YASKAWA NX100 - Page 57

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Notes for Safe Operation3
Registered Trademark6
For Your Safety16
Special Training18
Motoman Manual List18
Personnel Safety19
Motoman Safety21
Installation and Wiring Safety21
Work Area Safety25
Operation Safety26
Notes for Moving and Transferring the MOTOMAN29
Notes on MOTOMAN Disposal30
Product Confirmation31
Contents Confirmation31
Order Number Confirmation32
Installation33
Handling Procedure33
Using a Crane to Move the Controller33
Using a Forklift to Move the Controller34
Place of Installation34
Mounting the Controller37
Notes on Cable Junctions39
Three-Phase Power Supply40
Noise Filter Installation41
Leakage Breaker Installation41
Primary Power Supply Switch Installation42
Connection Methods43
Connecting the Primary Power Supply43
Install the Cover46
Connecting the Programming pendant48
Turning on the Main Power Supply49
Initial Diagnosis50
Turning on the Servo Power51
During Play Mode51
During Teach Mode51
Turning off the Power Supply53
Turning off the Main Power53
Test of Program Operation54
Movement of the Axes56
Security System58
Protection through Security Mode Settings58
Changing the Security Mode63
Press [ENTER]64
Changing a User ID65
System Setup67
Home Position Calibration67
Home Position69
Calibrating Operation69
Registering All Axes at One Time69
Registering Individual Axes72
Changing the Absolute Data73
Clearing Absolute Data74
Home Position of the Robot75
Setting the Second Home Position (Check Point)76
Purpose of Position Check Operation78
Alarm Occurrence79
Procedure for the Second Home Position Setting (Check Point)80
Procedure after the Alarm81
Tool Data Setting83
Setting the Tool Load Information88
Tool Calibration88
Clearing Calibration Data92
What Is the Automatic Measurement of the Tool Load and the Cen- Ter of Gravity94
ARM Control98
Robot Setup Condition99
Tool Load Information Setting103
How to Calculate Tool Load Information103
Tool Load Information Registering110
Cubic Interference Area115
Setting Operation117
Operation118
Axis Interference Area122
Shock Detection Function Setting127
Shock Detection Level Setting127
Detection Mode128
Function Select128
User Coordinates136
Instruction Level Setting146
Learning Function147
Setting the Learning Function149
Setting the Controller Clock150
Setting the Play Speed151
Allocatable Functions153
Key Allocation (EACH)153
Key Allocation (SIM)154
Allocating an Operation155
Instruction Allocation156
Job Call Allocation158
Alternate Output Allocation160
Momentary Output Allocation161
Pulse Output Allocation161
Group (4-Bit/8-Bit) Output Allocation162
Analog Output Allocation162
Analog Incremental Output Allocation163
Allocation of I/O Control Instructions164
Execution of Allocation166
Changing the Output Status167
Changing the Parameter Setting168
Initialize Job File170
Initialize Data File171
Initialize Parameter File172
Initializing I/O Data173
Initializing System Data174
Font Size Setting175
Setting the Font Size176
Layout Storage185
System Backup186
Automatic Backup Function193
Backup Files198
Setting Examples200
Loading Procedure202
Error Contents205
Error List205
Upgrade Function206
Functional Overview206
Upgrade Procedure206
Modification of System Configuration209
Addition of I/O Modules209
Mechanical Specification213
Motor Specification213
Base Axis Setting214
Connection Setting217
Specification List234
Function List235
Programming pendant236
Equipment Configuration237
Arrangement of Units and Circuit Boards237
Description of Units and Circuit Boards240
Connection for Tool Shock Sensor (SHOCK)244
CPU Unit Configuration248
Control Power250
Specifications250
External Emergency Stop259
Safety Plug260
Installation of Safety Plug261
Full-Speed Test263
External Servo on264
External Hold265
External Enable Switch266
Description of each Unit273
Arc Welding277
General Application289
Spot Welding295
Ports + Status303

YASKAWA NX100 - Page 57

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