Nachi EZ-CFDL Series, Instruction Manual

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Table of Contents Table of Contents
2.8.7 2.8.7 Emergency stop output conne Emergency stop output connection (TBEX2 : 1-2, 3-4)........................................................... ction (TBEX2 : 1-2, 3-4)........................................................... 2-20 2-20
Chapter 3 Chapter 3 Setup Setup
3.1 3.1 How to read “Ch How to read “Chapter 3 Se apter 3 Setup” tup” ................................................................................... ........................................................................................................ ..................... 3-1 3-1
3.2 3.2 Configuratio Configuration n .............................................................................. ....................................................................................................................................3-2 ......................................................3-2
3.2.1 3.2.1 Setting of the installation angle of the robot .............................................................................. Setting of the installation angle of the robot .............................................................................. 3-2 3-2
3.3 3.3 Mounting a tool................................................................................................................ Mounting a tool................................................................................................................................. ................. 3-6 3-6
3.3.1 3.3.1 Mounting Mounting a too a tooll ............................................................................... ..........................................................................................................................3-6 ...........................................3-6
3.4 3.4 Encoder reset and encoder correction........................................................................................... Encoder reset and encoder correction............................................................................................. .. 3-8 3-8
3.4.1 3.4.1 Encoder Reset procedure........................................................................................................3-10 Encoder Reset procedure........................................................................................................3-10
3.4.2 3.4.2 Encoder Correction procedure ................................................................................................ Encoder Correction procedure ................................................................................................ 3-1 3-11 1
3.5 3.5 T Tool ool constant settings constant settings ............................................................................. ..................................................................................................................... ........................................ 3-14 3-14
3.5.1 3.5.1 T Tool ool name ................................................................................................................................3-15 name ................................................................................................................................3-15
3.5.2 3.5.2 T Tool ool length............................................. length.................................................................................................................... ................................................................................... ............ 3-16 3-16
3.5.3 3.5.3 T Tool ool angle............................................ angle..................................................................................................................... ..................................................................................... ............ 3-24 3-24
3.5.4 3.5.4 Center of gravity (COG) and weight of Center of gravity (COG) and weight of tool ....................................................... tool ............................................................................. ...................... 3-26 3-26
3.5.5 3.5.5 T Tool’s moment of ool’s moment of inertia...........................................................................................................3-32 inertia...........................................................................................................3-32
3.5.6 3.5.6 Max, radius of tool ...................................................................................................................3-40 Max, radius of tool ...................................................................................................................3-40
3.5.7 3.5.7 T Tool ool conversion................................................................................................................ conversion........................................................................................................................ ........ 3-41 3-41
3.6 3.6 Signal attribute setting Signal attribute settings s ........................................................................................ .................................................................................................................. .......................... 3-43 3-43
3.6.1 3.6.1 Stan Standard signal dard signal attributes assignment................................................................................. attributes assignment..................................................................................... .... 3-44 3-44
3.6.2 3.6.2 Stan Standard input dard input signals .............................................................................................. signals ............................................................................................................. ............... 3-45 3-45
3.6.3 3.6.3 Standard output signa Standard output signals ls ............................................................................... ........................................................................................................... ............................ 3-45 3-45
3.6.4 3.6.4 How to copy the I/O settings between the co How to copy the I/O settings between the controllers ntrollers .............................................................3-46 .............................................................3-46
3.7 3.7 Concerning the qualifications of the Concerning the qualifications of the operators...................... operators...............................................................................3-51 .........................................................3-51
3.7.1 3.7.1 Operation Operation qualification qualifications s ............................................................................. ........................................................................................................... .............................. 3-51 3-51
3.7.2 3.7.2 Procedure for changing the operator qualificatio Procedure for changing the operator qualifications................................................................. ns................................................................. 3-52 3-52
3.7.3 3.7.3 How to change the How to change the passwords ............................................ passwords ................................................................................................ .................................................... 3-53 3-53
3.7.4 3.7.4 How to set the operator qualifications class at power-on........................................................ How to set the operator qualifications class at power-on........................................................ 3-54 3-54
3.8 3.8 I/O area mapping function..............................................................................................................3-55 I/O area mapping function..............................................................................................................3-55
3.8.1 3.8.1 I/O area map I/O area mapping ping .................................................................................. .....................................................................................................................3-55 ...................................3-55
3.8.2 3.8.2 Relation with software PLC......................................................................................................3-58 Relation with software PLC......................................................................................................3-58
3.8.3 3.8.3 Setting method................................................................................................................. Setting method......................................................................................................................... ........ 3-59 3-59
3.8.4 3.8.4 Example 1 : Using only field bus as external I/O signals with PLC disconnected................... Example 1 : Using only field bus as external I/O signals with PLC disconnected................... 3-61 3-61
3.8.5 3.8.5 Example 2: Using only I/O boa Example 2: Using only I/O board 1 – field bus CH1 with PLC disconnecte rd 1 – field bus CH1 with PLC disconnected d .......................... .......................... 3-62 3-62
3.8.6 3.8.6 Example 3: Forcibly inputting / outputtin Example 3: Forcibly inputting / outputting signals of I/O board 1 as I1-I32 with PLC enabled g signals of I/O board 1 as I1-I32 with PLC enabled 3-63 3-63
3.9 3.9 High Speed Interfe High Speed Interference Detection rence Detection ............................................................................. ................................................................................................ ................... 3-64 3-64
3.9.1 3.9.1 Outline of High Spe Outline of High Speed Interference Detection......................................................................... ed Interference Detection......................................................................... 3-64 3-64
3.9.2 3.9.2 Applied machi Applied machine types..................................................... ne types.............................................................................................................3-64 ........................................................3-64
3.9.3 3.9.3 Parameters that must be set in advance to use this function.................................................. Parameters that must be set in advance to use this function.................................................. 3-64 3-64
3.9.4 3.9.4 “Interference setting” screen.................................................................................................. “Interference setting” screen.................................................................................................... .. 3-65 3-65
3.9.5 3.9.5 Switching Detection Level by Function....................................................................................3-66 Switching Detection Level by Function....................................................................................3-66
3.9.6 3.9.6 As for the mista As for the mistake in interferen ke in interference detection ce detection ............................................................................3-66 ............................................................................3-66
3.9.7 3.9.7 Troub Trouble shooting le shooting ..................................................................................... ...................................................................................................................... ................................. 3-66 3-66
3.10 3.10 Setting the applica Setting the application type tion type .................................................................................... ............................................................................................................ ........................ 3-67 3-67
3.11 3.11 Setting the [CLAMP / ARC] key .................................................................................................. Setting the [CLAMP / ARC] key ..................................................................................................... ... 3-69 3-69
3.12 3.12 Setting the softwar Setting the software limit (operating ra e limit (operating range) nge) ...................................................................................3-71 ...................................................................................3-71
3.12.1 3.12.1 Outline......................................................................................................................................3-71 Outline......................................................................................................................................3-71
3.12.2 3.12.2 [Position record] screen settings .............................................................................................3-72 [Position record] screen settings .............................................................................................3-72