brake (BRK) of a contactor unit.
The number in [ ] means axis number, and it indicates which axis
is to be connected with which brake.

of each control group and each converter (CV). The number in
[ ] means converter number, and it indicates which axis is to be
connected with which converter..

NX100 system setup
The axes are connected as shown in the following manner:
R1(Robot)
1st axis SERVO Board (SV #1), Connector (1CN)

Contactor Unit (TU #1), Brake Connector (BRK1)
Converter (CV #1)
2nd axis SERVO Board (SV #1), Connector (2CN)
Converter (CV #1)
3rd axis SERVO Board (SV #1), Connector (3CN)
Converter (CV #1)
4th axis SERVO Board (SV #1), Connector (4CN)
Converter (CV #1)
2 Continued... 5th axis SERVO Board (SV #1), Connector (5CN)
Converter (CV #1)
6th axis SERVO Board (SV #1), Connector (6CN)
Converter (CV #1)
S1(Station)
1st axis SERVO Board (SV #1), Connector (7CN)

Converter (CV #2)
2nd axis SERVO Board (SV #1), Connector (8CN)
Converter (CV #3)

Press [ENTER] in the CONNEC- The setting in the CONNECTION window is completed and the
4
TION window. window moves to the AXES CONFIG window.

NX100 system setup
In the AXES CONFIG window, the axis type and motor type are specified.
The axis type of each axis is shown.
The AXES CONFIG window (In case of TURN type)

When axis type is “TURN-*”, the axis type can not be changed.
AXES CONFIG
S1 : TURN-2
AXIS : AXIS TYPE
1 : TURN
2 : TURN

Confirm axis type of each axis in
1
the AXES CONFIG window. The AXES CONFIG window (In case of UNIVERSAL type)
BALL-SCREW: Travel (Ball-Screw)
RACK&PINION: Travel (Rack&Pinion)
TURN: Turn
AXES CONFIG
S1 : TURN-2
AXIS : AXIS TYPE
1 : BALL-SCREW
2 : RACK & PINION
3 : TURN

NX100 system setup
The axis types which can be set are shown.
AXES CONFIG
S1 : TURN-2
AXIS : AXIS TYPE
1 : BALL-SCREW
BALL-SCREW
2 : RACK & PINION
RACK&PINION
3 : TURN TURN
2 Select desired axis.
The travel axis for the ball-screw type should be selected as “

BALL-SCREW ”, the one for rack & pinion type should be selected
as “ RACK & PINION ”. Then the window returns to the AXES
CONFIG window.
3 Select desired axis type.
Press [ENTER] in the AXES CON- The setting in the AXES CONFIG window is completed and the
4
FIG window window moves to the MECHANICAL SPEC window.

NX100 system setup
In the MECHANICAL SPEC window, mechanical data are specified.
The mechanical specification of axis is shown.
The MECHANICAL SPEC window (In case of ROTATION type)

The cursor is reversed.
OFFSET is shown at 1st axis when the type is TURN-2 only.
MECHANICAL SPEC
S1 : TURN-2 AXIS: 1
AXIS TYPE : TURN
MOTION RANGE (+) 0.000 deg
MOTION RANGE (−) 0.000 deg
OFFSET (AXIS#1-2) 0.000 mm

and - direction) when setting home position to 0. (Unit: deg)
Confirm specification of each axis
1 in the MECHANICAL SPEC win-
<e.g.> If the reduction ratio is 1/120, the numerator should be set
dow.
OFFSET: Offset should be specified at “ TURN-2 ” type only.
Input length between the center of bending axis (1st axis) and the
turning table (2nd axis). (Unit: mm)
TURN-2
Station 2nd axis

(Rotation table)
Offset
Station 1st axis

(Inclination axis)

NX100 system setup
The MECHANICAL SPEC window (In case of BALL-SCREW type)
MECHANICAL SPEC
1 : UNIV-3 AXIS :1
AXIS TYPE : BALL-SCREW
BALL-SCREW PITCH 10.000 mm/r

and - direction) when setting home position to 0. (Unit: mm)
<e.g.> If the reduction ratio is 1/2, the numerator should be set as
1.0 and the denominator should be set as 2.0.
BALL-SCREW PITCH :Input the traveling length when the ball-
screw rotates once. (Unit: mm/r)
1
The MECHANICAL SPEC window (In case of RACK&PINION
type)
MECHANICAL SPEC
1 : UNIV-3 AXIS :2
AXIS TYPE : RACK & PINION
PINION DIAMETER 100.000 mm

and - direction) when setting home position to 0. (Unit: mm)
<e.g.>If the reduction ratio is 1/120, the numerator should be set
PINION DIAMETER: Input the diameter of a pinion. (Unit: mm)
After this setting, the window moves to the next axis. Set them for
all axes.
Press [ENTER] in the mechanical
3 When [ENTER] is pressed in the MECHANICAL SPEC window for
specification.
the last axis, the setting in the MECHANICAL SPEC window is
completed and the window moves to the MOTOR SPEC window.

NX100 system setup
In the MOTOR SPEC window, motor data are specified.
The motor specification of each axis is shown.
MOTOR SPEC
B1 : TURN-2 AXIS :1
AXIS TYPE : TURN
Confirm specification of each axis MOTOR SGMP-15AW-YR1

1
in the MOTOR SPEC window. SERVO AMP SGDR-SDA710A
CONVERTER SGDR-COA250A01A
ROTATION DIRECTION NORMAL
MAX RPM 2000 rpm
ACCELARATION TIME 0.300 sec
INERTIA RATIO 300

NX100 system setup
When an item which is input by number is selected, the number
input buffer line is shown.
And when MOTOR (or SERVO AMP or CONVERTER) is selected,
the list window of MOTOR (SERVO AMP or CONVERTER) is
shown.
The type list registered in ROM is shown
MOTOR LIST
B1 : TURN-2 AXIS :1
AXIS TYPE : TURN
SGMRS-37AxA-YR SGMPS-01AxA-YR
SGMPS-02AxA-YR SGM-A3AWG B
SGM-01AW SGM-02AW
SGM-04AW SGM-04AWG B
SGM-A5AWHGI SGMAH-A3AWG B
SGMAH-04AIA-YR1 SGMAH-A5AIA2B
SGMAH-05AIA-YR1 SGMAH-A5AIA-YR2
SGMAH-01AI SGMAH-08AIA
When the type is selected, the window moves to the AXES CON-
FIG window.
ROTATION DIRECTION : Set the rotation direction to which the
current position is increased. (The counterclock wise from view
from the loaded side is positioned normal.)
Normal operation
AC Servo motor
MAX. RPM: Input maximum rotation speed of a motor. (Unit: rpm)
ACCELARATION SPEED: Input time between 0.01 and 1.00 to
reach maximum speed from stopping status at 100% JOINT
speed.
(Unit: sec)
INERTIA RATIO: “ 300 ” when in case of travel axis or “ 0 ” when
in case of rotation axis is set as initial value.
But if the following phenomenon occurs in motion, deal with the fol-
lowed procedure.
<Phenomenon1> During motion, the axis moves unsteady on
advance direction.
Confirm the motion with increasing this ratio in each 100.
<Phenomenon2> During pause, the motor makes a lot of noise.
Confirm the motion with decreasing this ratio in each 100.
3 Change the setting.

NX100 system setup
After this motor specification setting, the window moves to the next
axis. Set them for all axes.
When [ENTER] is pressed at the MOTOR SPEC window for the
last axis, the setting in this window is completed and the confirma-
tion dialog box is shown.
Press [ENTER] in the MOTOR Modify?

4
SPEC window.
YES NO
If “ YES ” is selected, the system parameters are modified auto-

matically.
Then addition of the station axis setting is complete.
Warning!
If the control axis configuration is changed by addition of a base axis or station axis, the inter-
nal data of the job file are also changed so that the job file data should be initialized.
Initialize the job file data with procedure “File Initialize” in this manual after changing the con-
struction.
When the data, motion range for example, should be changed after the addition of a base axis
or station axis, the change can be done in the same procedure as shown above.
In that case, the control axis configuration is not changed so the job file data should not be ini-
tialized.

System setup
System version
5. System diagnosis
5.1 System version
It is possible to check the system CPU version information as follows.
Select {SYSTEM INFO} under

1
the main menu.
The VERSION window appears.
VERSION
SYSTEM : NS1.00A(US)-00
PARAM : 1.00A
MODEL : UP130-A*
APPLI : SPOT WELD
CPU SYSTEM ROM BOOT ROM

2 Select {VERSION}. 1.00 1.00
NCP01
NPP01 1.00 1.00
AX∗#0 1.00-00 1.00
Main Menu ShortCut
5.2 Manipulator model (robot type)

1
menu.
The ROBOT AXIS CONFIG window appears.
ROBOT AXIS CONFIG
AXIS CONFIGURATION
R1 : UP130-A* 0011_1111 B1 : 0000_00001
S1 : TURN-1
2 Select {MANIPULATOR TYPE}.
Main Menu ShortCut

System setup
Input/output status
5.3 Input/output status

5.3.1 User input
The status of input signal from the external can be confirmed.
User input window

1
menu.
The USER INPUT window appears.
USER INPUT
NO. 7654_3210
#0001X 0111_1011
#0002X 0000_0000
#0003X 0000_0000
#0004X 1111_0000
#0005X 0000_0000
2 Select {USER INPUT}. #0006X 0000_1010
#0007X 0000_0000
#0008X 0000_0000
Main Menu ShortCut
User input detailed window

1
menu.
The USER INPUT detailed window appears.
USER INPUT
GROUP IG#01 123 : DEC. 7b : HEX.
IN#0001 #00010
IN#0002 #00011
IN#0003 #00012 {
IN#0004 #00013
IN#0005 #00014
2 Select {DETAIL}. IN#0006 #00015
IN#0007 #00016
IN#0008 #00017 {
Main Menu ShortCut

System setup
Input/output status
5.3.2 User output

The status of the output signal set by the output instruction can be confirmed and modified.
User output window

1
menu.
The USER OUTPUT window appears.
USER OUTPUT
NO. 7654_3210
#1001X 0111_1011
#1002X 0000_0000
#1003X 0000_0000
#1004X 1111_0000
#1005X 0000_0000
2 Select {USER OUTPUT}. #1006X 0000_1010
#1007X 0000_0000
#1008X 0000_0000
Main Menu ShortCut
User output detailed window

1
menu.
The USER OUTPUT detailed window appears.
USER OUTPUT
GROUP 0G#01 123 : DEC. 7b : HEX.
OUT#0001 #10010 {
OUT#0002 #10011 {
OUT#0003 #10012 {
OUT#0004 #10013 {
OUT#0005 #10014 {
2 Select {DETAIL}. OUT#0006 #10015 {
OUT#0007 #10016 {
OUT#0008 #10017 {
Main Menu ShortCut

System setup
Input/output status
Modifying the output status
Select the desired output signal Select the status of the desired output signal, “ ” or “
1
number. ,” in the user output detailed window.
The status is changed. ( :ON status, :OFF status)
USER OUTPUT
GROUP OG#01 122 : DEC. 7a : HEX.
OUT#0001 #10010 {
OUT#0002 #10011 {
OUT#0003 #10012 {
OUT#0004 #10013 {
Press [INTER LOCK] + OUT#0005 #10014 {
2
[SELECT]. OUT#0006 #10015 {
OUT#0007 #10016 {
OUT#0008 #10017 {
Main Menu ShortCut

System setup
Input/output status
5.3.3 System input

System input window

1
menu.
The SYSTEM INPUT window appears.
SYSTEM INPUT
NO. 7654_3210
#4001X 0111_1011
#4002X 0000_0000
#4003X 0000_0000
#4004X 1111_0000
#4005X 0000_0000
2 Select {SYSTEM INPUT}. #4006X 0000_1010
#4007X 0000_0000
#4008X 0000_0000
Main Menu ShortCut
System input detailed window

1
menu.
The SYSTEM INPUT detailed window appears.
SYSTEM INPUT
GROUP 123 : DEC. 7b : HEX.
SIN#0001 #40010 { SYSTEM ALM REQ
SIN#0002 #40011 { SYSTEM MSG REQ
SIN#0003 #40012 { USER ALM REQ
SIN#0004 #40013 { USER MSG REQ
SIN#0005 #40014 { ALM/ERR RESET
2 Select {DETAIL}. SIN#0006 #40015 {
SIN#0007 #40016 { SPEED LIMIT
SIN#0008 #40017 {
Main Menu ShortCut

System setup
Input/output status
5.3.4 System output

System output window

1
menu.
The SYSTEM OUTPUT window appears.
SYSTEM OUTPUT
NO. 7654_3210
#5001X 0111_1011
#5002X 0000_0000
#5003X 0000_0000
#5004X 1111_0000
#5005X 0000_0000
2 Select {SYSTEM OUTPUT}. #5006X 0000_1010
#5007X 0000_0000
#5008X 0000_0000
Main Menu ShortCut
System output detailed window

1
menu.
The SYSTEM OUTPUT detailed window appears.
SYSTEM OUTPUT
GROUP 123 : DEC. 7b : HEX.
SOUT#0001 #50010 MAJOR ALM OCCUR
SOUT#0002 #50011 MINOR ALM OCCUR
SOUT#0003 #50012 { SYSTEM ALM OCCUR
SOUT#0004 #50013 USER ALM OCCUR
SOUT#0005 #50014 ERROR OCCUR
2 Select {DETAIL}. SOUT#0006 #50015 MEMORY BTRY WEAK
SOUT#0007 #50016 ENCDR BTRY WEAK
SOUT#0008 #50017 {
Main Menu ShortCut

System setup
Input/output status
5.3.5 RIN input

RIN input window

1
menu.
The RIN window appears.
RIN
RIN#001 { DIRECT IN1
2 Select {RIN}. RIN#005 { DIRECT IN5
Main Menu ShortCut

System setup
Input/output status
5.3.6 Modification of the signal name

The name of the user input or output signal can be modified.
USER INPUT
IN#0001 #00010 {
IN#0002 #00011 {
IN#0003 #00012 {
IN#0004 #00013 { Signal name
IN#0005 #00014 {
IN#0006 #00015 {
IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
The name can be modified in the following two ways.

Direct modification on the detailed window
Modification from the menu
Direct modification on the detailed window
Move the cursor to the signal

name to be modified in the
1 The window for character input appears.
detailed window, and press
[SELECT].
2 Enter the signal name.
New signal name is registered.
USER INPUT
IN#0001 #00010 TEST SIGNAL
IN#0002 #00011
IN#0003 #00012 {
IN#0004 #00013
3 Press [ENTER]. IN#0005 #00014
IN#0006 #00015
IN#0007 #00016
IN#0008 #00017 {
Main Menu ShortCut

System setup
Input/output status
Modification from the menu
Move the cursor to the signal

1 name to be modified in the
detailed window.
The pull-down menu appears.
SEARCH SIGNAL NO.
USER INPUT
GROUP SEARCH RELAY NO. 123 : DEC. 7b : HEX.
IN#0001 #00010
RENAME
IN#0002 #00011
IN#0003 #00012 {
IN#0004 #00013
IN#0005 #00014
2 Select {EDIT} under the menu. IN#0006 #00015
IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
3 Select {RENAME}. The window for character input appears.
4 Enter the signal name.
New signal name is registered.
USER INPUT
IN#0001 #00010 TEST SIGNAL
IN#0002 #00011
IN#0003 #00012 {
IN#0004 #00013
5 Press [ENTER]. IN#0005 #00014
IN#0006 #00015
IN#0007 #00016
IN#0008 #00017 {
Main Menu ShortCut

System setup
Input/output status
5.3.7 Signal number search

A search can be made for a signal number of a user input, user output, system input, or sys-
tem output.
USER INPUT
IN#0001 #00010 {
IN#0002 #00011 {
IN#0003 #00012 {
Signal No. IN#0004 #00013 {
IN#0005 #00014 {
IN#0006 #00015 {
IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
A search for the signal number can be made in the following two ways.
Direct search on the detailed window
Search from the menu
The number input line appears.
JOB EDIT DISPLAY UTILITY
USER INPUT
IN#0001 #00010 {
Signal no. input = TEST SIGNAL
IN#0002 #00011 {
IN#0003 #00012 {
Move the cursor to a signal IN#0004 #00013 {
1 number in the detail window, and IN#0005 #00014 {
IN#0006 #00015 {
press [SELECT]. IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
Type the signal number in the number input line.

2 Enter the number of the signal. Signal no. input = 41

System setup
Input/output status
The page where the signal number exists appears.
USER INPUT
GROUP IG#06 128 : DEC. 80 : HEX.
IN#0041 #00060 {
IN#0042 #00061 {
IN#0043 #00062 {
IN#0044 #00063 {
Press [ENTER] to start the IN#0045 #00064 {
3
search. IN#0046 #00065 {
IN#0047 #00066 {
IN#0048 #00067
Main Menu ShortCut
SEARCH SIGNAL NO.
USER INPUT
IN#0001 #00010
RENAME {
IN#0002 #00011 {
IN#0003 #00012 {
IN#0004 #00013 {
Select {EDIT} under the menu in IN#0005 #00014 {
1
the detail window. IN#0006 #00015 {
IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
2 Select {SEARCH SIGNAL NO.}. The number input line appears.
3 Enter the number of the signal.
Press [ENTER] to start the

4 The page where the signal number exists appears.
search.

System setup
Input/output status
5.3.8 Relay number search

A search can be made for a relay number of a user input or output signal or a system input or
output signal.
USER INPUT
IN#0001 #00010 {
IN#0002 #00011 {
IN#0003 #00012 {
Relay No. IN#0004 #00013 {
IN#0005 #00014 {
IN#0006 #00015 {
IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
A search for the relay number can be made in the following two ways.
Direct search on the detail window
The number input line appears.
JOB EDIT DISPLAY UTILITY
USER INPUT
IN#0001 #00010 {
Relay no. input = TEST SIGNAL
IN#0002 #00011 {
IN#0003 #00012 {
Move the cursor to a relay IN#0004 #00013 {
1 number in the detail window, and IN#0005 #00014 {
IN#0006 #00015 {
press [SELECT]. IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
Type the relay number in the number input line.

2 Enter the number of the relay.
Relay no. input =

System setup
Input/output status
The page where the input relay number exists appears.
USER INPUT
GROUP IG#06 128 : DEC. 80 : HEX.
IN#0041 #00060 {
IN#0042 #00061 {
IN#0043 #00062 {
IN#0044 #00063 {
Press [ENTER] to start the IN#0045 #00064 {
3
search. IN#0046 #00065 {
IN#0047 #00066 {
IN#0048 #00067 {
Main Menu ShortCut
SEARCH SIGNAL NO.
USER INPUT
IN#0001 #00100
RENAME {
IN#0002 #00011 {
IN#0003 #00012 {
IN#0004 #00013 {
Select {EDIT} under the menu in IN#0005 #00014 {
1
the detail window. IN#0006 #00015 {
IN#0007 #00016 {
IN#0008 #00017 {
Main Menu ShortCut
2 Select {SEARCH RELAY NO.}. The number input line appears.
3 Enter the number of the relay.
Press [ENTER] to start the

4 The page where the relay number exists appears.
search.

System setup
Cumulative time display
5.4 Cumulative time display

5.4.1 Cumulative time display window
The status of system operation, e.g. power ON time, can be checked.
1 Select {SYSTEM INFO}.
The window for cumulative time display appears.
SYS MONITORING TIME
1 CONTROL POWER TIME (1998/07/06 10:00 )
2385:42'02
2 SERVO POWER TIME (1998/07/06 10:30 )
2380:10'12
3 PLAYBACK TIME (1998/10/22 11:12 )
2210:00'20
4 MOVING TIME (1998/10/22 15:30 )
1875:15'30
5 OPERATING TIME (1998/10/22 16:12 )
0:0'0
Main Menu ShortCut
2 Select {MONITORING TIME}.

1. CONTROL POWER TIME
Displays the cumulative time that the main power supply has been
ON.
2. SERVO POWER TIME

Displays the cumulative time that the servo power supply has been
ON.
3. PLAYBACK TIME
Displays the cumulative time during which playback was executed.
4. MOVING TIME
Displays the cumulative time that the manipulator was in motion.
5. OPERATING TIME
Displays the cumulative time spent in operation. For example, if
the manipulator is used for spot welding, it displays the amount of
time spent in spot welding; if the manipulator is used for handling, it
displays the time spent in handling.

System setup
5.4.2 Individual window of the cumulative time display

GOBACK
If the page key PAGEis pressed, servo power ON time by each robot axis, playback time,
motion time and operating time by each application, is individually displayed.
SERVO POWER TIME
ROBOT1 (1998/07/06 10:00 )
2385:42'02
STATION1 (1998/08/03 10:00 )
262:37'02
PLAYBACK TIME
ROBOT1 (1998/07/06 10:00 )
2385:42'02
STATION1 (1998/08/03 10:00 )
262:37'02
OPERATING TIME
APPLI1 (1998/07/06 10:00 )
2385:42'02
APPLI2 (1998/08/03 10:00 )
262:37'02
MOVING TIME
ROBOT1 (1998/07/06 10:00 )
2385:42'02
STATION1 (1998/08/03 10:00 )
262:37'02
Note!
The total axes times here are not always the same as the time in the cumulative time display
window because these windows show time as seen from the individual axis.

System setup
5.4.3 Clearing the cumulative time display

Cumulative time displays can be cleared and set back to 0 by following procedure. These
operations can be performed in the cumulative time display window, or in the individual win-
dows.
SYS MONITORING TIME
CONTROL POWER TIME (1998/07/06 10:00 )
2385:42'02
SERVO POWER TIME (1998/07/06 10:30 )
2380:10'12
PLAYBACK TIME (FROM 10/22/1998 11:12)
2210:00'20 Initialize?
1 Select the time to be cleared. MOVING TIME MOVING TIME
(FROM 10/22/1998 15:30)
1875:15'30
OPERATING TIME YES NO
(FROM 10/22/1998 16:12)
Main Menu ShortCut
The cumulative time value at the cursor line is reset to 0, and a

new time measurement begins.
SYS MONITORING TIME
CONTROL POWER TIME (1998/07/06 10:00 )
2385:42'02
SERVO POWER TIME (1998/07/06 10:30 )
2380:10'12
PLAYBACK TIME (1998/10/22 11:12 )
2 Select “YES.” 2210:00'20
MOVING TIME (1998/10/22 15:30 )
0:00'00
OPERATING TIME (1998/10/22 16:12 )
Main Menu ShortCut

System setup
Alarm history
5.5 Alarm history

5.5.1 Alarm history window
There are five types of alarm list windows: the "MAJOR ALARM" window, the "MINOR
ALARM" window, the "USER ALARM (SYSTEM)" window, the "USER ALARM (USER)" win-
dow, and the "OFF-LINE" window. Each window shows the alarm code and the date and time.

1
the main menu.
The window for alarm history appears.
MAJOR ALARM
CODE DATE CLOCK
01 1030 05/12/1998 12:00

02 0060 06/15/1998 15:25
03
04
2 Select {ALARM HISTORY}. 05
MEMORY ERROR (PARAMETER FILE)
[5]
JOB: TEST0001 LINE: 0010 STEP: 010
Main Menu ShortCut
GOBACK
GOBACK Each time the page key is pressed, the window changes
"MAJOR PAGE
Press the page key PAGE to

3
change the window.
ALARM" "MINOR ALARM" "USER ALARM(SYS-
TEM)” "USER ALARM(USER)" "OFF-LINE."

System setup
Alarm history
5.5.2 Clearing the alarm history

The history of the minor alarms and the user alarms (system and user ) can be cleared.
Display the alarm history window

1
to be cleared.
MAJOR ALARM
CODE DATE CLOCK
01 1030 1998/05/12 12:00
02 0060 1998/06/15 15:25
03
04
05
Clear data?
3 Select {CLEAR HISTORY}.
YES NO
MEMORY ERROR (PARAMETER FILE)
[5]
JOB: TEST0001 LINE: 0010 STEP: 010
Main Menu ShortCut
4 Select “YES.” The alarm history displayed is reset.

System setup
I/O message history
5.6 I/O message history

5.6.1 I/O message history window
The I/O message history window shows the date and time, job name, line number, and step
number of the I/O message that appeared on the window.

1
the main menu.
The I/O MESSAGE HISTORY window appears.
I/O MESSAGE HISTORY
0001 GAS SHORTAGE
0002 WIRE SHORTAGE
0003
0004
0005
0006
0007
2 Select {I/O MSG HISTORY}.
DATE/TIME: 1999/06/16 12:00
JOB NAME: ARCON LINE: 0006 STEP: 004
Main Menu ShortCut
Press [SELECT], and numeric values can now be entered. Input

the history number, and press [ENTER]. The search for the input
history number begins, and the I/O message that appeared on
the window is displayed.
Search
Use the following operation to search for the I/O message history.
1 Select {EDIT} under the menu.
2 Select {SEARCH}. The character input line appears.
3 Enter the history No.
The search for the input history number begins, and the I/O mes-
4 Press [ENTER].
sage is displayed.

System setup
I/O message history
5.6.2 Clearing the I/O message history

Use the following operation to clear the I/O message history.
I/O MESSAGE HISTORY
0001 GAS SHORTAGE
0002 WIRE SHORTAGE
0003
0004
2 Select {CLEAR HISTORY}. 0005 Clear data?
0006
0007
YES NO
DATE/TIME: 1999/06/16 12:00
JOB NAME: ARCON LINE: 0006 STEP: 004
Main Menu ShortCut
3 Select “YES.” The displayed I/O message history is cleared.

System setup
Position data when power is turned ON/OFF
5.7 Position data when power is turned ON/OFF

Power ON/OFF position window
The Power ON/OFF position window shows the position of the manipulator when power was
turned OFF the last time, the current position of the manipulator when power was later turned
ON, and the amount of difference between the two positions. When alarm 4107, "OUT OF
RANGE (ABSO DATA)" occurs, the error value of the faulty axes can be verified in this win-
dow.

1
menu.
The POWER ON/OFF POSITION window appears.
POWER ON/OFF POSITION
OFF POS ON POS DIFFERENCE
R1:S 4775 4120 665

L 8225 8225 0
U 960 960 0
R -336 -336 0
2 Select {POWER ON/OFF POS}. B -202 -203 1
T -10 -11 1
Main Menu ShortCut

System setup
Current position
5.8 Current position

Current position window

1
menu.
The CURRENT POSITION window appears.
CURRENT POSITION
COORDINATE: PULSE TOOL:00
R1:S 0
L 0
U 0
Select {CURRENT POSITION}
2 R 0
under the sub menu. B 0
T 0
Main Menu ShortCut
CURRENT POSITION
COORDINATE: PULSE TOOL: 00
R1:S 0
PULSE
L 0
BASE
U 0
ROBOT
Select the types of coordinates
3 R 0
USER
to be displayed. B 0
T 0
Main Menu ShortCut
The type of coordinates being displayed is changed.
CURRENT POSITION
COORDINATE: BASE TOOL: 00
R1:X 915.000 mm Rx 180.00 deg.

Y 0.000 mm Ry 0.00 deg.
Z 765.000 mm Rz 0.00 deg.
Select the desired coordinate
4 <ROBOT TYPE>
system. FRONT S< 180
UP R< 180
FLIP T< 180
Main Menu ShortCut

System setup
Servo monitoring
5.9 Servo monitoring

5.9.1 Servo monitor window
The servo monitor window shows the servo-related data of each axis.
Monitor Items Description
Feedback position (actual position) of each axis

FEEDBACK PULSE
“0” at the home position.
Difference between the command position and the feedback

ERROR PULSE
position of each axis.
Difference between the command speed and the feedback

SPEED DEVIATION
speed of each axis.
SPEED INST Speed reference of each axis.
FEEDBACK SPEED Feedback speed (actual speed) of each axis.
TORQUE SPEC Torque reference of each axis.
Keeps the maximum value of the torque reference of each

axis.
MAX. TORQUE
“0” when the maximum torque is cleared or the control power
supply is turned ON or OFF.
Position after one rotation of the encoder when the control

ENCODER ROTATE SUM
power supply of each axis is turned ON.
Absolute value of the motor is calculated by adding the posi-

MOTOR ABSOLUTE tion in one rotation to the sum of the accumulated rotations
when the control power supply of each axis is turned ON.

System setup
Servo monitoring
5.9.2 Changing the monitor items
Set the security mode to the

1
management mode.

2
menu.
The SERVO MONITOR window appears.
SERVO MONITOR
FEEDBACK PULSE ERROR PULSE
3 Select {SERVO MONITOR}. R1:S 1805 300
L 234 0
U 995 0
R 123 0
B 237 0
T 2432 0

MONITOR ITEM 1 is the data on the left, and MONITOR ITEM 2
is the data on the right.
Select {DISPLAY} under the SERVO MONITOR

MONITOR ITEM1>
4
menu. MONITOR ITEM2> ERROR PULSE
FEEDBACK PULSE
R1:S 1805 300

L 234 0
U 995 0
R 123 0
B 237 0
T 2432 0
The sub-menu choices appear.
Select MONITOR ITEM 1 or 2, SERVO MONITOR

FEEDBACK PULSE
and view the sub-menu choices FEEDBACK PULSE

ERROR PULSE ERROR PULSE
5
by pressing the right arrow key R1:S 1805
SPEED DEVIATION 300
L 234 0
[→]. U SPEED INST
995 0
R 123 0
B 237 0
T 2432 0
The type of monitor-related information is changed.
SERVO MONITOR
SPEED INST ERROR PULSE
6 Select a menu. R1:S 4000 300
L 0 0
U 0 0
R 0 0
B 0 0
T 0 0

System setup
Servo monitoring
5.9.3 Clearing maximum torque data

The data for the maximum torque can be cleared when the maximum torque-related informa-
tion is being displayed.
The clear max torque window appears.
CLEAR MAX TORQUE
MAX TORQUE ERROR PULSE
1 Select {DATA} under the menu. R1:S 30 0
L 70 0
U 80 0
R 20 0
B 40 0
T 30 0
The maximum torque data is cleared.
SERVO MONITOR
MAX TORQUE FEEDBACK PULSE
2 Select {MAX. TORQUE}. R1:S 0 0
L 0 0
U 0 0
R 0 0
B 0 0
T 0 0

System setup
Servo monitoring

NX100 System setup
Index
A E
absolute data .............................................................70 editing mode ...............................................................7

absolute data allowable range alarm occurs .............78 ENCODER ROTATE SUM ...................................227
absolute encoder .......................................................70 ERROR PULSE ......................................................227
AC servo motor .......................................................203 executing the I/O control allocation .......................164
ACCELARATION SPEED ........................... 192, 203 executing the instruction/output control allocation 164
addition of base and station axis .............................180 executing the job call allocation .............................164
addition of I/O modules ..........................................177 executing the window allocation ............................164
alarm history ...........................................................221 execution of allocation ...........................................164
alarm history window .............................................221 expanded instruction set .........................................149
all limits releasing .....................................................84
allocating an operation ............................................154 F
allocation of I/O control instructions ......................163
allocation window ...................................................154 FEEDBACK PULSE ..............................................227
alternate output allocation .............................. 153, 159 FEEDBACK SPEED ..............................................227
analog incremental output allocation ............. 153, 162 file initialize ............................................................171
analog output allocation ................................. 153, 161
ARM control ...........................................................122 G
automatic measurement of the tool load
and the center of gravity .........................................113 group (4-bit/8-bit) output allocation .......................161
AXES CONFIG window ........................................189 group output allocation (4-bit/8-bit) .......................153
axis interference area ................................................95
H
B
home position ...........................................................70
BALL-SCREW PITCH ..........................................190 home position calibration .........................................69
base coordinate .........................................................88 home position of the robot ........................................75
how to calculate tool load information ...................127
C
I
changing the monitor items ....................................228
changing the output status ......................................165 I/O message history ................................................223
changing the parameter setting ...............................169 I/O message history window ..................................223
checking the TCP ....................................................112 I/O modules ............................................................177
clearing calibration data .......................................... 111 individual window of the cumulative time display 219
clearing interference area data ..................................98 INERTIA RATIO .......................................... 192, 203
clearing the alarm history .......................................222 initialize data file ....................................................172
clearing the cumulative time display ......................220 initialize job file ......................................................171
clearing the I/O message history .............................224 initialize parameter file ...........................................173
clearing user coordinates ........................................121 initializing I/O data .................................................174
control group ...........................................................183 initializing system data ...........................................175
cube ...........................................................................89 input/output status ..................................................206
cube interference .......................................................84 instruction allocation ..................................... 152, 155
cube number ..............................................................90 instruction level ......................................................149
cubic interference area ..............................................88 instruction of shock detection function ..................143
cumulative time display ..........................................218 instruction set ..........................................................149
cumulative time display window ............................218 interference area .......................................................88
current position .......................................................226
current position window .........................................226 J
D job call ....................................................................157

job call allocation ...................................................152
definition of user coordinates .................................117
detection lebel (level range K
1 to 500) 140
detection mode ........................................................139 key allocation (EACH) ...........................................152
display allocation ....................................................152 key allocation (SIM) ...............................................152
Mrs6101GBIX.fm Revised: 04-05-28 Page 231

NX100 System setup
Index
L robot programming language (INFORM III) ......... 149

robot setup condition .............................................. 123
learning function .................................................... 150
limit switch ............................................................. 167 S
L-U interference ....................................................... 84
second home position (check point) ......................... 76
M security mode ............................................................. 7
security system ........................................................... 7
managememt mode .................................................... 7 selecting user coordinates file ................................ 118
manipulator model .................................................. 205 servo monitor window ............................................ 227
manufacturer allocation .......................................... 152 servo monitoring .................................................... 227
max. disturbance force ........................................... 140 setting base axis ...................................................... 183
MAX. RPM ................................................... 192, 203 setting contents ....................................................... 149
MAX. TORQUE .................................................... 227 setting play speed ..................................................... 83
measurement of the tool load setting shock detection function ............................. 137
and the center of gravity ......................................... 113 setting station axis .................................................. 194
mechanical limit ....................................................... 84 setting the controller clock ....................................... 82
MECHANICAL SPEC window ............................. 190 setting the second home position (check point) ....... 80
method of shock detection level file setting ........... 139 setting the tool load information ...........106, 127, 141
method of the tool load information setting ........... 141 setting user coordinates .......................................... 117
modification of system configuration .................... 177 setting work home position ...................................... 99
modification of the signal name ............................. 212 SHCKRST instruction ............................................ 143
modifying the output status .................................... 208 SHCKSET instruction ................................... 137, 143
momentary output allocation ......................... 153, 160 S-head payload ....................................................... 124
MOTION RANGE ................................................. 190 shock detection function ......................................... 137
MOTOR ABSOLUTE ............................................ 227 signal number search .............................................. 214
MOTOR SPEC display .......................................... 191 software limit ................................................... 84, 167
SPEED DEVIATION ............................................. 227
N SPEED INST .......................................................... 227
standard instruction set ........................................... 149
number of tool files ................................................ 102 subset instruction set .............................................. 149
numeric key customize function ............................ 152 switch of the tool file .............................................. 136
system diagnosis ..................................................... 205
O system input ............................................................ 209
SYSTEM INPUT detailed window ........................ 209
operation mode ........................................................... 7 SYSTEM INPUT window ..................................... 209
ORG ....................................................................... 117 system output .......................................................... 210
output of the work home position signal ................ 101 SYSTEM OUTPUT detailed window .................... 210
overrun releasing ...................................................... 86 SYSTEM OUTPUT window ................................. 210
system version ........................................................ 205
P
T
PINION DIAMETER ............................................. 190
position data when power is turned ON/OFF ......... 225 teaching user coordinates ....................................... 119
power ON/OFF position window ........................... 225 temporary release of soft limits .............................. 167
pulse output allocation .................................. 153, 160 tool calibration ........................................................ 107
tool data setting ...................................................... 102
R tool file ................................................................... 102
tool file extension function ..................................... 114
REDUCTION RATIO ............................................ 190 tool load information .............................................. 127
registering tool angle .............................................. 105 tool shock sensor releasing ....................................... 86
registering tool load information ............................ 135 TORQUE SPEC ..................................................... 227
registering/changing the work home position ........ 100
relay number search ............................................... 216 U
reset shock detected ................................................ 148
returning to the work home position ...................... 101 U-arm payload ........................................................ 124
RIN input ................................................................ 211 user coordinate .................................................88, 117
RIN input window .................................................. 211 user coordinates file ............................................... 117
robot coordinate ........................................................ 88 user ID ...................................................................... 13
robot installation angle ........................................... 123 user input ................................................................ 206
USER INPUT detailed window ............................. 206
Page 232 Revised: 04-05-28 Mrs6101GBIX.fm

NX100 System setup
Index
USER INPUT window ...........................................206

user output ..............................................................207
USER OUTPUT detailed window ..........................207
USER OUTPUT window .......................................207
window allocation ...................................................158

work home position ..................................................99
work home position cube length of its sides ...........100
XX ...........................................................................117
XY ...........................................................................117
Mrs6101GBIX.fm Revised: 04-05-28 Page 233

NX100 System setup
Index
Page 234 Revised: 04-05-28 Mrs6101GBIX.fm

Notes
Headquarters: Distributors:
Sweden MOTOMAN Robotics Europe AB Greece Kouvalias Industrial Robots
Box 4004, SE-390 04 Kalmar, Sweden 25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +46-480-417800, Fax: +46-480-417999 Tel: +30-1-9589243-6, Fax: +30-1-9567289
Hungary REHM Hegesztéstechnika Kft.
Group companies:
Tápiószele, Jászberényi út 4., H-2766, Hungary
Denmark MOTOMAN Robotics Europe AB Tel: +36-30-9510065, Fax: +36-1-2562012
Anelystparken 47A, DK-8381 Tilst, Denmark
Israel KNT Engineering Ltd.
Tel: +45-7022-2477, Fax: +45-7022-2478
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Finland MOTOMAN Robotics Finland OY Tel: +972-3 9231944, Fax: +972-3 9231933
Messinkikatu 2, FI-20380 Turku, Finland Norway ROBIA ASA
Tel: +358-403000600, Fax: +358-403000660
Industriveien 1, NO-3300 Hokksund, Norway
France MOTOMAN Robotics SARL Tel: +47-32252820, Fax: +47-32252840
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-
South Africa Robotic Systems S.A. PTY Ltd
de-Grand-Lieu, France
P.O. Box 90741, Bertsham 2013, Johannesburg,
Tel: +33-2-40131919, Fax: +33-40754147
South Africa
Germany MOTOMAN Robotec GmbH Tel: +27-11-4943604, Fax: +27-11-4942320
Kammerfeldstraße 1, DE-85391 Allershausen, Germany Switzerland Messer SAG
Tel: +49-8166-90-0, Fax: +49-8166-90-103
Langweisenstrasse 12, CH-8108 Dällikon,
Germany MOTOMAN Robotec GmbH Switzerland
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany Tel: +41-18471717, Fax: +41-18442432
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
Great Britain MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain
Tel: +44-1295-272755, Fax: +44-1295-267127
Italy MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
Netherlands MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
Portugal MOTOMAN Robotics Iberica S.L. - Sucursal em Portugal
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal
Tel: +351-234 943 900, Fax: +351-234 943 108
Slovenia RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
Spain MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-480-417800, +46-486-41410
www.motoman.se info@motoman.se
a subsidiary of YASKAWA Electric Corporation

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MOTOMAN NX100

Document No: MRS6101GB.0.U

This manual is a revised version of the YEC document:

Page 2 Revised: 04-05-28 NX_framsida eng.fm

Mrs6101GBTOC.fm Revised: 04-05-28 Page 3

User coordinates setting ......................................................................... 118

4. Modification of system configuration 177

5. System diagnosis 205

Page 4 Revised: 04-05-28 Mrs6101GBTOC.fm

Alarm history window ............................................................................221

Mrs6101GBTOC.fm Revised: 04-05-28 Page 5

Page 6 Revised: 04-05-28 Mrs6101GBTOC.fm

MOTOMAN NX100 system setup

1.1.1 Security mode

Security mode Explanation

Fig.1 Security mode description

Mrs6101GB-ch8.fm Revised: 04-05-28 Page 7

Menu & security mode

Allowed security mode

JOB Operation Edit

SELECT JOB Operation Operation

CREATE NEW JOB Edit Edit

JOB CAPACITY Operation -

RESERVED START (JOB) Edit Edit

RESERVATION STATUS Operation -

BYTE Operation Edit

INTEGER Operation Edit

DOUBLE PRECITION Operation Edit

REAL Operation Edit

POSITION (ROBOT) Operation Edit

POSITION (BASE) Operation Edit

POSITION (ST) Operation Edit

EXTERNAL INPUT Operation -

EXTERNAL OUTPUT Operation -

USER INPUT Operation -

USER OUTPUT Operation -

SYSTEM INPUT Edit -

SYSTEM OUTPUT Edit -

CONTROL INPUT Edit -

PSEUDO INPUT SIGNAL Edit Management

NETWORK INPUT Edit -

ANALOG OUTPUT Edit -

SV POWER STATUS Edit -

LADDER PROGRAM Management Management

I/O ALARM Management Management

I/O MESSAGE Management Management

Page 8 Revised: 04-05-28 Mrs6101GB-ch8.fm

Menu & security mode

Allowed security mode

CURRENT POSITION Operation -

COMMAND POSITION Operation -

SERVO MONITOR Management -

SECOND HOME POS Operation Edit

WORK HOME POSITION Operation Edit

DROP AMOUNT Management Management

POWER ON/OFF POS Operation -

TOOL Edit Edit

INTERFERENCE Management Management

USER COORDINATE Edit Edit

HOME POSITION Management Management

MANIPULATOR TYPE Management -

ROBOT CALIBRATION Edit Edit

ANALOG MONITOR Management Management