Motoman NX100 Function Manual

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HW0481924
4.2 Relative Job Data Examples . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.2.1 Job for User Coordinate System No. 3, Only for Robot Axis . . 4-9
4.2.2 Job for Robot Axis + Base axis (Base Coordinate System) . . 4-10
4.2.3 Job for Robot Axis + Base Axis + Station Axis (Base Coordinate
System, Single Job) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.2.4 Job for Robot Axis + Base Axis + Station Axis (Base Coordinate
System, Coordinate Job) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.2.5 Job for Robot Axis + Robot Axis (Base Coordinate System,
Coordinate Job) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.3 Configuration of Position Data . . . . . . . . . . . . . . . . . . . . . 4-14
4.3.1 Position Data of Each Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
 Robot Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
 Station Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
 Base Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.3.2 Position Data of Each Coordinate System . . . . . . . . . . . . . . . 4-15
 Base Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
 Robot Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
 User Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.4 Manipulator Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.4.1 Flip/No-flip (R-axis position) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.4.2 R-axis Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4.4.3 T-axis Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4.4 Front/Back (Relation between S-axis and Control Point) . . . . 4-19
4.4.5 Upper/Lower Arm (Type Comprised of an L-axis and U-axis . 4-20
4.4.6 S-axis Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
5 Alarm and Error Message List
5.1 Alarm Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
6 Instruction List

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