YASKAWA Motoman NXC100, Manual

Page 1: ...s underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos In stock Ready to ship TAR certified secure asset solutions Expert team I Trust guarantee I 100 satisfaction All trademarks brand names and brands appearing herein are the property of their respective...

Page 2: ...OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 Hour Service Hotline 937 847 3200 Motoman NXC100 Controller NXC100 Controller Manual Part Number 150975 1CD Revison 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 3: ...roducts we reserve the right to change specifications without notice MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing COMPLETE OUR ONLINE SURVEY Motoman is committed to total customer satisfaction Please give us your feedback on the technical manuals you received with your Motoman robotic solution To participate go to the following website http www motoman com forms techpubs asp...

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Page 12: ...hese instructions thoroughly and retain for future reference MOTOMAN INSTRUCTIONS MOTOMAN INSTRUCTIONS NXC100 INSTRUCTIONS NX100 OPERATOR S MANUAL The NX100 operator s manual above corresponds to specific usage Be sure to use the appropriate manual 1 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 13: ...his manual are representative examples and differences may exist between them and the delivered product YASKAWA may modify this model without notice when necessary due to product improvements modifications or changes in specifications If such modification is made the manual number will also be revised If your copy of the manual is damaged or lost contact a YASKAWA rep resentative to order a new co...

Page 14: ... 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 moderate injury to personnel and damage to equipment It may also be used to alert against unsafe practices Always be sure to follow explicitly the items listed under this heading Must never be performed To ensure safe and eff...

Page 15: ...ult if the emergency stop circuit cannot stop the manipulator during an emergency The manipulator should not be used if the emergency stop buttons do not function Emergency Stop Button Once the emergency stop button is released clear the cell of all items which could interfere with the operation of the manipulator Then turn the servo power ON Injury may result from unintentional or unexpected mani...

Page 16: ...mum envelope of the manipulator dur ing operation Always press an emergency stop button immediately if there is a problem The emergency stop button is located on the right side of the programming pendant and on the front face of the NXC100 WARNING Programming pendant HOLD START PLAY TEACH REMOTE Emergency stop button Start button Hold button Mode selector switch 3 2005 DATE TYPE SER NO JAPAN 44A22...

Page 17: ...d Check for problems in movement of the manipulator and servo track Check for damage to insulation and sheathing of external wires Read and understand the Explanation of Warning Labels before operat ing the robot system For safety operate under the proper lighting Equipment Manual Designation Manipulator Manipulator NXC100 Controller ERCR NS00 A200 NXC100 Manipulator servo track controller altoget...

Page 18: ...BATTERY FUSE X81 X55 X71 X53 X54 X62 FAN2 FAN3 X12 X11 X64 X63 X21 X72 AC FUSE F1 F2 I O FUSE F1 F2 F3 F4 SLOW BLOW 15A 250V 3 15A 250V FAST BLOW WARNING Can cause muscle strain or proper lifting technjques back injury Use lifting aids HEAVY OBJECT when removing or replacing WARNING HAZARDOUS VOLTAGE system power before servicing Turn off and lock out electric shock or burn Contact may cause 208 1...

Page 19: ...tes on MOTOMAN Disposal 2 12 2 Product Confirmation 3 Transporting 3 1 Transporting Method 4 1 4 Installation 4 1 NXC100 Basic Specifications 5 1 4 2 Programming Pendant Specifications 5 3 4 3 Dimensions 5 4 4 4 LED Indicator Operation Switch etc 5 5 5 Explanation 5 1 NXC100 Connector Names 5 1 5 2 Pin Assignments 5 2 5 3 Circuit Diagram for I O Signals 5 9 5 4 Interlock Circuit 5 13 5 5 Expansion...

Page 20: ...HW0482738 6 Maintenance and Inspection 6 1 Inspection Schedule 6 1 6 2 Inspection Items 6 2 7 Recommended Spare Parts 9 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 21: ...ety hazards Read and understand the instruction manuals and related documents and observe all precau tions in order to avoid the risk of injury to personnel and damage to equipment It is the user s responsibility to ensure that all local state and national codes regulations rules or laws relating to safety and safe operating conditions are met and followed 10 48 Artisan Technology Group Quality In...

Page 22: ... concrete policies for safety management complying with related laws Observe the MANIPULATING INDUSTRIAL ROBOTS SAFETY ISO 10218 for safe operation of the robot Japan Only JIS B 8433 Reinforce the SAFETY MANAGEMENT SYSTEM by designating authorized workers and safety managers as well as giving continuing safety education Teaching and maintaining the robot are specified as Hazardous Operations in th...

Page 23: ...over of this manual It is important to have and be familiar with all manuals concerning the MOTOMAN You should have the four manuals listed below MOTOMAN INSTRUCTIONS NXC100 INSTRUCTIONS NX100 OPERATOR S MANUAL Confirm that you have all these manuals on hand If any manuals are missing contact your salesman from YASKAWA s local branch office The relevant telephone numbers are listed on the back cov...

Page 24: ...se cautions may result in fire electric shock or injury due to contact with the manipulator and other equipment Strictly observe the following items Always wear approved work clothes no loose fitting clothes Do not wear gloves when operating the MOTOMAN Do not allow underwear shirts or neckties to hang out from the work clothes Do not wear large jewelry such as earrings rings or pendants Always we...

Page 25: ...ilure to observe this caution may result in injury or damage by unexpected movement of the manipulator Never allow unauthorized personnel to touch the NXC100 during opera tion Failure to observe this caution may result in injury or damage resulting from unexpected movement of the manipulator CAUTION 14 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 26: ...ully extended manipu lator arm with tool will not reach a side wall safeguarding or the con troller Failure to observe this caution may result in injury or damage resulting from unexpected movement of the manipulator Perform grounding in accordance with all applicable electrical codes Failure to observe this caution may result in fire or electric shock WARNING 1000 mm or more 1000 mm or more 1000 ...

Page 27: ...ry of damage to equipment Be sure there is sufficient room for maintenance on the manipulator NXC100 and other peripheral equipment Failure to observe this precaution could result in injury during maintenance The manipulator is controlled by the NXC100 or the controller for posi tioner To ensure safety be sure to operate the controller from a location where the manipulator is easily visible Operat...

Page 28: ...iping between the NXC100 manipu lator and peripheral equipment Run the piping wiring or cables through a pit or use a protective cover so that they are not stepped on by personnel or run over by the forklift CAUTION SAFETY FIRST Piping Lead Cable Channnel Operators and other personnel may stumble on exposed wiring or piping Cable damage can cause unexpected manipulator motion resulting in injury o...

Page 29: ...ust be equipped with a safety interlock Be sure the interlock operates cor rectly before use Failure to observe this caution may result in a serious accident due to contact with the manipulator Store tools and similar equipment in proper locations outside of the enclosure Tools and loose equipment should not be left on the floor around the manipulator NX100 or welding fixture etc as injury or dama...

Page 30: ...serve the following precautions when performing teaching opera tions within the P point maximum envelope of the manipulator Always view the manipulator from the front Always follow the predetermined operating procedure Always have an escape plan in mind in case the manipulator comes toward you unexpectedly Ensure that you have a place to retreat to in case of emergency Improper or unintentional ma...

Page 31: ...dures 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 cabi net after use If the programming pendant is inadvertently left on the ma...

Page 32: ...re not in place Contact your YASKAWA representative if you require new warning labels When the MOTOMAN is transferred it is recommended to check with Yaskawa Engineering Co which is listed on back cover of this manual Incorrect installation or wiring may result in personal injury and property damage Never modify the manipulator or NXC100 Failure to observe this precaution could result in injury or...

Page 33: ...lt Avoid excessive vibration or impacting the NXC100 during handling Failure to observe this caution may adversely affect the performance of the NXC100 Install the robot system in the host system with LockOut TagOut provi sions That is each installation requires a device to shut OFF the power to the manipulator servo track and NXC100 The device to shut OFF the power should locate outside the enclo...

Page 34: ...n of the NXC100 with 2 personnel or more Perform transporting and installing of the NXC100 with 2 personnel or more Approx mass NXC100 controller ERCR NS00 A200 16 kg Failure to observe this caution may result in injury or damage to the machinery CAUTION 23 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 35: ...ation Resistance Shock Resistance 1 G 5 G Altitude 1000 m or below Ambient Free from explosive inflammable and corrosive gas Free from dirt or dust Pollution degree 1 IEC664 1 Structure Self stand Vertically or horizontally mounted type Forced cooling Air inlet from the front and top pan els and air outlet from the rear panel Approx Mass 16 kg Case Surface Painting Munsell notation 5Y 7 1 Control ...

Page 36: ... contact inputs PP Emergency Stop PPESP Panel Emergency Stop PBESP Number of Controlled Axes 6 axes One external axis 200 W max can be added optionally The external axis is limited in simultaneous opera tion with the manipulator Manipulators Applicable to NXC100 HP3 HP3L HP5 Motors Applicable to NXC100 ΣΙΙ ΣΙΙΙ series AC servo motors manufactured by YASKAWA ELECTRIC CORPORATION 200 VAC spec Displa...

Page 37: ...olor LCD Number of Indication Dots 640 x 480 Operational Panel Key Switch 54 key switches arrow key x 1 piece Touch Panel Touch screen display Servo On Ready Illuminated push button switch Emergency Stop Red mushroom type Push Lock Turn Reset Mode Selector Switch among three modes TEACH PLAY REMOTE 3 position select switch Enable Switch 3 position switch compliant with EN Others Hand strap is deli...

Page 38: ... injury Use lifting aids HEAVY OBJECT when removing or replacing WARNING HAZAARDOUS VOLTAGE system power before servicing Turn off and lock out electric shock or burn Contact may cause 208 110 VAC PRESENT 45 300 45 38 8 220 41 2 167 300 16 167 10 10 485 25 80 62 A A A A Air Air Air A A A A Units mm X41 X61 X33 X62 X63 X64 X11 X53 X55 X71 X54 X12 X72 X21 PPESP PBESP X32 Intake duct Intake duct Inta...

Page 39: ...ured by Littelfuse Inc F1 F2 Fuse for Robot IO protection F3 F4 Fuse for Host IO protection Location Inside the Fuse box Parts No 2173 15 250 V 3 15 A 5 mm diameter x 20 mm in length Fast Acting type Manufactured by Littelfuse Inc Fuse for Brake Protection Location NXC100 rear face Parts No SMP50 5 A Time Lag type Manufactured by Daito Communication Apparatus Co Ltd Fuse for Fan FUFAN1 FUFAN2 Loca...

Page 40: ...ED indicator BAT indicates with detecting the decline of the CPU memory backup battery voltage 5 Battery Battery is for CPU memory backup Location Inside the Fuse box LITHIUM battery ER6VC3 3 6 V 2000 mAh Manufactured by Toshiba Battery Co Ltd Fig 2 Diagram of Battery Cover Inside I O fuse Battery 29 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 41: ... I Ser No X52 MADE IN JAPAN NJ2450 YASKAWA ELECTRIC JAPAN X51 X51 F2 OFF O X52 X62 AC FUSE F1 F2 I O FUSE F1 F2 F3 F4 SLOW BLOW 15A 250V 3 15A 250V FAST BLOW WARNING Can cause muscle strain or proper lifting technjques back injury Use lifting aids HEAVY OBJECT when removing or replacing WARNING HAZAARDOUS VOLTAGE system power before servicing Turn off and lock out electric shock or burn Contact ma...

Page 42: ...e insert connectors when operating the equipment or turn ing ON the power supply Failure to observe this instruction may result in electric shock damage on the operation circuit or the manipulator may become uncontrollable Pin No Signal Name Contents 1 TX Data 2 TX Data 3 RX Data 4 N C Connection Disabled 5 N C Connection Disabled 6 RX Data 7 N C Connection Disabled 8 N C Connection Disabled WARNI...

Page 43: ... Signal Name Contents 1 DCD Connection Disabled 2 RXD Data Receiving 3 TXD Data Transmission 4 DTR Connection Disabled 5 GND Signal Ground 6 DSR Connection Disabled 7 RTS Request Transmission 8 CTS Clear to Send 9 RI Connection Disabled Pin No Signal Name Contents A R AC Input B T AC Input C N C Connection Disabled D PE Protective Grounding Customer must properly ground the PE line in the host sys...

Page 44: ... 50 30011 SERVO ON 17 30012 TOP MASTER JOB 51 30013 ALARM ERROR OCURRENCE 18 24VU 52 30014 BATTERY ALARM 19 DOPCOM1 53 024VU 20 30015 REMOTE MODE SELECTING 54 DONCOM1 21 30017 TEACH MODE SELECTING 55 30016 PLAY MODE SELECTING 22 30021 OUT02 56 30020 OUT01 23 24VU 57 024VU 24 DOPCOM2 58 DONCOM2 25 30022 OUT03 59 30023 OUT04 26 30024 OUT05 60 30025 OUT06 27 24V2 61 G2 28 24V2 62 G2 29 24V2 63 G2 30 ...

Page 45: ...ircuit Architecture Open collector transis tor output Output Points 14 Output Voltage 24 V 20 Output Current DO0 to DO13 50 mA per contact Current source output 24 V Common DO0 DO4 5 Points Common DO5 DO9 5 Points Common DO10 DO13 4 Points Common DIN Item Specification Circuit Architecture Input circuit based on AC input type photo coupler isola tion Input Points 12 Input Voltage 24 V 20 Input Cur...

Page 46: ... a key for safety and the key has to be managed by a system administrator e Handle the NXC100 with care for safety because the enable switch becomes disable while the FORCE signal is input Enable Switch closed Normal Switch open 4 FORCE2 29 FORCE2 5 Not Used 30 Not Used 6 Not Used 31 Not Used 7 Not Used 32 Not Used 8 FST1 33 FST1 The signal is used for input of the switch which is installed in ext...

Page 47: ...y two people Servo ON Teach mode Switch closed Servo OFF Teach mode Switch open 16 EXDSW12 41 EXDSW12 17 RSV1 42 RSV1 Reserved input 18 RSV2 43 RSV2 Reserved input 19 CHKOUT 44 CHKOUT Reserved for future use 20 Not Used 21 Not Used 45 Not Used 46 Not Used 22 ONEN1 47 ONEN1 The signal is used for input of enable signal from external oper ation device 23 ONEN2 48 ONEN2 24 NC 49 NC Not connected 25 N...

Page 48: ...nel Emergency Stop Button The signal outputs the status of the emergency stop button on the NXC100 panel NXC100 Side Connector 721 604 019 000 WAGO Cable Side Connector 721 104 026 000 WAGO delivered with the NXC100 Pin No Signal Name Contents 1 PRESP11 PP Emergency Stop 1 2 PRESP12 3 PRESP21 PP Emergency Stop 2 4 PRESP22 Pin No Signal Name Contents 1 PBESP11 PB Emergency Stop 1 2 PBESP12 3 PBESP2...

Page 49: ... N ot C ontact S oftw ear W right 5V FU S E 470Ω P S 2801 D O 00 D O 01 D O 02 D O 03 D O 04 D TA 143 P S 2805 5V 560Ω 10kΩ D I01 D I02 D I03 D I04 D I05 D I06 D I07 D I08 D I09 D I10 2 4kΩ 0 01μ F 0 1μ F 2 4kΩ D egital IN P S 2805 5V 560Ω 10kΩ 2 4kΩ 0 01μ F 0 1μ F 2 4kΩ 24V U 024V U X 33 1pin X 33 2pin X 33 36pin X 33 13pin X 33 47pin X 33 35pin D I00B D I00A 24V U D I11B D I11A 024V U S oftw er ...

Page 50: ... with direct contact opening mechanism b Signals SAFE FORCE HSW FST EXDSW ONEN The signals are used for hotline signals for safety For safety reasons use the switch with direct contact opening mechanism Input Circuit Block Diagram Programming pendant 24V2 5V PLD1 5V PLD2 GND 024V2 24V2 024V2 GND Safety Circuit 39 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Page 51: ... signal or photo isolation output signal Short circuit between the pin No 1 and pin No 2 when the RESET input signal is not used I O Circuit Block Diagram 24V2 5V PLD1 5V PLD2 GND 024V2 GND 024V2 Safety Circuit 24V 4 7kOHM RESET Circuit 4 7kOHM GND 0 1uF GND Input the contact signal 24V 4 7kOHM RESET Circuit 4 7kOHM GND 0 1uF GND Input the photo isolation output signal 1 2 1 2 40 48 Artisan Techno...

Page 52: ... gramming pendant 5 PBESP PBESP is the signal which indicates the state of the emergency stop button on the NXC100 panel Programming pendant Emergency stop X81 PPESP Emergency stop Circuit NXC100 Controller Emergency stop PBESP Emergency stop Circuit NXC100 41 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 53: ...he hardware configuration Together with ALARM circuit this interlock circuit gives feedback on the operating status to the user software When this interlock is activated the servo motors for all axes decelerate to a stop and then the serv power is turned OFF Servo OFF Status Programming pendant 42 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 54: ...N21 30054 OUT21 OUT21 20055 IN22 IN22 30055 OUT22 OUT22 20056 IN23 IN23 30056 OUT23 OUT23 20057 IN24 IN24 30057 OUT24 OUT24 20060 IN25 IN25 30060 OUT25 OUT25 20061 IN26 IN26 30061 OUT26 OUT26 20062 IN27 IN27 30062 OUT27 OUT27 20063 IN28 IN28 30063 OUT28 OUT28 20064 IN29 IN29 30064 OUT29 OUT29 20065 IN30 IN30 30065 OUT30 OUT30 20066 IN31 Shock Sensor NC 30066 OUT31 OUT31 20067 IN32 Low Air Pressre ...

Page 55: ...ons according to the inspection schedule in 6 2 Inspection Items In addition YASKAWA recommends the complete check including the items which cannot be done on site at YASKAWA as a preventive maintenance after 5 years 30 000 hours In this case for the best adjustment YASKAWA recommends to check manipulator and the NXC100 as a set Before conducting maintenance inspection or wiring turn OFF all sup p...

Page 56: ...able Visual Check for damage and deterioration Fix or replace as necessary d NXC100 exterior Visual Check for damage and outside cracks of each part e Air filter Visual Clean the air filter if dust is present Check for dam age Fix or replace as neces sary f Cable con nection Visual Check for loose connections Tighten loose screws as neces sary g Cover screw Wrench Philips screw driver Check for lo...

Page 57: ...g spare parts from any company other than Yaskawa Table 4 Spare Parts for the NXC100 Rank Parts No Name Type Manufacturer Qty Qty per Unit Remarks C 1 Fan HB0470220 Minebea Co Ltd 1 3 Fan type 2406KL 05W B59 L00 Minebea C 2 Fan HB0470221 Royal Electric Co Ltd 1 2 Fan type S40E7R Royal C 3 Fan Minebea Co Ltd 3 1 Fan type 4710PS 22T B30 B00 Minebea A 4 Fuse SMP50 5A Daito Communi cation Appara tus C...

Page 58: ...m t8 mm 40 mm 23 mm t8 mm 65 mm 13 mm t8 mm 77 mm 103 mm t8 mm 112 mm 57 mm t8 mm 120 mm 60 mm t8 mm One air filter for each size Table 4 Spare Parts for the NXC100 Rank Parts No Name Type Manufacturer Qty Qty per Unit Remarks 47 48 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Page 59: ...AN ROBOTEC GmbH Kammerfeld strasse 1 DE 85391 Allershausen Germany Phone 49 8166 90100 Fax 49 8166 90103 YASKAWA ELECTRIC KOREA CORPORATION 1F Samyang Bldg 89 1 Shinchun dong Donk Ku Daegu Korea Phone 82 53 745 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC MALAYSIA SDN B...

Page 60: ...quipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentation Artisan Scientific Corporation dba Artisan Technology Group is not an affiliate representative or authorized distributor for any manufacturer listed herein We re here to make your life easier How...