Nachi EZ-CFDL Series User Manual

Table of ContentsTable of Contents
2.8.72.8.7
Emergency stop output conneEmergency stop output conne
ction (TBEX2 : 1-2, 3-4)...........................................................ction (TBEX2 : 1-2, 3-4)...........................................................
2-202-20
Chapter 3Chapter 3
SetupSetup
3.13.1
How to read “ChHow to read “Ch
apter 3 Seapter 3 Se
tup”tup”
......................................................................................................................................................................
..........................................
3-13-1
3.23.2
ConfiguratioConfiguratio
nn
............................................................................................................................................................
......................................................3-2......................................................3-2
3.2.13.2.1
Setting of the installation angle of the robot ..............................................................................Setting of the installation angle of the robot ..............................................................................
3-23-2
3.33.3
Mounting a tool................................................................................................................Mounting a tool................................................................................................................
..................................
3-63-6
3.3.13.3.1
Mounting Mounting
a tooa too
ll
..............................................................................................................................................................
...........................................3-6...........................................3-6
3.43.4
Encoder reset and encoder correction...........................................................................................Encoder reset and encoder correction...........................................................................................
....
3-83-8
3.4.13.4.1
Encoder Reset procedure........................................................................................................3-10Encoder Reset procedure........................................................................................................3-10
3.4.23.4.2
Encoder Correction procedure ................................................................................................Encoder Correction procedure ................................................................................................
3-13-1
11
3.53.5
TT
ool ool
constant settingsconstant settings
..........................................................................................................................................................
................................................................................
3-143-14
3.5.13.5.1
TT
ool ool
name ................................................................................................................................3-15name ................................................................................................................................3-15
3.5.23.5.2
TT
ool ool
length.............................................length.............................................
..............................................................................................................................................
........................
3-163-16
3.5.33.5.3
TT
ool ool
angle............................................angle............................................
..................................................................................................................................................
........................
3-243-24
3.5.43.5.4
Center of gravity (COG) and weight of Center of gravity (COG) and weight of
tool .......................................................tool .......................................................
............................................
3-263-26
3.5.53.5.5
TT
ool’s moment of ool’s moment of
inertia...........................................................................................................3-32inertia...........................................................................................................3-32
3.5.63.5.6
Max, radius of tool ...................................................................................................................3-40Max, radius of tool ...................................................................................................................3-40
3.5.73.5.7
TT
ool ool
conversion................................................................................................................conversion................................................................................................................
................
3-413-41
3.63.6
Signal attribute settingSignal attribute setting
ss
................................................................................................................................................................................
....................................................
3-433-43
3.6.13.6.1
StanStan
dard signal dard signal
attributes assignment.................................................................................attributes assignment.................................................................................
........
3-443-44
3.6.23.6.2
StanStan
dard input dard input
signals ..............................................................................................signals ..............................................................................................
..............................
3-453-45
3.6.33.6.3
Standard output signaStandard output signa
lsls
..............................................................................................................................................................
........................................................
3-453-45
3.6.43.6.4
How to copy the I/O settings between the coHow to copy the I/O settings between the co
ntrollersntrollers
.............................................................3-46.............................................................3-46
3.73.7
Concerning the qualifications of the Concerning the qualifications of the
operators......................operators......................
.........................................................3-51.........................................................3-51
3.7.13.7.1
Operation Operation
qualificationqualification
ss
..........................................................................................................................................................
............................................................
3-513-51
3.7.23.7.2
Procedure for changing the operator qualificatioProcedure for changing the operator qualificatio
ns.................................................................ns.................................................................
3-523-52
3.7.33.7.3
How to change the How to change the
passwords ............................................passwords ............................................
........................................................................................................
3-533-53
3.7.43.7.4
How to set the operator qualifications class at power-on........................................................How to set the operator qualifications class at power-on........................................................
3-543-54
3.83.8
I/O area mapping function..............................................................................................................3-55I/O area mapping function..............................................................................................................3-55
3.8.13.8.1
I/O area mapI/O area map
pingping
....................................................................................................................................................................
...................................3-55...................................3-55
3.8.23.8.2
Relation with software PLC......................................................................................................3-58Relation with software PLC......................................................................................................3-58
3.8.33.8.3
Setting method.................................................................................................................Setting method.................................................................................................................
................
3-593-59
3.8.43.8.4
Example 1 : Using only field bus as external I/O signals with PLC disconnected...................Example 1 : Using only field bus as external I/O signals with PLC disconnected...................
3-613-61
3.8.53.8.5
Example 2: Using only I/O boaExample 2: Using only I/O boa
rd 1 – field bus CH1 with PLC disconnecterd 1 – field bus CH1 with PLC disconnecte
dd
....................................................
3-623-62
3.8.63.8.6
Example 3: Forcibly inputting / outputtinExample 3: Forcibly inputting / outputtin
g signals of I/O board 1 as I1-I32 with PLC enabledg signals of I/O board 1 as I1-I32 with PLC enabled
3-633-63
3.93.9
High Speed InterfeHigh Speed Interfe
rence Detectionrence Detection
..........................................................................................................................................................
......................................
3-643-64
3.9.13.9.1
Outline of High SpeOutline of High Spe
ed Interference Detection.........................................................................ed Interference Detection.........................................................................
3-643-64
3.9.23.9.2
Applied machiApplied machi
ne types.....................................................ne types.....................................................
........................................................3-64........................................................3-64
3.9.33.9.3
Parameters that must be set in advance to use this function..................................................Parameters that must be set in advance to use this function..................................................
3-643-64
3.9.43.9.4
“Interference setting” screen..................................................................................................“Interference setting” screen..................................................................................................
....
3-653-65
3.9.53.9.5
Switching Detection Level by Function....................................................................................3-66Switching Detection Level by Function....................................................................................3-66
3.9.63.9.6
As for the mistaAs for the mista
ke in interferenke in interferen
ce detection ce detection
............................................................................3-66............................................................................3-66
3.9.73.9.7
TroubTroub
le shootingle shooting
..........................................................................................................................................................................
..................................................................
3-663-66
3.103.10
Setting the applicaSetting the applica
tion typetion type
........................................................................................................................................................................
................................................
3-673-67
3.113.11
Setting the [CLAMP / ARC] key ..................................................................................................Setting the [CLAMP / ARC] key ..................................................................................................
......
3-693-69
3.123.12
Setting the softwarSetting the softwar
e limit (operating rae limit (operating ra
nge)nge)
...................................................................................3-71...................................................................................3-71
3.12.13.12.1
Outline......................................................................................................................................3-71Outline......................................................................................................................................3-71
3.12.23.12.2
[Position record] screen settings .............................................................................................3-72[Position record] screen settings .............................................................................................3-72

Nachi EZ-CFDL Series Specifications

General

Brand	Nachi
Model	EZ-CFDL Series
Category	Controller
Language	English