Motoman NX100 Function Manual

vii
HW0481924
1 Relative Job
1.1 Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.2 Relative Job Shift Functions . . . . . . . . . . . . . . . . . . . . . . . 1-1
2 Examples of Use of Relative Jobs
2.1 Shift Function to Offset Workpiece Position Error . . 2-1
2.2 A Single Manipulator to Work on the Same Type of
Workpiece in Different Locations
. . . . . . . . . . . . . . . . . . . 2-4
2.2.1 By Modifying the Teaching Coordinate . . . . . . . . . . . . . . . . . . .2-4
2.2.2 By Converting the User Coordinate when Operating . . . . . . . .2-5
2.3 Using One Job on Multiple Manipulators . . . . . . . . . . . 2-6
3 Operations Related to Relative Jobs
3.1 Converting into a Related Job . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Verification of Information Related to Relative Job . 3-3
3.2.1 Verifying Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.2.2 Verifying Command Positions . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
3.3 Instructions Related to Relative Job. . . . . . . . . . . . . . . . 3-4
3.3.1 CALL/JUMP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
3.3.2 MFRAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3.3 Registering an Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.4 Editing Relative Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.4.1 Blink Indication of Move Instruction on Job Content Window . .3-8
3.4.2 Addition and Modification of Steps . . . . . . . . . . . . . . . . . . . . . .3-8
3.4.3 Cut & Paste Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-8
3.5 Relative Job Operation Method . . . . . . . . . . . . . . . . . . . . 3-9
3.5.1 Previous Step Regarded (Constant B-axis Sign) . . . . . . . . . . .3-9
3.5.2 Previous Step Regarded (Minimum R-axis Movement) . . . . .3-11
3.5.3 Type Regarded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-12
4 Interface with an Easy Offline Teaching System
4.1 Job Data Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.1.1 JOB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.2 NAME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.3 POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.1.4 INST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-5

Motoman NX100 Specifications

General

Programming Language	INFORM III
Type	Industrial Robot Controller
Power Consumption	1.5 kVA
Humidity	20 to 80% RH (non-condensing)
Protection Class	IP20
Axes Controlled	Up to 8 axes
Interface	Ethernet, RS-232
Teach Pendant	Yes
Input Power Supply	50/60 Hz
Operating Temperature	0 to 45 °C
Power Supply	3-phase AC 200-230V
Storage Temperature	-20 to 60 °C