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7.6 Job Examples

7-18

7.6.2

Synchronous Operation

The example below is a job configuration for the manipulators 1 and 2 to achieve detailed syn-
chronization mode. This is used when an interference area exists between manipulators.

Set a concurrent job as the master task, and start the R1 job in subtask 1, and the R2 job in
subtask 2.
The synchronization of each subtask is executed by TSYNC instruction.

Master task

Job name: MASTER

(concurrent job)

Subtask 1

Job name: R1JOB

(R1: robot job)

NOP

* Initial start

PSTART JOB:R1JOB SUB1

PSTART JOB:R2JOB SUB2

* Waiting for completion

PWAIT SUB1

PWAIT SUB2

END

NOP

JUMP JOB:R1ABC

END

Job name: R1ABC

(R1: robot job)

NOP

MOVJ VJ=50.0

MOVJ VJ=50.0

MOVL V=100.0

ARCON V=100.0

TSYNC 1

END

Subtask 2

Job name: R2JOB

(R2: robot job)

NOP

JUMP JOB:R2ABC

END

Job name: R2ABC

(R2: robot job)

NOP

MOVJ VJ=50.0

MOVJ VJ=50.0

MOVL V=100.0

ARCON V=100.0

TSYNC 1

END

Subtask 1

completed

Subtask 2

completed

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Содержание motoman NX100

Страница 1: ...ceipt of the product and prior to initial operation read these instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS NX100 INSTRUCTIONS NX100 OPERATOR S MAN...

Страница 2: ...g this product The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when nec...

Страница 3: ...entially hazardous situation which if not avoided could result in death or serious injury to personnel Indicates a potentially hazardous situation which if not avoided could result in minor or moderat...

Страница 4: ...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 pre...

Страница 5: ...that all other necessary processing has been performed Check for problems in manipulator movement Check for damage to insulation and sheathing of external wires Always return the programming pendant...

Страница 6: ...e indications of R and TM are omitted Equipment Manual Designation Programming Pendant Character Keys The keys which have characters printed on them are denoted with ex ENTER Symbol Keys The keys whic...

Страница 7: ...14 2 5 JOB CONTENT Window 2 17 2 6 Synchronized Single 2 18 2 6 1 Synchronized 2 18 2 6 2 Single 2 19 2 7 Selecting Axis to be Handled 2 20 2 7 1 When There is an Edit Job 2 20 2 7 2 When There is No...

Страница 8: ...ion SREFP 3 20 3 12 Registering Handling Instructions 3 21 3 13 Other Convenient Features 3 22 3 13 1 Example of Movement 3 22 3 13 2 Operation Method 3 23 3 13 3 Manipulator Movement 3 24 Basic axes...

Страница 9: ...ting 4 25 Jobs Not to be Converted 4 27 Group Axes for Conversion 4 27 Position Type Variables 4 27 Parameter 4 27 4 15 3 Correcting Positional Dislocation 4 28 Setting the Items for Conversion 4 28 S...

Страница 10: ...Job 5 18 5 10 Registering Job 5 19 5 11 Registering Move Instruction S MOV MOVJ 5 20 5 11 1 Operating Master Side Station 5 20 5 11 2 Operating Slave Side Manipulator 5 21 5 12 Registering Reference...

Страница 11: ...6 2 6 3 Coordinated and Individual Interpolations 6 2 6 3 1 Coordinated Interpolation 6 2 6 3 2 Individual Interpolation 6 3 6 3 3 Changing Interpolation Mode 6 3 6 4 Restriction 6 3 7 Independent Co...

Страница 12: ...tup Job 7 26 Registrering 7 27 Cancelling Registration 7 29 7 8 5 Confirming Operating Status SUPERVISORY Window 7 30 7 8 6 Precautions 7 31 Stopping 7 31 Restarting 7 31 Stopping and Restarting a Sub...

Страница 13: ...2 1 Explanation of CONVSFT 10 2 Instructed Operation 10 2 Converted Shift Value 10 2 Base Point Shift Value 10 2 Master Robot Station Position 10 3 Coordinate System to be Converted 10 3 10 3 Example...

Страница 14: ...th a single controller With the independent coordinated control function manipulators and or stations can be oper ated together or individually Operation can be optimized for the jobs 1 1 Coordinated...

Страница 15: ...ators and or stations execute jobs independently without synchroni zation Example While executing a work job at one station the other station executes a job to return to the home position for the next...

Страница 16: ...coordinated job is needed In the coordinated job there are two operations a coordinated interpolation where a station and a manipulator perform a reciprocal movement as master and slave and an individ...

Страница 17: ...rc Welding Application Registers a timer instruction TIMER in a job Registers a reference point REFP in a job or modifies the registered ref erence point REFP FWD Moves the manipulator to the register...

Страница 18: ...in the Operator s Manual Changes the type of movement for the manipulator when teaching a coor dinated job Each time this key is pressed the movement type changes SYNCRO The mark for synchronized app...

Страница 19: ...TOOLOF instruction If INTERLOCK is pressed simultaneously the TOOLOFF operation is exe cuted Registers the CALL instruction for the reserved job TOOLONxx Registers the CALL instruction for the reserv...

Страница 20: ...cts either a coordinated or an individual interpolation when teaching a coordinated job Each time this key is pressed the operation type changes Coordinated All the move instructions that are register...

Страница 21: ...he workpiece Step Instruction 001 MOVJVJ 50 00 MOVJ 002 SMOVLV 200 MOVJ SWVONWEV 1 ARCONASF 1 003 SMOVLV 200 MOVJ 004 SMOVLV 200 MOVJ 005 SMOVLV 200 MOVJ ARCOFAEF 1 SWVOF 006 MOVJVJ 50 00 MOVJ 007 MOV...

Страница 22: ...lect SETUP under the main menu 2 Select GRP COMBINATION The GROUP COMBINATION window appears 3 Press SELECT The selection dialog box appears EDIT DISPLAY UTILITY DATA Short Cut Main Menu GROUP COMBINA...

Страница 23: ...ROUP COMBI SET NO 1 CONTROL GROUP NO 2 CONTROL GROUP MASTER CANCEL EXECUTE EDIT DISPLAY UTILITY DATA Short Cut Main Menu GROUP COMBI SET NO 1 CONTROL GROUP NO 2 CONTROL GROUP MASTER R1 ROBOT1 S1 STATI...

Страница 24: ...4 System Setup 2 9 7 Select EXECUTE The GROUP COMBINATION window reappears Operation Explanation GROUP COMBINATION GROUP AXIS MASTER R1 S1 R1 R2 R2 EDIT DISPLAY UTILITY DATA Short Cut Main Menu 24 21...

Страница 25: ...Tool Setting Operation Explanation 1 Mount a tool for calibration on the manipulator Use a tool whose exact dimensions are known 2 Select ROBOT under the main menu 3 Select TOOL The TOOL window appear...

Страница 26: ...as C2 3 Turn the station axis further in the same direction as in step 2 Then align the TCP of the manipulator to point P and register it as C3 To minimize teaching error attach a tool with a pointed...

Страница 27: ...ground align the TCP of the manipulator to point P and register it as C1 2 Turn the 2nd station axis about 30 Align the TCP of the manipulator to point P and register it as C2 3 Turn the 2nd station...

Страница 28: ...tering C2 to C5 the manipulator tool should keep as much as possible the same orientation as when C1 was registered The manipulator at teaching should have its L axis at a 90 angle to the ground and i...

Страница 29: ...teaching appears 4 Select ROBOT The selection dialog box appears ROBOT CALIBRATION NO SET ROBOT 01 02 03 04 05 06 07 08 EDIT DISPLAY UTILITY DATA Short Cut Main Menu ROBOT CALIBRATION NO 01 ROBOT C1...

Страница 30: ...eted The calibration positions appear according to the selected group axis Press the page key to change the window Operation Explanation ROBOT CALIBRATION NO 01 ROBOT C1 C2 C3 POSITION C1 STATUS R1 S...

Страница 31: ...TE The robots are calibrated When the calibration is completed the ROBOT CALIBRATION list window reappears Operation Explanation 01 02 03 04 05 06 07 08 ROBOT CALIBRATION NO SET ROBOT EDIT DISPLAY UTI...

Страница 32: ...appears when synchronized movement is selected Switch between movements by pressing SYNCRO SINGLE Group axis being handled Displays the group axis being handled Pressing ROBOT selects the manipulator...

Страница 33: ...2 6 1 Synchronized If the axes are handled in the Synchronized mode the slave manipulator follows the mas ter station when the master moves This feature is used to keep the position of the manipu lat...

Страница 34: ...is has been handled moves This feature is used where a manipulator and a station each execute an individual job A slave axis is moved A master axis is moved The selected mode Synchronized or Single is...

Страница 35: ...ROBOT selects a manipulator for axis handling Pressing EX AXIS selects a station for axis handling 2 7 2 When There is No Edit Job When there is no edit job move a manipulator in the following manner...

Страница 36: ...NAME and then enter a job name by entering the characters Refer to 1 2 7 Character Input of the Operator s Manual 4 Press ENTER 5 Select GROUP SET 6 Select a group combination 7 Select EXECUTE The jo...

Страница 37: ...Press EX AXIS The master side station is selected for axis handling 3 Select either synchronized or single Press SYNCRO SINGLE to select either synchronized or sin gle When synchronized is selected t...

Страница 38: ...coordinated operation When JOINT is selected the interpolation type will not change to a coordinated interpo lation even if SMOV is pressed When JOINT is selected during coordinated interpolation a c...

Страница 39: ...ence point instruction appears in the input buffer line 8 Change the reference point number Move the cursor to the reference point number and press SHIFT the cursor key to change the reference point n...

Страница 40: ...a coordinated job there is a coordinated operation where two manipulators master and slave perform a reciprocal movement and an individual operation where each of the two manipulators performs an inde...

Страница 41: ...ys as shown in the fig ure below Registers a timer instruction TIMER in a job Registers a reference point REFP in a job or modifies the registered ref erence point REFP FWD Moves the manipulator to th...

Страница 42: ...the movement type changes SYNCRO The mark for synchronized appears in the status display area When the master side is moved the slave side will follow the movement of the master SINGLE Only the selec...

Страница 43: ...ool1 OFF general output No Initial value 18 A1P028 Tool 2 ON general output No Initial value 19 A1P029 Tool 2 OFF general output No Initial value 20 Sends an open instruction to Tool 1 Only while the...

Страница 44: ...torch moves to the cleaner The workpiece is uncloaded Ending Separate from the workpiece Step Instruction 001 MOVJVJ 50 00 MOVJ 002 SMOVLV 200 MOVL SWVONWEV 1 ARCONASF 1 003 SMOVLV 200 MOVL 004 SMOVL...

Страница 45: ...w appears 3 Press SELECT The selection dialog box appears 4 Select ADD GROUP The GROUP COMBI SET window appears EDIT DISPLAY UTILITY DATA Short Cut Main Menu GROUP COMBINATION GROUP AXIS MASTER R1 R2...

Страница 46: ...Explanation GROUP COMBI SET NO 1 CONTROL GROUP NO 2 CONTROL GROUP MASTER R1 ROBOT1 R2 ROBOT2 CANCEL EXECUTE EDIT DISPLAY UTILITY DATA Short Cut Main Menu R1 R2 R1 GROUP COMBI SET NO 1 CONTROL GROUP N...

Страница 47: ...n 1 Mount a tool for calibration on the manipulator Use a tool whose exact dimensions are known 2 Select ROBOT under the main menu 3 Select TOOL The TOOL window appears 4 Enter the tool dimensions 5 P...

Страница 48: ...st manipulator by handling the axis Register it as C1 2 Register C2 and C3 in the same manner as C1 When registering C2 and C3 the manipulator tool should keep as much as possible the same orientation...

Страница 49: ...Select ROBOT The selection dialog box appears Select a control group for cali bration ROBOT CALIBRATION NO SET ROBOT 01 02 03 04 05 06 07 08 EDIT DISPLAY UTILITY DATA Short Cut Main Menu ROBOT CALIBRA...

Страница 50: ...ing is not completed The calibration positions appear according to the selected group axis Press the page key to change the window Operation Explanation ROBOT CALIBRATION NO 01 ROBOT C1 C2 C3 POSITION...

Страница 51: ...The robots are calibrated When the calibration is completed the ROBOT CALIBRATION list window reappears Operation Explanation 01 02 03 04 05 06 07 08 ROBOT CALIBRATION NO SET ROBOT EDIT DISPLAY UTILIT...

Страница 52: ...ent available for the manipulator during axis operation This mark appears when synchronized movement is selected Switch between movements by pressing SYNCRO SINGLE Group axis being handled Displays th...

Страница 53: ...RO SINGLE 3 7 1 Synchronized If the axes are handled in the Synchronized mode the slave torch follows the master workpiece when the master moves This feature is used to keep the position of the manipu...

Страница 54: ...being handled moves This feature is used where each of the two manipulators executes an individual job The selected mode Synchronized or Single is maintained until the next selection is made When an...

Страница 55: ...ime ROBOT is pressed a manipulator to be handled changes 3 8 2 When There is No Edit Job When there is no edit job move the manipulator in the following manner 1 Press SHIFT ROBOT to change the manipu...

Страница 56: ...NAME and then enter a job name by entering the characters Refer to 1 2 7 Character Input of the Operator s Manual 4 Press ENTER 5 Select GROUP SET 6 Select a group combination 7 Select EXECUTE The jo...

Страница 57: ...s handling 3 Select either synchronized or single Press SYNCRO SINGLE to select either synchronized or sin gle When synchronized is selected the mark in the window below appears When the slave side is...

Страница 58: ...on type 5 Confirm the speed 6 Press ENTER The registration is completed as follows When joint motion is set for the slave side torch teaching cannot be done during a coor dinated operation When JOINT...

Страница 59: ...point instruction appears in the input buffer line 8 Change the reference point number Move the cursor to the reference point number and press SHIFT the cursor key to change the reference point numbe...

Страница 60: ...reserved jobs The job contents must have been registered beforehand Register a handling instruction according to the appli cation An example of H1OPEN registration is shown Example The OPEN and CLOSE...

Страница 61: ...system the control point of slave side manipulator can be set as a reference point so that the master side manipulator can be moved 3 13 1 Example of Movement Manipulator R1 Master side Manipulator R2...

Страница 62: ...tch to tool coordination display is shown 3 Select a operation tool coordi nate Select a manipulator with whose tool center point the manipulator is moved At turning ON the power supply the tool cente...

Страница 63: ...Axis Key Movement Basic axes Moves in parallel to X Y and Z axis of tool coordinates of the selected manipulator Wrist axes With the tool center point of the selected manipulator as a reference point...

Страница 64: ...ence point Synchronized Single When synchronized is selected The master moves with the tool center point of the slave as a reference point The slave follows the master When single is selected The mast...

Страница 65: ...nd the station R1 S1 A coordinated job for the other manipulator and the station R2 S1 A concurrent job or a robot job without control groups starts these two jobs and implements I O control The maste...

Страница 66: ...o convert a job path and copy it The same teaching operation does not have to be repeated Method 2 Perform teaching for each manipulator Where there are not many similarities in the paths and movement...

Страница 67: ...elow 4 2 1 Arc Welding Application Registers a timer instruction TIMER in a job Registers a reference point REFP in a job or modifies the registered ref erence point REFP FWD Moves the manipulator to...

Страница 68: ...in the Operator s Manual Changes the type of movement for the manipulator when teaching a coor dinated job Each time this key is pressed the movement type changes SYNCRO The mark for synchronized app...

Страница 69: ...d Registers the TOOLOF instruction If INTERLOCK is pressed simultaneously the TOOLOFF operation is exe cuted Registers the CALL instruction for the reserved job TOOLONxx Registers the CALL instruction...

Страница 70: ...d the movement type changes SYNCRO The mark for synchronized appears in the status display area When the master side is moved the slave side will follow the movement of the master SINGLE Only the sele...

Страница 71: ...s added is follower while the subtask without a tag is leader The station axis is controlled by the leader job and the follower job follows the movement of station axis Register a PSTART instruction s...

Страница 72: ...Set the number of syn chronized tasks When setting SYNCHRO NUM to UNUSED the number of tasks is the same as when SNUM 2 Format Operation Explanation 1 Move the cursor to the line just above the line...

Страница 73: ...he the JOB CONTENT win dow reappears To edit additional items To edit additional items move the cursor to the instruction in the input buffer line then press SELECT The DETAIL EDIT win dow appears To...

Страница 74: ...ayed in the input buffer line is registered Example Operation Explanation TSYNC 2 SNUM 2 TSYNC 2 SNUM 2 EDIT DISPLAY UTILITY JOB Short Cut Main Menu DETAIL EDIT SYNCHRO NO SYNCHRO NUM Synchronizes at...

Страница 75: ...0 WORK 1 JUMP E IF IG 3 1 PSTART JOB TES11 R1 SUB1 SYNC SUB2 R1 S1 PSTART JOB TES11 R2 SUB2 R2 S1 PWAIT SUB1 PWAIT SUB2 E WORK 2 JUMP F IF IG 3 2 PSTART JOB TES12 R1 SUB1 SYNC SUB2 R1 S1 PSTART JOB T...

Страница 76: ...mark appears when synchronized movement is selected Switch between movements by pressing SYNCRO SINGLE Group axis being handled Displays the group axis being handled Pressing ROBOT selects the manipul...

Страница 77: ...RO SINGLE Synchronized If the axes are handled in the Synchronized mode the slave manipulator follows the mas ter station when the master moves This feature is used to keep the position of the manipu...

Страница 78: ...es This feature is used where a manipulator and a station each executes an individual job A slave axis is moved A master axis is moved The selected mode Synchronized or Single is maintained until the...

Страница 79: ...g job synchronized mode can move the follower synchronizing the motion of the leader The follower manipulator moves keeping the relative position to the station Pressing SHIFT SYNCRO SINGLE changes th...

Страница 80: ...DATA Short Cut Main Menu TEACHING CONDITION RECT CYLINDRICAL LANGUAGE LEVEL INSTRUCTION INPUT LEARNING MOVE INSTRUCTION SET STEP ONLY CHANGING STEP TEST RUN OPERATION MODE BWD OPERATION NO GROUP AXIS...

Страница 81: ...ROBOT selects a manipulator for axis handling Pressing EX AXIS selects a station for axis handling 4 9 2 When There is No Edit Job When there is no edit job move a manipulator in the following manner...

Страница 82: ...en enter a job name by entering the characters Refer to 1 2 7 Character Input of the Operator s Manual 4 Press ENTER 5 Select GROUP SET 6 Select a group combination 7 Select EXECUTE The job name is re...

Страница 83: ...2 Press EX AXIS The master side station is selected for axis handling 3 Select either synchronized or single Press SYNCRO SINGLE to select either synchronized or sin gle When synchronized is selected...

Страница 84: ...rdinated interpolation When JOINT is selected the interpolation type will not change to a coordinated interpo lation even if SMOV is pressed When JOINT is selected during coordinated interpolation a c...

Страница 85: ...nce point instruction appears in the input buffer line 8 Change the reference point number Move the cursor to the reference point number and press SHIFT the cursor key to change the reference point nu...

Страница 86: ...eration Operation Explanation 1 Select JOB under the main menu 2 Select JOB 3 Press the page key Each time the page key is pressed the contents of the JOB CONTENT window change in order of master task...

Страница 87: ...subtask job to create another subtask This method is useful when two movement paths are symmetrical Use the mirror shift func tion to convert a job path and copy it The same teaching operation does n...

Страница 88: ...e job taught by the other manipulator Perform teaching for either R1 S1 or R2 S1 Use the mirror shift to create a job for the other manipulator The mirror shift is a function for copying jobs which cr...

Страница 89: ...onverted For the job currently selected To call another job Execute conversion Operation Explanation 1 Select JOB under the main menu 2 Select JOB Operation Explanation 1 Select JOB under the main men...

Страница 90: ...nversion source job is displayed in the input line as initial value When is displayed the name for the converted job is to be the same as that of the conversion source job DEST CTRL GROUP Selects the...

Страница 91: ...sign reversed axis specification 4 cont d USER COORD NO Specifies the user coordinates number when USER is selected in 01 is automatically set as initial value when the USER is selected in This item...

Страница 92: ...ollowing items SOURCE JOB Selects the job before conversion The job which is shown in the JOB CONTENT window is set initially To change the job perform the following procedure Move the cursor to the j...

Страница 93: ...isplayed in the input line To enter job name with out using the source job name press CANCEL and then input a job name COORDINATES Selects the conversion coordinates Move the cursor to the coordinates...

Страница 94: ...Select BASE POINT SRC 4 Move the manipulator to the original base point by the axis keys Operation Explanation R1 X Y Z 200 000 0 000 0 000 PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB...

Страница 95: ...ing points and set as a shift value Operation Explanation R1 X Y Z 230 000 40 000 40 000 R1 X Y Z 0 000 0 000 0 000 PARALLEL SHIFT JOB EDIT DISPLAY UTILITY DATA Short Cut Main Menu CANCEL EXECUTE R1 X...

Страница 96: ...ARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB COORDINATES BASE POINT SHIFT VALUE EDIT DISPLAY UTILITY DATA Short Cut Main Menu CANCEL EXECUTE If an alarm occurs during conversion conversio...

Страница 97: ...xt perform teaching a job for the combination of follower manipulator and station For this operation perform teaching so that the follower manipulator follows the motion of station by FWD operation of...

Страница 98: ...station 2 New job registration for the coordinated job of follower subtask Register as a new job the coordinated job for the other manipula tor the station For new job registration refer to 4 10 Regis...

Страница 99: ...ch time the page key is pressed the contents of the JOB CONTENT window change in order of master task subtask 1 and subtask 2 11 Move the cursor to the step 1 12 Press FWD 13 Press the page key to swi...

Страница 100: ...SHIFT SYNCRO SINGLE to set the job syn chronized mode Change to the follower s JOB CONTENT window and register the follower manipulator position relative to the station current position Teach the fol...

Страница 101: ...ot jobs of master task subtask1 and subtask 2 are can celled 7 Select the root job of subtask 1 8 Select REGISTER ROOT JOB The root jobs for subtask 1 and subtask 2 are registered 9 Select a job to be...

Страница 102: ...the contents of the JOB CONTENT window change in order of master task subtask 1 and subtask 2 22 Register the step 1 of follower subtask After the FWD operation of step 1 of leader switch to follower...

Страница 103: ...displays the selection dialog box Select NON GROUP 5 Set CONCURRENT JOB Select ROBOT JOB of JOB TYPE Each time SELECT is pressed ROBOT JOB or CONCUR RENT JOB is selected alternately 6 Press ENTER 7 S...

Страница 104: ...o start the leader subtask If a tag SYNC is added to neither of PSTARTs an alarm occurs If the synchronous task is set to UNUSED the follower task if it is SUB1 performs the same motion as the leader...

Страница 105: ...dividual operation of the follower manipulator itself call the job by job selection operation and confirm the individual operation of the job but not in the twin syn chronization Operation Explanation...

Страница 106: ...may be caused Restart both jobs from the same position step 8 Press SHIFT SYNCRO SINGLE Set to Multi job operation mode Each time SHIFT SYNCRO SINGLE are pressed the opera tion mode changes between M...

Страница 107: ...eader R2 whose step has not been changed move to the step 3 However since position of the follower R1 is changed the step after the change is executed again As a result operation is performed at the s...

Страница 108: ...JOB of MASTER 4 Press SELECT 5 Select CALL MASTER JOB 6 Press START The called master job is executed from the beginning and the subtask is executed by a PSTART instruction Performing the Operation 2...

Страница 109: ...is always monitored If the shift amount exceeds the set value of parameter the following message is displayed The control method of manipulator posture during correction is set by the following parame...

Страница 110: ...r the second manipulator and the station R2 S1 A coordinated job for the third manipulator and the station R3 S1 A concurrent job or a robot job without control groups starts these three jobs and impl...

Страница 111: ...or shift func tion to convert a job path and copy it The same teaching operation does not have to be repeated Method 2 Perform teaching for each manipulator Where there are not many similarities in th...

Страница 112: ...elow 5 2 1 Arc Welding Application Registers a timer instruction TIMER in a job Registers a reference point REFP in a job or modifies the registered ref erence point REFP FWD Moves the manipulator to...

Страница 113: ...in the Operator s Manual Changes the type of movement for the manipulator when teaching a coor dinated job Each time this key is pressed the movement type changes SYNCRO The mark for synchronized app...

Страница 114: ...is pressed simultaneously the TOOLON operation is exe cuted Registers the TOOLOF instruction If INTERLOCK is pressed simultaneously the TOOLOFF operation is exe cuted Registers the CALL instruction fo...

Страница 115: ...ed group axis moves Selects either a coordinated or an individual interpolation when teaching a coordinated job Each time this key is pressed the operation type changes Coordinated All the move instru...

Страница 116: ...s Starts subtasks 1 2 and 3 and controls I Os Subtask 1 Robot job A coordinated job for the first manipulator the station Subtask 2 Robot job A coordinated job for the second manipulator the station S...

Страница 117: ...he three manipulators should be exactly the same execute a TSYNC instruction immediately before these steps When a TSYNC instruction is executed in one of the robot jobs the manipulator waits until th...

Страница 118: ...e numerical data Move the cursor to the numerical data Press SHIFT and the cursor key simultaneously to increment or decrement the number To enter a number by pressing the Numeric keys press SELECT to...

Страница 119: ...the synchronization number select 1 of SYNCHRO NO When the number input status enters enter the synchroni zation number SYNCHRO NO by pressing the Numeric keys and press ENTER Operation Explanation T...

Страница 120: ...SNUM 3 TSYNC 2 SNUM 3 EDIT DISPLAY UTILITY JOB Short Cut Main Menu DETAIL EDIT SYNCHRO NO SYNCHRO NUM NOP TSYNC 1 SNUM 3 MOVJ MOVJ SMOVL MOVJ TSYNC 2 SNUM 3 ARCON ARCOF SMOVL MOVJ TSYNC 3 SNUM 3 DOUT...

Страница 121: ...OB TSE11 R3 SUB3 R3 S1 PWAIT SUB1 PWAIT SUB2 PWAIT SUB3 E WORK 2 JUMP F IF IG 3 2 PSTART JOB TES12 R1 SUB1 SYNC SUB3 R1 S1 PSTART JOB TES12 R2 SUB2 SYNC SUB3 R2 S1 PSTART JOB TES12 R3 SUB3 R3 S1 PWAIT...

Страница 122: ...mark appears when synchronized movement is selected Switch between movements by pressing SYNCRO SINGLE Group axis being handled Displays the group axis being handled Pressing ROBOT selects the manipul...

Страница 123: ...RO SINGLE Synchronized If the axes are handled in the Synchronized mode the slave manipulator follows the mas ter station when the master moves This feature is used to keep the position of the manipu...

Страница 124: ...s feature is used where a manipulator and a station each executes an individual job A slave side axis is moved A master side axis is moved The selected mode Synchronized or Single is maintained until...

Страница 125: ...g job synchronized mode can move the follower synchronizing the motion of the leader The follower manipulator moves keeping the relative position to the station Pressing SHIFT SYNCRO SINGLE changes th...

Страница 126: ...ATA Short Cut Main Menu TEACHING CONDITION RECT CYLINDRICAL LANGUAGE LEVEL INSTRUCTION INPUT LEARNING MOVE INSTRUCTION SET STEP ONLY CHANGING STEP TEST RUN OPERATION MODE BWD OPERATION NO GROUP AXIS B...

Страница 127: ...OBOT selects a manipulator for axis handling Pressing EX AXIS selects a station for axis handling 5 9 2 When There is No Edit Job When there is no edit job move a manipulator in the following manner 1...

Страница 128: ...en enter a job name by entering the characters Refer to 1 2 7 Character Input of the Operator s Manual 4 Press ENTER 5 Select GROUP SET 6 Select a group combination 7 Select EXECUTE The job name is re...

Страница 129: ...2 Press EX AXIS The master side station is selected for axis handling 3 Select either synchronized or single Press SYNCRO SINGLE to select either synchronized or sin gle When synchronized is selected...

Страница 130: ...during a coordinated interpolation When JOINT is selected the operation will not change to a coordinated interpolation even if SMOV is pressed When JOINT is selected during coordinated interpolation a...

Страница 131: ...point instruction appears in the input buffer line 8 Change the reference point number Move the cursor to the reference point number and press SHIFT the cursor key to change the reference point numbe...

Страница 132: ...2 Job of the second manipulator the station Subtask 3 Job of the third manipulator the station There are two methods to create a robot job for a subtask Operation Explanation 1 Select JOB under the ma...

Страница 133: ...al Use the mirror shift function to convert a job path and copy it The same teaching operation does not have to be repeated Method 2 Perform teaching for each manipulator Where there are not many simi...

Страница 134: ...ob taught by another manipulator Perform teaching for either R1 S1 R2 S1 or R3 S1 Use the mirror shift to create a job for the other two manipulators The mirror shift is a function for copying jobs wh...

Страница 135: ...converted For the job currently selected To call another job Execute conversion Operation Explanation 1 Select JOB under the main menu 2 Select JOB Operation Explanation 1 Select JOB under the main me...

Страница 136: ...name for the converted job is to be the same as that of the conversion source job DEST CTRL GROUP Selects the control group for the converted job When the destination job name is entered the same con...

Страница 137: ...t sign reversed axis specification 4 cont d USER COORD NO Specifies the user coordinates number when USER is selected in 01 is automatically set as initial value when the USER is selected in This item...

Страница 138: ...following items SOURCE JOB Selects the job before conversion The job which is shown in the JOB CONTENT window is set initially To change the job perform the following procedure Move the cursor to the...

Страница 139: ...displayed in the input line To enter job name with out using the source job name press CANCEL and then input a job name COORDINATES Selects the conversion coordinates Move the cursor to the coordinate...

Страница 140: ...3 Select BASE POINT SRC 4 Move the manipulator to the original base point by the axis keys Operation Explanation R1 X Y Z 200 000 0 000 0 000 PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB...

Страница 141: ...hing points and set as a shift value Operation Explanation R1 X Y Z 230 000 40 000 40 000 R1 X Y Z 0 000 0 000 0 000 PARALLEL SHIFT JOB EDIT DISPLAY UTILITY DATA Short Cut Main Menu CANCEL EXECUTE R1...

Страница 142: ...PARALLEL SHIFT JOB SOURCE JOB STEP SECTION DESTINATION JOB COORDINATES BASE POINT SHIFT VALUE EDIT DISPLAY UTILITY DATA Short Cut Main Menu CANCEL EXECUTE If an alarm occurs during conversion conversi...

Страница 143: ...n perform teaching so that the follower manipulator follows the motion of station by FWD operation of the leader job For Method 2 there are two ways of teaching depending on whether the master task is...

Страница 144: ...START instruction Register a PSTART instruction to start the job that was registered at Operation 2 To specify this subtask as the follower add a tag SYNC and the leader subtask Then register a PSTART...

Страница 145: ...btask 2 and subtask 3 14 Register the step 1 of the fol lower subtask After the FWD operation of step 1 of leader change to the fol lower and register the position of the follower manipulator relative...

Страница 146: ...h all the steps of the coordinated job of one manipulator the station 2 New job registration of a coor dinated job of follower sub task Register as a new job the coordinated job of other respective ma...

Страница 147: ...job to be registered as root job The root job for subtask 2 is registered 13 Select the root job of subtask 3 14 Select REGISTER ROOT JOB 15 Select a job to be registered as root job The root job for...

Страница 148: ...er of master task subtask 1 subtask 2 and subtask 3 25 Register the step 1 of the fol lower subtask After the FWD operation of step 1 of leader change to follower and register the position of the foll...

Страница 149: ...the selection dialog box Select NON GROUP 5 Set CONCURRENT JOB Select ROBOT JOB of JOB TYPE Each time SELECT is pressed ROBOT JOB or CONCUR RENT JOB is selected alternately 6 Press ENTER 7 Select EXE...

Страница 150: ...YNC and the leader subtask Then register a PSTART instruction to start the leader subtask Operation Explanation 0000 0001 0002 0003 0004 0005 0006 NOP JOB FOR MASTER PSTART JOB JOB R1 SUB1 SYNC SUB3 P...

Страница 151: ...tion Operation Explanation 1 Create a concurrent job For procedure refer to 5 17 Job in Master Task 2 Select JOB under the main menu 3 Select CTRL MASTER The SUPERVISORY window appears Each time the p...

Страница 152: ...three subtask jobs from the same position step 7 Select a job to be the master job 8 Press SHIFT SYNCRO SINGLE Set to Multi job operation mode Each time SHIFT SYNCRO SINGLE are pressed the opera tion...

Страница 153: ...eps have not been changed move to step 3 However since the position of the follower R1 is changed the step after the change is executed again As a result oper ation is performed at the same position a...

Страница 154: ...4 Press SELECT 5 Select CALL MASTER JOB 6 Press START The called master job is executed from the beginning and the subtask is executed by a PSTART instruction Performing the Operation 6 clears the job...

Страница 155: ...ways monitored If the shift value exceeds the set value of parameter the following message is displayed The control method of manipulator posture during correction is set by the following parameter Pa...

Страница 156: ...he function of controlling multiple manipulators and stations at the same time A job to implement the coordinated control is a coordinated job A coordinated job controls two group axes at the same tim...

Страница 157: ...two lines the first line is for slave side and the second line marked with is for master side 6 3 Coordinated and Individual Interpolations Two types of operation are available for a coordinated job 6...

Страница 158: ...lowed down with individual interpolation If an identical speed is given to two group axes in order that they might finish works as far as the step 2 simultaneously the group axis 2 is given movement s...

Страница 159: ...the master task A job which is able to use move instructions is called a robot job A job which does not use a move instruction is called a concurrent job The jobs of subtask 1 subtask 2 and subtask3...

Страница 160: ...concurrent job Master job Master job Master job Subtask 3 Active job Master job Subtask 1 Active job Active job Active job Subtask 2 Start Start Job Indicates links with related jobs Master task Star...

Страница 161: ...ies of jobs including related jobs can be registered for each task Always register a master job for master tasks If there is no master job registered it cannot function as a master task For subtasks i...

Страница 162: ...T MASTER JOB NAME M TASK CONTROL GROUP NON GROUP STEP NO 000 TOOL 00 0000 0001 0002 0003 0017 0018 NOP JOB FOR MASTER TASK PSTART JOB JOB R1 SUB1 SYNC SUB3 PSTART JOB JOB R1 SUB2 SYNC SUB3 PWAIT SUB1...

Страница 163: ...012 0013 0017 0018 0022 NOP JOB FOR MASTER TASK PSTART JOB WORK A SUB1 PSTART JOB WORK D SUB2 PWAIT SUB1 PWAIT SUB2 PSTART JOB WORK B SUB1 PSTART JOB WORK E SUB2 PWAIT SUB1 PWAIT SUB2 PSTART JOB WORK...

Страница 164: ...sed the contents of the JOB CON TENT window change in order of Master task Subtask 1 Subtask 2 and Subtask 3 The JOB CONTENT window of the task where no job is regis tered is not shown Operation Expla...

Страница 165: ...he job name is to be changed move the cursor to the job name then press SELECT The window for job name selec tion appears Select a job to be changed To edit additional items move the cursor to the ins...

Страница 166: ...ED of SYNC SET The selection dialog box appears Select SYNC Operation Explanation PSTART IG 1 SUB1 UNUSED UNUSED PSTART IG 1 SUB1 Short Cut Main Menu DETAIL EDIT TARGET JOB STARTUP TASK SYNC SET CONDI...

Страница 167: ...and ENTER The instruction displayed in the input buffer line is registered Operation Explanation If the synchronous task is set to UNUSED SUB1 performs the same motion as the synchronous task SUB2 whe...

Страница 168: ...hange additional items To register items as displayed in the input buffer line Proceed to Operation 5 To edit additional items To edit additional items move the cursor to the instruction in the input...

Страница 169: ...ow Press ENTER to add IF After changed or added the additional items press ENTER The DETAIL EDIT window is closed and the JOB CONTENT window appears 5 Press INSERT and ENTER The instruction displayed...

Страница 170: ...st above the place where TSYNC instruction is to be registered 2 Press INFORM LIST The instruction list appears 3 Select TSYNC A TSYNC instruction is displayed in the input buffer line IN OUT CONTROL...

Страница 171: ...splay the input buffer line Enter a number then press ENTER The number displayed in the input buffer line is changed After changed the numerical data press ENTER The DETAIL EDIT window is closed and t...

Страница 172: ...e selection dialog box appears Select SNUM After changed or added the additional items press ENTER The DETAIL EDIT window is closed and the JOB CONTENT window appears 5 Press INSERT and ENTER The inst...

Страница 173: ...SET Select R1 of GROUP SET The selection dialog box appears Select a group combination or NON GROUP 5 Set ROBOT JOB Set ROBOT JOB for JOB TYPE 6 Press ENTER 7 Select EXECUTE The job name is registere...

Страница 174: ...ROUP 5 Set CONCURRENT JOB Move the cursor to ROBOT JOB of JOB TYPE then press SELECT Each time SELECT is pressed ROBOT JOB and CONCURRENT JOB is shown alternately 6 Press ENTER 7 Select EXECUTE The jo...

Страница 175: ...completed or not can be confirmed in the master task Master task Job name MASTER concurrent job Subtask 1 Job name R1JOB R1 robot job NOP Initial start PSTART JOB R1JOB SUB1 PSTART JOB R2JOB SUB2 Wait...

Страница 176: ...subtask is executed by TSYNC instruction Master task Job name MASTER concurrent job Subtask 1 Job name R1JOB R1 robot job NOP Initial start PSTART JOB R1JOB SUB1 PSTART JOB R2JOB SUB2 Waiting for comp...

Страница 177: ...oncurrent job and execute PSTART instruction Continue performing FWD operation so that all the tasks simultaneously perfom FWD operation 7 7 2 Switching Operating Method There are two operating method...

Страница 178: ...STEP TEST RUN OPERATION MODE Each time SELECT is pressed the setting changes between ALL and SINGLE Parameter Contents and Set Value Initial Value S4C152 Specifies the user output number to externall...

Страница 179: ...the job in subtasks The operation status of each task can be checked on the SUPERVISORY window For information about playback refer to the NX100 Operator s Manual This manual explains the independent...

Страница 180: ...to be registered 4 Press SELECT The selection dialog box appears 0000 000 STOP 0000 000 0000 000 0000 000 EDIT DISPLAY UTILITY JOB Short Cut Main Menu SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB EDI...

Страница 181: ...registered as a master job Operation Explanation JOB NAME TEST 1 ABC JOB2 1234 TEST JOB MJOB JOB3 WELDJOB JOB 1 JOB4 EDIT DISPLAY UTILITY DATA Short Cut Main Menu MASTER 1 0000 000 STOP 0000 000 0000...

Страница 182: ...registration is cancelled MASTER 1 0000 000 STOP 0000 000 0000 000 0000 000 CALL MASTER JOB SETTING MASTER JOB CANCEL MASTER JOB EDIT DISPLAY UTILITY JOB Short Cut Main Menu SUPERVISORY MASTER SUB1 SU...

Страница 183: ...000 000 STOP 0000 000 0000 000 0000 000 CALL MASTER JOB SETTING MASTER JOB CANCEL MASTER JOB EDIT DISPLAY UTILITY JOB Short Cut Main Menu SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB EDIT JOB LINE NO...

Страница 184: ...alling For the subtask 1 2 3 it can be selected whether the master job is to be called or the root job job started by PSTART is to be called Parameter Contents and Set Value Initial Value S2C184 Call...

Страница 185: ...istered root job Example During execution of a series of jobs in the subtask 1 as shown in the figure below the task is stopped in the middle of Work P To restart the task from Work Q without executin...

Страница 186: ...ress SELECT The selection dialog box appears 0000 000 STOP 0000 000 0000 000 0000 000 EDIT DISPLAY UTILITY JOB Short Cut Main Menu SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB ROOT JOB EDIT JOB LINE N...

Страница 187: ...ered as a root job Operation Explanation JOB NAME MASTER 1 ABC JOB2 1234 TEST JOB MJOB JOB3 WELDJOB JOB 1 JOB4 EDIT DISPLAY UTILITY DATA Short Cut Main Menu MASTER 1 0000 000 STOP 0000 000 0000 000 00...

Страница 188: ...istration is cancelled 0000 000 STOP 0000 000 0000 000 0000 000 CALL ROOT JOB SETTING ROOT JOB CANCEL ROOT JOB EDIT DISPLAY UTILITY JOB Short Cut Main Menu SUPERVISORY MASTER SUB1 SUB2 SUB3 MASTER JOB...

Страница 189: ...r position of the EXEC JOB EDIT JOB are displayed in LINE NO and STEP NO respectively STATUS Displays the status of execution of the task START Displays during playback or during a test run RUN Displa...

Страница 190: ...the beginning The jobs of other tasks continue execution from the line step number at the time of the stop To execute jobs of both subtasks from the beginning First turn ON the system input signal Ma...

Страница 191: ...pply only for the control group selected by an operator can be turned OFF Therefore the safe opera tion for removing a workpice with the system running and maintenance for robot tool is secured moreov...

Страница 192: ...ers connected to the above mentioned contactor unit terminals 2 Connect an output contact such as area sensor to ON_EN terminal as shown in the figure below For safety reasons dual circuits are used f...

Страница 193: ...STATUS window appears ON_EN SIGNAL Displays the status of ON_EN signal of contactor unit connected to each control group Open OFF status Turns OFF the servo power supply Closed ON status Turns ON the...

Страница 194: ...to ON the servo power is supplied only to R1 8 4 2 Turning OFF Only the Servo Power Supply for the Selected Control Group at Playback When an operator touches the positioner in such a case as replace...

Страница 195: ...t if ON_EN signal is turned ON the servo power supply for the corresponding control group is turned ON To control individually the servo power supply for a selected control group without stopping whol...

Страница 196: ...power supply is turned ON even if all the ON_EN signals connected to con tactor unit are set to OFF the servo ON lamp remains lit and the system output signal Dur ing Servo ON does not turn OFF 50180...

Страница 197: ...o 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...

Страница 198: ...reen V play speed VR play speed for posture V 0 1 to 1500 0 mm s 0 6 to 9000 0 cm min VR 0 1 to 180 0 s PL position level PL 0 to 8 UNTIL statement NWAIT MOVJ instruction MOVL instruction Example SMOV...

Страница 199: ...vement specifies a reference point such as wall point for weaving Reference point instruction to the slave side manipulator Addi tional Item Position data base axis position data These data do not app...

Страница 200: ...moves by only the specified increment with linear interpolation Addi tional Item P variable No BP variable No V play speed VR play speed for posture VE play speed of external axes VS speed at reach po...

Страница 201: ...n Instructions 9 4 SWVON Function Starts coordinated weaving Addi tional Item WEV weaving condition file No 1 to 16 Example SWVON WEV 3 SWVOF Function Stops coordinated weaving Addi tional Item None E...

Страница 202: ...SUB5 SUB6 SUB7 Leader subtask to be syn chronized IF statement Example PSTART SUB1 PSTART JOB TEST 1 SUB1 PSTART JOB TEST 1 SUB1 SYNC SUB2 Remarks If the job name is omitted the master job registered...

Страница 203: ...nce during the coordinated motion the shift value on the base robot or user coordinate systems cannot make parallel shift unless converting the shift value from base coordinated system to master tool...

Страница 204: ...alue after being converted in accordance with the coordinate system at D Coordinate Sys tem to be Converted Converted Shift Value The converted shift value is set to a specified P Variable Base Point...

Страница 205: ...setting PX000 to PX variable Relation between PX Variable and Control Group Coordinate System to be Converted Specify a coordinate system whose shift value is to be converted MTF Master tool coordina...

Страница 206: ...00 P001 P002 MTF Convert the shift value to master tool coordinate system at the present station position 4 SSFTON P000 Coordinated shift starts 5 2 SMOVL V 1000 Register the move instruction between...

Страница 207: ...ND Line Step 0 0 NOP 1 1 MOVJ V J 50 00 MOVJ VJ 50 0 2 CALL CONVSFT Excute a job that converts a shift value to the shift value of the master tool coordinate system 3 SSFTON P000 Coordinated shift sta...

Страница 208: ...e Measure Set the data to the position variable 4495 UNDEFINED ROBOT CARIBRATION Cause Between robots or robot and station is not calibrated yet Measure Calibrate between robots or robot and station 4...

Страница 209: ...fting the robot s position on the base coordinate system when the work is at the posi tion mentioned in figure B the robot would not move to the desired position However on the other hand it will shif...

Страница 210: ...cifications are subject to change without notice for ongoing product modifications and improvements MANUAL NO RE CKI A443 4 NX100 OPTIONS INSTRUCTIONS FOR INDEPENDENT COORDINATED CONTROL FUNCTION 210...

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