YASKAWA NX100 Betreibershandbuch

YASKAWAYASKAWA MANUAL NO. RE-CKI-A444NX100INFORM MANUALUpon receipt of the product and prior to initial operation, read these instructions thoroughly,

1.1 About INFORM1-21.1.3 Instruction SetTo improve operation efficiency, the number of instructions to be registered is limited. All instructions are

2.3 Operating Instruction2-78(1) SUB B000 10Subtracts 10 from B000, and stores the result in B000.(2) SUB I000 I001Subtracts I001 from I000, and stor

2.3 Operating Instruction2-79MULInstruction set:Multiplies Data 1 by Data 2, and stores the result in Data 1.MUL <Data 1> <Data 2>SUBSE

2.3 Operating Instruction2-80B/LB/B[]/LB[]Variable No.I/LI/I[]/LI[]Variable No.D/LD/D[]/LD[]Variable No.R/LR/R[]/LR[]Variable No.Byte typeconstantInt

2.3 Operating Instruction2-811. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/I Variable number/LI Variable number/I [Arra

2.3 Operating Instruction2-826BP Variable num-ber/LBP Variable number/BP [Array num-ber]/LBP [Array num-ber]Specifies the number of the base axis pos

2.3 Operating Instruction2-832. Byte type constant/B Variable number/LB Variable number/B [Array num-ber]/LB [Array number]/I Variable number/LI Vari

2.3 Operating Instruction2-843. Integer type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Va

2.3 Operating Instruction2-854. Double-precision type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable num

2.3 Operating Instruction2-865. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/L

2.3 Operating Instruction2-876. (Element number)When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP Variable number

1.1 About INFORM1-31.1.4 Variables to be Used in InstructionsVariables can be used as numeric data for the additional item of the instructions in the

2.3 Operating Instruction2-887. D Variable number/LD Variable number/D [Array number]/LD [Array num-ber]/ Double-precision type constantWhen a P Vari

2.3 Operating Instruction2-89DIVInstruction set:Divides Data 1 by Data 2, and stores the result in Data 1.DIV <Data 1> <Data 2>SUBSET S

2.3 Operating Instruction2-90B/LB/B[]/LB[]Variable No.I/LI/I[]/LI[]Variable No.D/LD/D[]/LD[]Variable No.R/LR/R[]/LR[]Variable No.Byte typeconstantInt

2.3 Operating Instruction2-911. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/I Variable number/LI Variable number/I [Arra

2.3 Operating Instruction2-926BP Variable num-ber/LBP Variable number/BP [Array num-ber]/LBP [Array num-ber]Specifies the number of the base axis pos

2.3 Operating Instruction2-932. Byte type constant/B Variable number/LB Variable number/B [Array num-ber]/LB [Array number]/I Variable number/LI Vari

2.3 Operating Instruction2-943. Integer type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Va

2.3 Operating Instruction2-954. Double-precision type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable num

2.3 Operating Instruction2-965. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/L

2.3 Operating Instruction2-976. (Element number)When a P Variable number, LP Variable number, P [Array number], LP [Array number], BP Variable number

1.2 Registration of Instructions1-4< Example > TIMER tag (T=)TIMER T=I000When a variable is used for the numeric data of the TIMER tag, the uni

2.3 Operating Instruction2-98CNVRTInstruction set:Converts the pulse type position type variable of Data 2 to the XYZ type position type variable in

2.3 Operating Instruction2-992. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number]Add the following tag.Expanded position ty

2.3 Operating Instruction2-1003. BF/RF/TF/UF# (User coordinate number)/MTFChoose one of the tags from the following table.CNVRT PX000 PX001 BFFor the

2.3 Operating Instruction2-101ANDInstruction set:Carries out logical multiplication of Data 1 and Data 2, and stores the result in Data 1.AND <Da

2.3 Operating Instruction2-1022. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/Byte type constantChoose one of the tags fr

2.3 Operating Instruction2-103ORInstruction set:Carries out the logical sum of Data 1 and Data 2, and stores the result in Data 1.OR <Data 1>

2.3 Operating Instruction2-1042. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/Byte type constantChoose one of the tags fr

2.3 Operating Instruction2-105NOTInstruction set:Carries out the logical negation of Data 2, and stores the result in Data 1.NOT <Data 1> &l

2.3 Operating Instruction2-1062. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/Byte type constantChoose one of the tags fr

2.3 Operating Instruction2-107XORInstruction set:Carries out the logical exclusive OR of Data 1 and Data 2, and stores the result in Data 1.XOR <

1.2 Registration of Instructions1-51.2.2 Learning FunctionWith the learning function, an instruction can be registered with the same additional items

2.3 Operating Instruction2-1082. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/Byte type constantChoose one of the tags fr

2.3 Operating Instruction2-109MFRAMEInstruction set:Creates the user coordinates according to three types of position data; Data 1, Data 2, and Data

2.3 Operating Instruction2-1102. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number]Add the following tag.3. PX Variable numb

2.3 Operating Instruction2-111MFRAME UF#(1) PX000 PX001 PX002For the job R1, the user coordinate number 1 is created according to three types of posi

2.3 Operating Instruction2-112SETEInstruction set:Sets Data 2 in the element of position type variable of Data 1.SETE <Data 1> (Element numbe

2.3 Operating Instruction2-1131. P Variable number/LP Variable number/P [Array number]/LP [Array num-ber]/BP Variable number/LBP Variable number/BP [

2.3 Operating Instruction2-1143. Double-precision type constant/D Variable number/LD Variable number/D [Array number]/LD [Array number]Choose one of

2.3 Operating Instruction2-115GETEInstruction set:Stores the element of position type variable of Data 2 in Data 1.GETE <Data 1> <Data 2&g

2.3 Operating Instruction2-1162. P Variable number/LP Variable number/P [Array number]/LP [Array num-ber]/BP Variable number/LBP Variable number/BP [

2.3 Operating Instruction2-117GETSInstruction set:Stores the system variable of Data 2 in Data 1.GETS <Data 1> <Data 2>SUBSET STANDARD

1.2 Registration of Instructions1-64Press [SELECT]The condition “VALID” or “INVALID” is switchable each time [SELECT] is pressed. Operation Explana

2.3 Operating Instruction2-1181. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/I Variable number/LI Variable number/I [Arr

2.3 Operating Instruction2-119System variableThe system variables are written by the controller system and can be referred only by a GETS instruction

2.3 Operating Instruction2-120ContinuedSystem VariableType No. Explanation$PX type variableExpanded position type$PX000 Current value (pulse type)$P

2.3 Operating Instruction2-1212. $B Variable number/$B [Array number]When a B Variable number, LB Variable number, B [Array number], or LB [Array num

2.3 Operating Instruction2-1224. $D Variable number/$D [Array number]When a D Variable number, LD Variable number, D [Array number], or LD [Array num

2.3 Operating Instruction2-123SQRTInstruction set:Calculates the square root of Data 2, and stores the result in Data 1.SQRT <Data 1> <Dat

2.3 Operating Instruction2-1242. R Variable number/LR Variable number/R [Array number]/LR [Array num-ber]/Real-number type constantChoose one of the

2.3 Operating Instruction2-125SINInstruction set:Calculates the sine of Data 2, and stores the result in Data 1.SIN <Data 1> <Data 2>1.

2.3 Operating Instruction2-1262. R Variable number/LR Variable number/R [Array number]/LR [Array num-ber]/Real-number type constantChoose one of the

2.3 Operating Instruction2-127COSInstruction set:Calculates the cosine of Data 2, and stores the result in Data 1.COS <Data 1> <Data 2>

1.3 Detail Edit Window1-71.3 Detail Edit WindowAll instructions have a detail edit window.The detail edit window is used for adding, modifying, and d

2.3 Operating Instruction2-1282. R Variable number/LR Variable number/R [Array number]/LR [Array num-ber]/Real-number type constantChoose one of the

2.3 Operating Instruction2-129ATANInstruction set:Calculates the arc tangent of Data 2, and stores the result in Data 1.ATAN <Data 1> <Dat

2.3 Operating Instruction2-1302. R Variable number/LR Variable number/R [Array number]/LR [Array num-ber]/Real-number type constantChoose one of the

2.3 Operating Instruction2-131MULMATInstruction set:Calculates the matrix multiplication of Data 2 and Data 3, and stores the result in Data 1.MULMAT

2.3 Operating Instruction2-1322. P Variable number/LP Variable number/P [Array number]/LP [Array num-ber]Add the following tag.3. P Variable number/L

2.3 Operating Instruction2-133MOVL P010 V=500GETS PX020 $PX001:INVMAT P021 P010:MULMAT P023 P020 P021:Stores the current XYZ type value in P020.Calcu

2.3 Operating Instruction2-134INVMATInstruction set:Calculates the inverse matrix of Data 2, and stores the result in Data 1.INVMAT <Data 1>

2.3 Operating Instruction2-135MOVL P010 V=500GETS PX020 $PX001:INVMAT P021 P010:MULMAT P023 P020 P021:Stores the current XYZ type value in P020.Calcu

2.3 Operating Instruction2-136SETFILEInstruction set:Changes the specified data of the specified condition file to the numeric data of Data 1.Specify

2.3 Operating Instruction2-1371. SPR# (Sealing adjustment condition file number)/UDC# (Under-coating adjustment condition file number)/WEV# (Weaving

1.4 Registration of Expression1-81.4 Registration of Expression1.4.1 ExpressionWith INFORM II, an expression can be added to the SET instruction.<

2.3 Operating Instruction2-1383. Double-precision type constant/D Variable number/LD Variable number/D [Array number]/LD [Array number]Choose one of

2.3 Operating Instruction2-139SETFILE WEV#(1) (5) 3500Changes the amplitude setting in the weaving condition file number 1 to 3.500 mm.Element number

2.3 Operating Instruction2-140GETFILEInstruction set:Stores the data of the specified condition file in Data 1.Specify the data of the condition file

2.3 Operating Instruction2-1412. SPR# (Sealing adjustment condition file number)/UDC# (Under-coating adjustment condition file number)/WEV# (Weaving

2.4 Move Instruction2-1422.4 Move InstructionMOVJInstruction set:Moves to the teaching position by joint interpolation. The tag which can be used is

2.4 Move Instruction2-143Job Type and Control GroupNo. Job Type Control Group Remarks1 Single One manipulator (standard)2 Single One manipulator with

2.4 Move Instruction2-144

2.4 Move Instruction2-1451. Robot teaching position file number /P Variable number /LP Variable num-ber /P [Array number] /LP [Array number] /Station

2.4 Move Instruction2-1462. Base Teaching Position File NumberWhen a robot teaching position file number is selected from the table in part 1 of this

2.4 Move Instruction2-1476. EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number] When a P Variable number, LP Variable numb

1.4 Registration of Expression1-9DataThe data type of the expression is indicated. The following types of data can be registered.• Constant (byte t

2.4 Move Instruction2-1489. PL=Position level /SPDL=Speed levelChoose one of the tags from the following table.No Tag Explanation Note12PL=Position l

2.4 Move Instruction2-14910. MT=Amount of the T axis rotationThe following tag can be added or omitted. 11. MTE= Amount of the station axis rotation

2.4 Move Instruction2-15013. UNTIL/NSRCHChoose one of the tags from the following table.14. ACC=Acceleration adjustment ratioThe following tag can be

2.4 Move Instruction2-15116. +MOVJ/+MOVL/+MOVC/+MOVSChoose one of the tags from the following table.Acceleration adjustment ratioThe acceleration adj

2.4 Move Instruction2-152MOVJ P000 VJ=50.00Move from the manipulator’s waiting position to step 1. Move by joint interpolation at a speed of 50%. The

2.4 Move Instruction2-153MOVLInstruction set:Moves to the teaching position by linear interpolation. The tag which can be used is limited by the type

2.4 Move Instruction2-154Job Type and Control GroupNo. Job Type Control Group Remarks1 Single One manipulator (standard)2 Single One manipulator with

2.4 Move Instruction2-155

2.4 Move Instruction2-1561. Robot teaching position file number /P Variable number /LP Variable num-ber /P [Array number] /LP [Array number] Choose o

2.4 Move Instruction2-1574. T Point Variable numberWhen the robot teaching position file number is selected from the table in part 1 of this Expla-na

1.4 Registration of Expression1-10< Example of the DETAIL EDIT display for expression >1.4.2 RegistrationOperation Explanation1 Select {JOB} un

2.4 Move Instruction2-1587. V=Tool center point speed /VR=Position angular speed /VE=External axis speedChoose one of the tags from the following tab

2.4 Move Instruction2-1598. PL=Position level /CR=Corner radius /SPDL=Speed levelChoose one of the tags from the following table.No Tag Explanation N

2.4 Move Instruction2-1609. MTE= Amount of station axis rotationThe following tag can be added or omitted. 10. NWAIT/ENWAITThe following tag can be

2.4 Move Instruction2-16111. SRCH/UNTIL/ASRCH/HPSRCH/NSRCHChoose one of the tags from the following table.12. ACC=Acceleration adjustment ratioThe fo

2.4 Move Instruction2-16213. DEC=Deceleration adjustment ratioThe following tag can be added or omitted. 14. +MOVJ/+MOVL/+MOVC/+MOVSChoose one of th

2.4 Move Instruction2-163NOPMOVJ VJ=50.00MOVJ VJ=25.00MOVJ VJ=12.50    Step 3 MOVL V=138    Step 4 Moves from Step 3 to Step 4 b

2.4 Move Instruction2-164MOVCInstruction set:Moves to the teaching position by circular interpolation. The tag which can be used is limited by the ty

2.4 Move Instruction2-165Job Type and Control GroupNo. Job Type Control Group Remarks1 Single One manipulator (standard)2 Single One manipulator with

2.4 Move Instruction2-166 Availability of Each TagNo TagControl GroupNote1234561

2.4 Move Instruction2-1671. Robot teaching position file number /P Variable number /LP Variable num-ber /P [Array number] /LP [Array number] Choose o

1.4 Registration of Expression1-11Operation Explanation7 Move the cursor to the button beside “SOURCE(TOKEN)”8 Press [SELECT] The selection dialog b

2.4 Move Instruction2-1684. T Point Variable numberWhen the robot teaching position file number is selected from the table in part 1 of this Expla-na

2.4 Move Instruction2-1697. V=Tool center point speed /VR=Position angular speed /VE=External axis speedChoose one of the tags from the following tab

2.4 Move Instruction2-1709. MTE=Amount of station axis rotationThe following tag can be added or omitted. 10. NWAIT/ENWAITThe following tag can be a

2.4 Move Instruction2-17112. DEC=Deceleration adjustment ratioThe following tag can be added or omitted.13. +MOVJ/+MOVL/+MOVC/+MOVSChoose one of the

2.4 Move Instruction2-172NOPMOVL V=138MOVC V=138    Step 2MOVC V=138    Step 3MOVC V=138    Step 4MOVC V=138    Step 5MOV

2.4 Move Instruction2-173MOVSInstruction set:Moves to the teaching position by spline interpolation.The tag which can be used is limited by the type

2.4 Move Instruction2-174Job Type and Control GroupNo. Job type Control Group Remarks1 Single One manipulator (standard)2 Single One manipulator with

2.4 Move Instruction2-175 Availability of Each TagNo TagControl GroupNote1234561

2.4 Move Instruction2-1761. Robot teaching position file number /P Variable number /LP Variable num-ber /P [Array number] /LP [Array number] Choose o

2.4 Move Instruction2-1774. T Point Variable numberWhen the robot teaching position file number is selected from the table in part 1 of this Expla-na

ii• This manual explains the INFORM language of the NX100 system. Read this manual carefully and be sure to understand its contents before han-dlin

1.5 INFORM Structure1-121.5 INFORM Structure An example of the INFORM structure is shown in the following structure flowchart. The INFORM structure c

2.4 Move Instruction2-1787. V=Tool center point speed /VR=Position angular speed /VE=External axis speedChoose one of the tags from the following tab

2.4 Move Instruction2-1799. NWAIT/ENWAITThe following tag can be added or omitted. 10. ACC=Acceleration adjustment ratioThe following tag can be add

2.4 Move Instruction2-18012. +MOVJ/+MOVL/+MOVC/+MOVSChoose one of the tags from the following table.No Tag Explanation Note17+MOVJ Specifies the join

2.4 Move Instruction2-181NOP MOVL V=138 MOVS V=138    Step 2 MOVS V=138    Step 3 MOVS V=138

2.4 Move Instruction2-182IMOVInstruction set:Moves by linear interpolation from the current position for the specified incremental value. The tag whi

2.4 Move Instruction2-183Job Type and Control GroupNo. Job Type Control Group Remarks1 Single One manipulator (standard)2 Single One manipulator with

2.4 Move Instruction2-184 Availability of Each TagNo TagControl GroupNote12345671

2.4 Move Instruction2-1851. P Variable number /LP Variable number /P [Array number] /LP [Array num-ber] /EX Variable number /LEX Variable number /EX

2.4 Move Instruction2-1863. VJ=Joint speedThe following tag can be added or omitted. 4. EX Variable number /LEX Variable number /EX [Array number] /L

2.4 Move Instruction2-1875. V=Tool center point speed /VR=Position angular speed /VE=External axis speed Choose one of the tags from the following ta

1.5 INFORM Structure1-13 INFORM Structure Elements Meaning of INFORM StructureINFORM Structure ElementExplanation NoteIndicates the instruction. I

2.4 Move Instruction2-1888. BF/RF/TF/UF# (User coordinate number)Choose one of the tags from the following table. 9. UNTIL/SRCH/NSRCHChoose one o

2.4 Move Instruction2-18910. ACC=Acceleration adjustment ratioThe following tag can be added or omitted.11. DEC=Deceleration adjustment ratioThe foll

2.4 Move Instruction2-190SPEEDInstruction set:Sets the playback speed. The manipulator operates at the speed specified in the SPEED instruction when

2.4 Move Instruction2-1911. VJ=Joint speedThe following tag can be added or omitted. 2. V=Tool center point speedThe following tag can be added or o

2.4 Move Instruction2-1924. VE=External axis speedThe following tag can be added or omitted.No Tag Explanation Note4VE=External axis speedSpecifies t

2.4 Move Instruction2-193REFPInstruction set:It is an instruction which has the position data by which a supplementary point of the wall point, etc.

2.4 Move Instruction2-194Job Type and Control GroupNo. Job Type Control Group Remarks1 Single One manipulator (standard)2 Single One manipulator with

2.4 Move Instruction2-1951. Reference Point NumberAdd the following tag.Availability of Each TagNo TagControl GroupNote1234567891 Reference point num

2.4 Move Instruction2-1962. RB1/RB2/RB3/ST1/ST2/ST3/ST4/ST5/ST6Choose one of the tags from the following table. Reference points during weavingUsual

2.4 Move Instruction2-1973. Robot teaching position file number /P Variable number /LP Variable num-ber /P [Array number] /LP [Array number] Choose o

1.5 INFORM Structure1-14 Explanation TableThe explanation table in this manual can be described as follows. • NO.Indicates the tag number. Corres

2.4 Move Instruction2-1986. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable numb

2.4 Move Instruction2-1998. Station teaching position file number/EX Variable number /LEX Variable number /EX [Array number] /LEX [Array number]Choos

2.5 Shift Instruction2-2002.5 Shift InstructionSFTONInstruction set:Begins the parallel shift operation. The amount of the parallel shift is set in a

2.5 Shift Instruction2-201Job Type and Control GroupNo. Job Type Control Group Remarks1 Single One manipulator (standard)2 Single One manipulator wit

2.5 Shift Instruction2-2021. RB1/RB2/RB3Choose one of the tags from the following table.2. P Variable number /LP Variable number /P [Array number] /L

2.5 Shift Instruction2-2033. BP Variable number /LBP Variable number /BP [Array number] /LBP [Array number] When a P Variable number, LP Variable num

2.5 Shift Instruction2-2045. BF/RF/TF/UF# (User coordinate number)When a P Variable number, LP Variable number, P [Array number], or LP [Array number

2.5 Shift Instruction2-205SFTOFInstruction set:Ends the parallel shift operation. The tags to be added are decided according to the type of the job.S

2.5 Shift Instruction2-2061. RB1/RB2/RB3/STChoose one of the tags from the following table.Shift between Step 3 and Step 5 in the user coordinate sys

2.5 Shift Instruction2-207MSHIFTInstruction set:Calculates the amount of the shift in the specified coordinate system according to Data 2 and Data 3

2.1 I/O Instructions2-12 INFORM Explanation2.1 I/O InstructionsDOUTInstruction set:Turns the general output signal on and off. 1. OT# (Output number)

2.5 Shift Instruction2-2081. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number]Add the following tag.2. BF/RF/TF/UF# (User c

2.5 Shift Instruction2-2093. PX Variable number/LPX Variable number/PX [Array number]/LPX [Array number]Add the following tag.4. PX Variable number/L

2.6 Instruction Which Adheres to an Instruction2-2102.6 Instruction Which Adheres to an InstructionIFInstruction set:Evaluates the various conditions

2.6 Instruction Which Adheres to an Instruction2-211=B/LB/B[]/LB[]Variable No.ON/OFF7 89=<>B/LB/B[]/LB[]Variable No.Byte typeconstant11121310A

2.6 Instruction Which Adheres to an Instruction2-212=<>>>=<<=363738394041I JB/LB/B[]/LB[]Variable No.I/LI/I[]/LI[]Variable No.D/LD/

2.6 Instruction Which Adheres to an Instruction2-2131. IN# (Input number) /IG# (Input group number) /B Variable number /LB Vari-able number /B [Array

2.6 Instruction Which Adheres to an Instruction2-2142. =When an IN#(Input number) is selected from the table in part 1 of this Explanation, add the f

2.6 Instruction Which Adheres to an Instruction2-2155. B Variable number /LB Variable number /B [Array number] /LB [Array num-ber] /ON /OFFWhen an IG

2.6 Instruction Which Adheres to an Instruction2-2167. Byte type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number]

2.6 Instruction Which Adheres to an Instruction2-2178. =/<>/>/>=/</<=When an I Variable number, LI Variable number, I [Array number

2.1 I/O Instructions2-22. B Variable number /LB Variable number /B [Array number] /LB [Array num-ber] /ON /OFFWhen OT# (output number) is selected fr

2.6 Instruction Which Adheres to an Instruction2-2189. Integer type constant /B Variable number /LB Variable number /B [Array number] /LB [Array numb

2.6 Instruction Which Adheres to an Instruction2-21910. =/<>/>/>=/</<=When a D Variable number, LD Variable number, D [Array number

2.6 Instruction Which Adheres to an Instruction2-22011. Double precision type constant/ B Variable number /LB Variable number /B [Array number] /LB [

2.6 Instruction Which Adheres to an Instruction2-22112. =/<>/>/>=/</<=When an R Variable number, LR Variable number, R [Array numbe

2.6 Instruction Which Adheres to an Instruction2-22213. Real type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number

2.6 Instruction Which Adheres to an Instruction2-223UNTILInstruction set:Evaluates the input conditions during operation. This instruction is added

2.6 Instruction Which Adheres to an Instruction2-2243. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/ON/OFF. Choose one o

2.6 Instruction Which Adheres to an Instruction2-225ENWAITThe ENWAIT instruction can be used only with parameter S2C576.Instruction set:Carries out,

2.7 Arc Welding Instruction2-2262.7 Arc Welding InstructionARCONFor arc welding applicationsInstruction set:Outputs the welding start command. SUBSET

2.7 Arc Welding Instruction2-2271. WELD1/WELD2/WELD3/WELD4Choose one of the tags from the following table. These tags are valid for a system with mul

2.1 I/O Instructions2-3number] / Byte type constantWhen OG# (Output group number) or OGH# (Output group number) is selected from the table in part 1

2.7 Arc Welding Instruction2-2284. T=TimeWhen AC=Current output value is selected from the table in part 2 of this Explanation, the fol-lowing tag ca

2.7 Arc Welding Instruction2-229RETRY functionThe RETRY function performs the arc retry automatically with a condition set in the auxil-iary conditio

2.7 Arc Welding Instruction2-230(1) ARCON ASF#(1)Starts welding with the condition set to No.1 in the arc start condition file. (2) NOPMOVJ VJ=50.00M

2.7 Arc Welding Instruction2-231ARCOFFor arc welding applicationsInstruction set:Outputs welding end command. 1. WELD1/WELD2/WELD3/WELD4Choose one of

2.7 Arc Welding Instruction2-2322. AEF# (Arc end condition file number) /AC=Current output valueChoose one of the tags from the following table.3. AV

2.7 Arc Welding Instruction2-2335. ANTSTKWhen AC=Current output value is selected from the table in part 2 of this Explanation, the fol-lowing tag ca

2.7 Arc Welding Instruction2-234(1) ARCOF AEF#(1)The welding end condition is set in the arc end condition file No.1. (2) NOPMOVJ VJ=50.00MOVL V=220M

2.7 Arc Welding Instruction2-235VWELDFor arc welding applicationsInstruction set:Sets the arc voltage by the voltage command value. 1. WELD1 /WELD2/W

2.7 Arc Welding Instruction2-2362. Voltage command value /I Variable number /LI Variable number /I [Array number] /LI [Array number]Choose one of the

2.7 Arc Welding Instruction2-237AWELDFor arc welding applicationsInstruction set:Sets the welding current by the current command position. 1. WELD1/W

2.1 I/O Instructions2-4DINInstruction set:Refers to the byte type variable for the status of the signal. 1. B Variable Number / LB Variable Number /

2.7 Arc Welding Instruction2-2382. Current command value /I Variable number /LI Variable number /I [Array number] /LI [Array number]Choose one of the

2.7 Arc Welding Instruction2-239ARCSETFor arc welding applicationsInstruction set:Sets and changes each welding condition individually.SUBSET STANDAR

2.7 Arc Welding Instruction2-2401. WELD1/WELD2/WELD3/WELD4Choose one of the tags from the following table. These tags are valid for a system with mu

2.7 Arc Welding Instruction2-2414. V=Welding speedThe following tag can be added or omitted. 5. AN3=Aimed value of instruction voltage The following

2.7 Arc Welding Instruction2-242NOPMOVJ VJ=50.00MOVJ VJ=80.00ARCON AC=200 AVP=100 T=0.30MOVL V=50MOVL V=50ARCSET AC=250MOVL V=65ARCOFMOVJ VJ=50.00MOV

2.7 Arc Welding Instruction2-243WVONFor arc, general-purpose, and laser welding applicationsInstruction set:Starts weaving operation.The tags to be a

2.7 Arc Welding Instruction2-2441. RB1/RB2/RB3/RB4Choose one of the tags from the following table. Availability of Each TagNo TagControl GroupNote12

2.7 Arc Welding Instruction2-2452. WEV# (Weaving condition file number)/AMP=Weaving single amplitudeChoose one of the tags from the following table.

2.7 Arc Welding Instruction2-2465. DIR=Direction of oscillationThe following tag can be added or omitted. No. Tag Explanation Note9DIR=Direction of

2.7 Arc Welding Instruction2-247Wearing conditions• Weaving single amplitudeSet the amplitude of oscillation.• Weaving angleSet the angle of oscillat

2.1 I/O Instructions2-52. IN#(Input number) / IG#(Input group number) / OT#(Output number) /OG#(Output group number) / SIN#(Specific input number) /

2.7 Arc Welding Instruction2-248(1) WVON WEV#(1) DIR=1Weaving starts with the conditions specified in the weaving condition file. For details of the

2.7 Arc Welding Instruction2-249WVOFFor arc, general-purpose, and laser welding applicationsInstruction set:Ends weaving operation.The tags to be add

2.7 Arc Welding Instruction2-2501. RB1/RB2/RB3/RB4Choose one of the tags from the following table.No Tag Explanation Note1RB1 Specifies Robot 1 to en

2.7 Arc Welding Instruction2-251ARCCTSFor arc welding applicationsInstruction set:Controls the welding current and the voltage in the specified start

2.7 Arc Welding Instruction2-2521. WELD1/WELD2/WELD3/WELD4Choose one of the tags from the following table. These tags are valid for a system with mul

2.7 Arc Welding Instruction2-2534. AN3=Aimed value of instruction voltageThe following tag can be added or omitted.5. AN4=Aimed value of instruction

2.7 Arc Welding Instruction2-254(1) ARCCTS AC=150 AV=16.0 DIS=100.0MOVL V=80To make the welding current =150A and arc voltage =16V, the current and t

2.7 Arc Welding Instruction2-255ARCCTEFor arc welding applicationsInstruction set:Controls the welding current and the voltage in the specified end s

2.7 Arc Welding Instruction2-2561. WELD1 /WELD2/WELD3/WELD4Choose one of the tags from the following table. These tags are valid for a system with mu

2.7 Arc Welding Instruction2-2574. AN3=Aimed value of instruction voltageThe following tag can be added or omitted. 5. AN4=Aimed value of instructi

2.1 I/O Instructions2-6(1) DIN B016 IN#(12)The on/off status of general input signal no.12 is shown in byte type variable No.16. When the general inp

2.7 Arc Welding Instruction2-258(1) ARCCTE AC=150 AV=16.0 DIS=100.0MOVL V=80To make the welding current =150A and arc voltage =16V, the current and t

2.8 Handling Instruction2-2592.8 Handling InstructionHANDFor handling applicationsInstruction set: Turns the signal to the tool valve ON or OFF to

2.8 Handling Instruction2-2602. Hand numberAdd the following tag.3. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/ON/OFFCh

2.8 Handling Instruction2-261HSENFor handling applicationsInstruction set:Monitors the input status of the tool sensor. Stores the result in the sys

2.8 Handling Instruction2-2622. Sensor numberAdd the following tag.3. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/ON/OFF

2.9 Spot Welding Instruction2-2632.9 Spot Welding InstructionGUNCLFor spot welding applicationsInstruction set:Applies pressure to the air gun. 1. GU

2.9 Spot Welding Instruction2-2643. ATT= Anticipation timeThe following tag can be added or omitted. MOVL V=1000 NWAIT   

2.9 Spot Welding Instruction2-265SPOTFor spot welding applicationsInstruction set:Starts the welding sequence after pressure has been applied to the

2.9 Spot Welding Instruction2-2662. MODE=Gun 1 operation modeAdd the following tag.3. WTM=Gun 1 welding conditionAdd the following tag.No. Tag Explan

2.9 Spot Welding Instruction2-2674. GUN# (Gun 2 number)The following tag can be added or omitted.5. MODE=Gun 2 operation modeWhen a Gun 2 number (GUN

2.1 I/O Instructions2-7WAITInstruction set:Waits until the status of the external signal or byte type variable is the same as the specified status. S

2.9 Spot Welding Instruction2-2687. ATT=Anticipation timeThe following tag can be added or omitted.MOVL V=1000 NWAIT

2.9 Spot Welding Instruction2-269STROKEFor spot welding applicationsInstruction set: Switches the open status of the 2-step stroke gun to/from Full o

2.9 Spot Welding Instruction2-270STRWAITFor spot welding applicationsInstruction set: Confirms the specified open status of a 2-step stroke gun as sh

2.9 Spot Welding Instruction2-271MOVL V=1000 NWAIT  Step 5STROKE GUN#(1) LONGSTRWAIT GUN#(1) LONGWhen the manipulator reaches Step 5, the ope

2.10 General-purpose Instruction2-2722.10 General-purpose InstructionTOOLONFor general-purpose applicationsInstruction set:Turns ON the work instruct

2.10 General-purpose Instruction2-273TOOLONTurns ON the work instruction.Turns ON the work start instruction (dedicated output relay #50770) and wait

2.10 General-purpose Instruction2-274TOOLOFFor general-purpose applicationsInstruction set:Turns OFF the work instruction.1. TOOL1/TOOL2/TOOL3Choose

YASKAWAYASKAWA ELECTRIC CORPORATIONSpecifications are subject to change without noticefor ongoing product modifications and improvements.MANUAL NO. RE

iiiNOTES FOR SAFE OPERATIONRead this manual carefully before installation, operation, maintenance, or inspection of the NX100. In this manual, the Not

2.1 I/O Instructions2-81. IN#(Input number) / OT#(Output number) / SIN#(Specific input number) /SOUT#(Specific output number) / IG#(Input group numbe

2.1 I/O Instructions2-92. =When an IN# (input number), OT# (output number), SIN# (specific input number), or SOUT# (specific output number) is select

2.1 I/O Instructions2-105. B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constantWhen an IG# (input group

2.1 I/O Instructions2-11(3) WAIT IGH#(2)<>55 (Decimal)=0101 (Binary) Waits until general input signal nos.5 and 7 are turned of

2.1 I/O Instructions2-12PULSEInstruction set:The pulse signal is output to the general output signal only for the specified time. The PULSE instructi

2.1 I/O Instructions2-131. OT# (output number) / OG# (output group number) / OGH# (output group number)Choose one of the tags from the following tabl

2.1 I/O Instructions2-143. T=TimeThe following tag can be added or omitted. (1) PULSE OT#(128)The pulse signal is output for 0.30 seconds to general

2.1 I/O Instructions2-15AOUTInstruction set:Outputs the set voltage value to the general-purpose analog output port.1. AO# (Analog output port number

2.1 I/O Instructions2-16ARATIONInstruction set:Starts the analog output corresponding to the speed.ARATION is valid during linear interpolation, circ

2.1 I/O Instructions2-173. V=Basic speedThe following tag can be added or omitted. 4. OFV=Offset voltageThe following tag can be added or omitted. No

iv• Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the NX100 and progr

2.1 I/O Instructions2-18When the basic voltage is 7.00 V at a motion speed of 150.0 mm/sec for the analog output port number 1, an offset voltage of

2.1 I/O Instructions2-19510147-5-1050 100 150 200Analog voltageMotion speedBasic speedBasic voltageOffset voltage0(V)(mm/sec)

2.1 I/O Instructions2-20ARATIOFInstruction set:Cancels the analog output corresponding to the speed.1. AO# (Analog output port number)Add the followi

2.1 I/O Instructions2-21ANTOUTThe ANTOUT instruction can be used only with parameter S2C508.Instruction set:Carries out the anticipation output funct

2.1 I/O Instructions2-22Anticipation output functionThe anticipation output function is a signal output timing adjustment function to advance or del

2.1 I/O Instructions2-231. AT# (Anticipation output number) / AG# (Anticipation group output num-ber)Choose one of the tags from the following table.

2.1 I/O Instructions2-242. ON/OFFWhen an AT#(anticipation output number) is selected from the table in part 1 of this Explana-tion, add the following

2.1 I/O Instructions2-253. B Variable number / LB Variable number / B [Array number] / LB [Array number] / Byte type constantWhen an AG#(anticipation

2.2 Control Instruction2-262.2 Control InstructionJUMPInstruction set:Jumps to specified label or job. SUBSET STANDARD EXPANDEDAvailable Available Av

2.2 Control Instruction2-271. *Label character string /LABEL:/JOB:/B Variable number /LB Variable number /B [Array number] /LB [Array number] /IG# (I

vDefinition of Terms Used Often in This ManualThe MOTOMAN manipulator is the YASKAWA industrial robot product.The manipulator usually consists of the

2.2 Control Instruction2-282. B Variable number / LB Variable number / B [Array number] / LB [Array number] / IG# (Input group number)When a LABEL: i

2.2 Control Instruction2-295. IFThe following tag can be added or omitted.(1) JUMP *1Jumps to *1.(2) JUMP JOB:TEST1 UF#(2) Jumps to the job named TES

2.2 Control Instruction2-30CALLInstruction set:Calls the specified job. SUBSET STANDARD EXPANDEDAvailable Available AvailableFunctionConstructionCALL

2.2 Control Instruction2-311. JOB: / B Variable number / LB Variable number / B [Array number] / LB [Array number] / IG#(Input group number) / QUE/I

2.2 Control Instruction2-322. ENTRY=Registration numberWhen a JET#(job registration table number) is selected from the table in part 1 of this Expla-

2.2 Control Instruction2-33TIMERInstruction set:Stops for the specified time.1. T=timerAdd the following tag. (1) TIMER T=12.50Stops for 12.5 second

2.2 Control Instruction2-34* (LABEL)Instruction set:Specifies the label for the jump.1. *Label stringsAdd the following tag.NOP*1JUMP JOB:1 IF IN#(1)

2.2 Control Instruction2-35’ (COMMENT)Instruction set:Specifies the comment.1. 'Comment stringsAdd the following tag.NOP'Waiting PositionMO

2.2 Control Instruction2-36RETInstruction set:Returns from the called job to the original job which has been called.1. IFThe following tag can be add

2.2 Control Instruction2-37NOPInstruction set:Carries out no operation.NOPENDSUBSET STANDARD EXPANDEDNot available Available AvailableFunctionConstru

viDescriptions of the programming pendant keys, buttons, and displays are shown as follows:Description of the Operation ProcedureIn the explanation

2.2 Control Instruction2-38PAUSEInstruction set:Stops the job temporarily.1. IFThe following tag can be added or omitted.PAUSE IF IN#(12)=ONStops the

2.2 Control Instruction2-39CWAITInstruction set:Waits for the next instruction line to be carried out.CWAIT is used with the NWAIT tag, an additional

2.2 Control Instruction2-40ADVINITInstruction set:When the same variable is used for multiple systems in the optional independent control func-tion,

2.2 Control Instruction2-41ADVSTOPInstruction set:When the same variable is used for multiple systems in the optional independent control func-tion,

2.3 Operating Instruction2-422.3 Operating InstructionCLEARInstruction set:In Data 1, the variable content from the specified number on, is cleared t

2.3 Operating Instruction2-431. B Variable number /LB Variable number /B [Array number] /LB [Array num-ber] /I Variable number /LI Variable number /I

2.3 Operating Instruction2-442. Byte type constant /ALLWhen a B Variable number, LB Variable number, B [Array number], LB [Array number], I Vari-able

2.3 Operating Instruction2-45NOPMOVJ VJ=100.00CALL JOB:2ENDJOB:1 JOB:2NOPMOVJ VJ=100.00CALL JOB:3JUMP JOB:4ENDJOB:3JOB:1 JOB:1JOB:2JOB:4NOPMOVJ VJ=10

2.3 Operating Instruction2-46INCInstruction set:Adds one to the content of the specified variable. SUBSET STANDARD EXPANDEDAvailable Available Availa

2.3 Operating Instruction2-471. B Variable number /LB Variable number /B [Array number] /LB [Array num-ber] /I Variable number/ LI Variable number /I

vii1 INFORM Manual Outline1.1 About INFORM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-11.1.1 With INFORM II . . .

2.3 Operating Instruction2-48DECInstruction set:Subtracts 1 from a specified variable.1. B Variable number/LB Variable number/B [Array number]/LB [Ar

2.3 Operating Instruction2-49ExampleNOPSET B000 200*1MOVJ VJ=100.00MOVJ VJ=50.00DEC B000JUMP *1 IF B000=0END1 is repeatedly subtracted from B000 unti

2.3 Operating Instruction2-50SETInstruction set:Sets Data 2 to Data 1.SET <Data 1> <Data 2>SUBSET STANDARD EXPANDEDAvailable Avail

2.3 Operating Instruction2-51B/LB/B[]/LB[]Variable No.I/LI/I[]/LI[]Variable No.D/LD/D[]/LD[]Variable No.R/LR/R[]/LR[]Variable No.Byte typeconstantInt

2.3 Operating Instruction2-521. B Variable number /LB Variable number /B [Array number] /LB [Array num-ber] /I Variable number /LI Variable number /I

2.3 Operating Instruction2-536BP Variable num-ber/LBP Variable number/BP [Array num-ber]/LBP [Array num-ber]Specifies the number of the base axis p

2.3 Operating Instruction2-542. Byte type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI

2.3 Operating Instruction2-553. Integer type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number

2.3 Operating Instruction2-564. Double precision type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variabl

2.3 Operating Instruction2-575. Real type constant /B Variable number /LB Variable number /B [Array number] /LB [Array number] /I Variable number /LI

viiiMUL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-79DIV . . . . . . . . . . . . . . . . . . . .

2.3 Operating Instruction2-586. P Variable number /LP Variable number /P [Array number] /LP [Array num-ber]When a P Variable number, LP Variable numb

2.3 Operating Instruction2-59(1) SET B000 00 is set in B000. (2) SET P000 P001The content of P001 is set in P000. Example

2.3 Operating Instruction2-60ADDInstruction set:Adds Data 1 and Data 2, and stores the result in Data 1.Add <Data 1> <Data 2>SUBSET S

2.3 Operating Instruction2-61B/LB/B[]/LB[]Variable No.I/LI/I[]/LI[]Variable No.D/LD/D[]/LD[]Variable No.R/LR/R[]/LR[]Variable No.Byte typeconstantInt

2.3 Operating Instruction2-621. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/I Variable number/LI Variable number/I [Arra

2.3 Operating Instruction2-632. Byte type constant/B Variable number/LB Variable number/B [Array num-ber]/LB [Array number]/I Variable number/LI Vari

2.3 Operating Instruction2-643. Integer type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Va

2.3 Operating Instruction2-654. Double-precision type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable num

2.3 Operating Instruction2-665. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/L

2.3 Operating Instruction2-676. P Variable number/LP Variable number/P [Array number]/LP [Array num-ber]When a P Variable number, LP Variable number,

1.1 About INFORM1-11 INFORM Manual Outline1.1 About INFORM 1.1.1 With INFORM IIThe robot programming language used with NX100 is called INFORM II. I

2.3 Operating Instruction2-68(1) ADD B000 10Adds 10 to B000, and stores the result in B000.(2) ADD I000 I001Adds I001 to I000, and stores the result

2.3 Operating Instruction2-69SUBInstruction set:Subtracts Data 2 from Data 1, and stores the result in Data 1.SUB <Data 1> <Data 2>SU

2.3 Operating Instruction2-70B/LB/B[]/LB[]Variable No.I/LI/I[]/LI[]Variable No.D/LD/D[]/LD[]Variable No.R/LR/R[]/LR[]Variable No.Byte typeconstantInt

2.3 Operating Instruction2-711. B Variable number/LB Variable number/B [Array number]/LB [Array num-ber]/I Variable number/LI Variable number/I [Arra

2.3 Operating Instruction2-726BP Variable num-ber/LBP Variable number/BP [Array num-ber]/LBP [Array num-ber]Specifies the number of the base axis pos

2.3 Operating Instruction2-732. Byte type constant/B Variable number/LB Variable number/B [Array num-ber]/LB [Array number]/I Variable number/LI Vari

2.3 Operating Instruction2-743. Integer type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/LI Va

2.3 Operating Instruction2-754. Double-precision type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable num

2.3 Operating Instruction2-765. Real-number type constant/B Variable number/LB Variable number/B [Array number]/LB [Array number]/I Variable number/L

2.3 Operating Instruction2-776. P Variable number/LP Variable number/P [Array number]/LP [Array num-ber]When a P Variable number, LP Variable number,