Nachi EZ-CFDL Series - User Manual

CFD/CFDL CONTROLLERCFD/CFDL CONTROLLER
INSTRUCTION MANUALINSTRUCTION MANUAL
SETUP MANUALSETUP MANUAL
・・
Before attempting to operate the robot, please read through this operating manualBefore attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the textcarefully, and comply with all the safety-related items and instructions in the text
..
・・
The installation, operation and maintenance of this robot should be undertaken onlyThe installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot courseby those individuals who have attended one of our robot course
..
・・
When using this robot, observe the low related with industrial robot and withWhen using this robot, observe the low related with industrial robot and with
safety issues in each country.safety issues in each country.
・・
This operating manual must be given without fail to the individual who will be actuallyThis operating manual must be given without fail to the individual who will be actually
operating the robotoperating the robot
..
・・
Please direct any queries about parts of this operating manual which may not bePlease direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to anycompletely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.of the service centers listed on the back cover.
6th edition6th edition
1612, TCFEN-159-006, 0011612, TCFEN-159-006, 001

Nachi EZ-CFDL Series Specifications

General

Brand	Nachi
Model	EZ-CFDL Series
Category	Controller
Language	English

Summary

Chapter 1 Point on Safety

1.1 For safely use the robot system

General safety precautions and procedures for operating the robot system.

1.2 Precautions for undertaking work inside the manipulators work area

Safety precautions when performing work within the robot's operating zone.

Chapter 3 Setup

3.1 How to read Chapter 3 Setup

Guidance on how to navigate and understand Chapter 3 content.

3.2 Configuration

Settings related to the robot system's configuration.

3.3 Mounting a tool

Instructions for mounting tools onto the robot.

3.4 Encoder reset and encoder correction

Procedures for resetting and correcting robot encoder values.

3.5 Tool constant settings

Configuration of parameters for installed tools.

3.6 Signal attribute settings

Configuration of input/output signal attributes.

3.7 Concerning the qualifications of the operators

Information on operator qualifications and access levels.

3.8 I;O area mapping function

Functionality for mapping I/O addresses.

3.9 High Speed Interference Detection

Configuration for high-speed detection of collisions.

3.10 Setting the application type

Selecting and configuring the robot's application type.

3.11 Setting the [CLAMP; ARC] key

Customizing the function of the [CLAMP/ARC] hardware key.

3.12 Setting the software limit (operating range)

Defining the robot's operational movement boundaries.

3.13 User defined error

Creating and managing custom error messages.

3.15 How to copy the soft-key settings between the controllers

Process for transferring soft-key settings to other controllers.

3.16 Operation condition

Configuring various operational conditions for the robot.

3.17 Setting the Playback speed limit

Limiting the robot's speed during playback operations.

3.18 Position resume setting

Configuring how the robot resumes its position after power cycles.

3.19 Collision detection command

Implementing commands for detecting and responding to collisions.

3.20 User help function

Functionality to display user-created help images on the teach pendant.

Chapter 4 Home position registration

4.1.1 Home position

Definition and purpose of the robot's home position.

4.1.2 Home position registration by referencing the program

Registering home position using an existing program.

4.1.3 Home position registration by manual recording

Manually recording the robot's home position.

4.1.4 Home position registration by numeric input

Setting the home position by entering numerical values.

4.2 Registering Start Enable Area

Defining safe areas for robot startup.

4.4 Interference Territory registration

Setting up zones to prevent robot-to-robot collisions.

Chapter 5 Connection to Ethernet

5.1 Outline

Introduction to Ethernet connectivity and file transfer.

5.2 Ethernet setting

Detailed settings for Ethernet communication.

5.3 File transfer (FTP client)

Using the robot as an FTP client for file transfers.

5.4 File transfer (FTP server)

Operating the robot as an FTP server.

Chapter 6 Initial setting with Compact TP

6.1 Setup of the robot

Initial setup operations for the robot using the teach pendant.

6.2 Setup of the controller

Configuration settings for the robot controller.

Chapter 7 Synchro-motion function setup

7.1 Outline

Introduction to the synchro-motion function.

7.2 Setting procedure

Step-by-step guide for setting up synchro-motion.

7.3 Supplemental items

Additional information related to synchro-motion.

Chapter 8 Setup procedure for EZ-CFDL series

8.1 Combinations of CFDL controller and EZ series

Overview of controller and robot model combinations.

8.2 Installation of the CFDL Controller

Procedures for installing the CFDL controller unit.

8.3 Installation of the Robot (EZ series)

Guidelines for installing EZ series robots.

8.4 Connection of the robot

Steps for connecting robots to the CFDL controller.

8.5 Connections of the Teach Pendant

How to connect the teach pendant.

8.6 Connection of the External Devices

Connecting external devices to the system.

8.7 Connection of the Primary power and the grounding (CFDL)

Connecting primary power and grounding for the CFDL.

8.8 Sequence board UM396

Details about the UM396 sequence board.

8.9 CFDL memory format operation (Initialization)

Formatting and initializing CFDL controller memory.

8.10 Installation of the tool

Procedures for installing robot tools.

8.11 Encoder reset and encoder correction

Resetting and calibrating robot encoders.

8.12 Setting of the Tool Constant

Configuring parameters for robot tools.