Nachi EZ-CFDL Series, Instruction Manual

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Table of Contents
3.14 User coordinate system ................................................................................................................. 3-75
3.14.1 Setting example .......................................................................................................................3-75
3.14.2 Stationary tool ..........................................................................................................................3-80
3.15 How to copy the soft-key settings between the controllers............................................................ 3-83
3.15.1 Exporting the setting file ..........................................................................................................3-83
3.15.2 Importing the setting file...........................................................................................................3-85
3.16 Operation condition ........................................................................................................................ 3-86
3.16.1 Operation condition.................................................................................................................. 3-86
3.17 Setting the “Playback speed limit”..................................................................................................3-87
3.17.1 Setting......................................................................................................................................3-87
3.17.2 How to change the password .................................................................................................. 3-88
3.17.3 Playback mode ........................................................................................................................3-88
3.17.4 Teach mode .............................................................................................................................3-88
3.18 Position resume setting.................................................................................................................. 3-89
3.18.1 Setting......................................................................................................................................3-89
3.18.2 Position recovery at Servo ON ................................................................................................ 3-90
3.19 Collision detection command ......................................................................................................... 3-91
3.19.1 Outline......................................................................................................................................3-91
3.19.2 Example of the operation......................................................................................................... 3-91
3.19.3 Settings for the conditions for the Collision detection.............................................................. 3-92
3.19.4 Application command “FN31 COLDET” ..................................................................................3-93
3.19.5 Status ICON .............................................................................................................................3-93
3.19.6 Collision torque monitor........................................................................................................... 3-94
3.19.7 Trouble shooting ...................................................................................................................... 3-94
3.20 User help function .......................................................................................................................... 3-95
3.20.1 Outline......................................................................................................................................3-95
3.20.2 Available image file formats..................................................................................................... 3-95
3.20.3 How to register the image file .................................................................................................. 3-96
3.20.4 How to display the user help image......................................................................................... 3-97
3.20.5 Setting file “USERHELP.con”................................................................................................... 3-99
3.20.6 Trouble shooting ...................................................................................................................... 3-99
Chapter 4 Preparations for automatic operation
4.1 Home position registration ............................................................................................................... 4-1
4.1.1 Home position............................................................................................................................4-1
4.1.2 Home position registration by referencing the program ............................................................4-2
4.1.3 Home position registration by manual recording.......................................................................4-5
4.1.4 Home position registration by numeric input ............................................................................. 4-6
4.2 Registering Start Enable Area .......................................................................................................... 4-7
4.2.1 Registering the start enable area ..............................................................................................4-7
4.2.2 Checking the unit if it is in the start enable area........................................................................4-8
4.2.3 Checking which axis is out of the start enable area ..................................................................4-8
4.3 READY status output signals ........................................................................................................... 4-9
4.3.1 Controller READY signals.......................................................................................................... 4-9
4.3.2 Unit READY signal..................................................................................................................... 4-9
4.3.3 Status output signals................................................................................................................ 4-11
4.4 Interference Territory registration ................................................................................................... 4-14
4.4.1 Registering the interference Territory ......................................................................................4-14
4.4.2 Utilizing the Interference Territory............................................................................................4-17
4.4.3 Application example of “Interference range” setting................................................................ 4-17