Sie sind auf Seite 1von 64

NX100 Robot Controller

Operators
Training Manual

NOT FOR RESALE

April 6, 2004

MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200 FAX: (937) 847-6277
24-HOUR SERVICE HOTLINE: (937) 847-3200
WWW.MOTOMAN.COM

The information contained within this document


is the proprietary property of Motoman, Inc.,
and may not be copied, reproduced or
transmitted to other parties without the
expressed written authorization of
Motoman, Inc.

All Rights Reserved

©XXXX by MOTOMAN

Because we are constantly improving our products, we reserve the right to change specifications without notice.
YASNAC and MOTOMAN are registered trademarks of YASKAWA Electric Manufacturing.
PREFACE
PURPOSE OF THIS MANUAL

This NX100 Operator’s Training manual is to be used in conjunction with


MOTOMAN’s NX100 Operator's Class and is not intended for use as a training
tool in itself. This manual is not for resale and will not be sold separately.

WHO SHOULD USE THIS MANUAL

This manual should be used only by attendees of MOTOMAN’s NX100


Operator's Class. Do not use this manual as a reference tool unless you have
attended the NX100 Operator's Class and have received certification through
MOTOMAN.

HOW TO USE THIS MANUAL

This manual has been written according to MOTOMAN’s NX100 Operator's


Class daily course structure. It is designed to assist students in understanding basic
NX100 Pendant functions for a MOTOMAN robot. Use this manual as a step-
by-step guide through the NX100 Operator's Class.

DISCLAIMER

This manual is written with the assumption that the Operator is using the pendant set
only at the lowest Security Level of OPERATION MODE. For the purpose of
modifying points, however, The EDITING MODE has been introduced. Be aware
that keystrokes described in this manual may vary with other settings, software
versions, and purchased options.

NOTE: All MOTOMAN Technical Education Center Training Manuals are


copyrighted. Do not copy any portion of these manuals.
TABLE OF CONTENTS

1.0 NX100 START-UP & SHUTDOWN .......................................... 1-1

1.1 Powering Up The NX100 Controller .................................................... 1-1


1.1.1 Play Mode Enable Button on NX100 Controller ........................................... 1-2
1.1.2 Emergency Stop (E-STOP) on NX100 Controller ......................................... 1-3
1.2 Turning Off Power To The NX100 ......................................................... 1-3

2.0 PENDANT SCREENS ............................................................... 2-1

2.1 Screen Areas ....................................................................................... 2-1


2.1.1 Menu Area .................................................................................................. 2-1
2.1.2 Status Display Area .................................................................................... 2-2
2.1.3 Main Menu Area ......................................................................................... 2-3
2.1.4 General Purpose Display Area .................................................................... 2-4
2.1.5 Human Interface Display Area - Message Line ........................................... 2-5
2.2 Main Menu Selections ......................................................................... 2-5
2.2.1 Job ............................................................................................................. 2-6
2.2.2 Arc Welding, General, Handling, or Spot Welding ........................................ 2-6
2.2.3 Variable ...................................................................................................... 2-6
2.2.4 In/Out ......................................................................................................... 2-6
2.2.5 Robot .......................................................................................................... 2-6
2.2.6 System Info ................................................................................................ 2-6
2.2.7 FD/CF ......................................................................................................... 2-6
2.3 Area Key .............................................................................................. 2-7
2.4 Cursor Key ........................................................................................... 2-7
2.5 Select Key ........................................................................................... 2-7
2.6 Editing Keys ........................................................................................ 2-7
2.6.1 Programming Pendant Keypad .................................................................... 2-8
2.6.2 Enter .......................................................................................................... 2-8
2.6.3 Insert ........................................................................................................ 2-8
2.6.4 Modify ........................................................................................................ 2-8
2.6.5 Delete ......................................................................................................... 2-8
2.7 Shift Keys ............................................................................................ 2-8

NX Operator's Training Manual TOC-1 © MOTOMAN


3.0 OPERATION HARDWARE ....................................................... 3-1

3.1 Mode Selection Switch ........................................................................ 3-2


3.1.1 Play Mode .................................................................................................. 3-2
3.1.2 Teach Mode ................................................................................................ 3-2
3.1.3 Remote Mode ............................................................................................. 3-2
3.2 Operation Buttons ................................................................................ 3-3
3.2.1 Emergency Stop (E-STOP) ......................................................................... 3-3
3.2.2 Start ........................................................................................................... 3-3
3.2.3 Hold ............................................................................................................ 3-3
3.2.4 Interlock Key .............................................................................................. 3-3
3.2.5 Servo On/Ready ......................................................................................... 3-4
3.3 Enable Switch ..................................................................................... 3-4

4.0 CONTROL GROUPS, COORDINATES & AXES ..................... 4-1

4.1 Control Groups .................................................................................... 4-1


4.1.1 ROBOT Key ................................................................................................ 4-1
4.1.2 EX. AXIS Key ............................................................................................. 4-1
4.2 Coordinates ......................................................................................... 4-1
4.2.1 Joint Coordinates ........................................................................................ 4-2
4.2.2 Rectangular , or Cylindrical , Tool , and User ............................................ 4-2
4.3 Manual Speed Icons/Keys ................................................................... 4-5
4.3.1 MANUAL SPEED ....................................................................................... 4-5
4.3.2 HIGH SPD Key ........................................................................................... 4-5
4.4 Robot Position ..................................................................................... 4-6
4.4.1 Displaying Current Position ......................................................................... 4-6
4.4.2 Displaying Command Position .................................................................... 4-6

5.0 ALARMS & ERRORS ................................................................ 5-1

5.1 Error Messages ................................................................................... 5-1


5.2 Minor Alarms ....................................................................................... 5-1
5.3 ALARM:4107 and SECOND HOME .................................................... 5-2
5.4 Major Alarms ....................................................................................... 5-3
5.5 Alarm Display ...................................................................................... 5-3
5.6 Displaying Alarm History ..................................................................... 5-4

NX Operator's Training Manual TOC-2 © MOTOMAN


6.0 SELECTING A JOB................................................................... 6-1

6.1 Selecting A Job ................................................................................... 6-1


6.2 Displaying The Active Job ................................................................... 6-1
6.3 Master Job ........................................................................................... 6-2

7.0 ROBOT PATHS .......................................................................... 7-1

7.1 Robot Motion Types ............................................................................. 7-1


7.2 Robot /TCP Speeds ............................................................................ 7-1
7.3 Robot Command Position .................................................................... 7-2
7.4 Moving the Robot to a Command Position ........................................... 7-2
7.5 Path Confirmation ................................................................................ 7-2
7.5.1 Method 1: FWD and BWD Keys ................................................................. 7-3
7.5.2 Method 2: Interlock + Test Start ................................................................. 7-3
7.6 Cycle Selection ................................................................................... 7-4
7.7 Playing A Job ...................................................................................... 7-5

8.0 PATH EDITING .......................................................................... 8-1

8.1 Editing Mode Security Level ................................................................ 8-1


8.2 Job Header Screen ............................................................................. 8-1
8.3 Teaching Conditions ............................................................................ 8-2
8.4 Job Content Screen ............................................................................. 8-3
8.5 Modifying a Step Position .................................................................... 8-4
8.6 Position Level Specification................................................................. 8-5

9.0 NON-MOTION INSTRUCTIONS ............................................... 9-1

9.1 CALL ................................................................................................... 9-1


9.2 Direct Open ......................................................................................... 9-2
9.3 JUMP *LABEL ..................................................................................... 9-2
9.4 Conditional “IF” Construct .................................................................... 9-3
9.5 PAUSE................................................................................................. 9-3

NX Operator's Training Manual TOC-3 © MOTOMAN


9.6 TIMER ................................................................................................. 9-3
9.7 DOUT .................................................................................................. 9-3
9.8 WAIT .................................................................................................... 9-4

10.0 MONITORING I/O BIT STATUS ............................................ 10-1

10.1 Monitoring Universal Inputs ............................................................... 10-1


10.2 Monitoring Universal Outputs ............................................................ 10-2
10.3 Binary Status and I/O Groups ............................................................ 10-3

11.0 RECOVERY TECHNIQUES .................................................. 11-1

11.1 Shock Sensor Action ....................................................................... 11-1


11.2 Internal Shock Sensor ....................................................................... 11-2
11.3 Sequence Wait .................................................................................. 11-3

INDEX

NX Operator's Training Manual TOC-4 © MOTOMAN


NX Start-up and Shutdown

1.0 NX100 START-UP & SHUTDOWN

1.1 Powering Up The NX100 Controller


The main power switch or circuit breaker is on the front door of the controller
cabinet. Turning the switch to the ON position supplies power to the controller and
initializes the NX100 diagnostic function.

Main power switch

Door lock

Door lock

NX100 Front View

Figure 1-1 NX100 Controller Overview

NX Operator's Training Manual Page 1-1 © MOTOMAN


NX Start-up and Shutdown

During the diagnostics, a Start-up window will appear. This window will be
displayed until diagnostics are completed.

Figure 1-2 Start-up Window

If a failure of any of the diagnostic tests occurs, an alarm screen is displayed. With
no failures, an Initial Window display follows a Windows screen.

Figure 1-3 Initial Window

1.1.1 Play Mode Enable Button on NX100 Controller


There may be a Play Mode Enable button on the NX100 controller door to allow
the system to be put into PLAY Mode from an external signal. In a system without
an external signal connection, this button will be ON by default, and nonfunctional.

NX Operator's Training Manual Page 1-2 © MOTOMAN


NX Start-up and Shutdown

1.1.2 Emergency Stop (E-STOP) on NX100 Controller


Pressing the Emergency Stop (E-STOP) removes servo motor power and causes
the brakes to be applied. The pendant message “Robot is stopped by P. PANEL
emergency stop” is displayed, and the SERVO ON indicator light on the Pendant
turns off. Twist the E-STOP knob clockwise to release it. All Emergency Stops
function the same in Teach, Play, or Remote mode.

1.2 Turning Off Power To The NX100

Turning the Main Circuit Breaker OFF removes all external power to the controller.
Before turning off controller power, servo power should be removed by pressing
any Emergency Stop (E-STOP) button, or by placing the system in the TEACH
mode.

NX100

Main power supply switch


ON
D
PE
IP
TR
OFF
T
SE
RE

Figure 1-4 Main Power Switch (OFF)

NX Operator's Training Manual Page 1-3 © MOTOMAN


NX Start-up and Shutdown

NOTES

NX Operator's Training Manual Page 1-4 © MOTOMAN


Pendant Screens

2.0 PENDANT SCREENS

2.1 Screen Areas


The NX100 pendant screen displays the initial screen Main Menu following
diagnostics. This display includes 5 “areas”. These areas allow the programmer to
look at, program, edit, and operate the NX100 controller. These areas can be set
to either be always displayed or concealed at the user’s discretion.

Menu area Status display area

JOB EDIT DISPLAY UTILITY

JOB
DOUT
FD/PC CARD POSITION DIAGNOSIS 3 Main menu area
MOVE
END CF CURR POS (PLS) CURR POS (XYZ) SEG. PULSE
S 0X 0.000 S 0
SPOT WELDING PARAMETER
L 0Y 0.000 L 0
U 0Z 0.000 U 0
VARIABLE SETUP R 0 Rx 0.00 R 0 General-purpose
B001 B 0 Ry 0.00 B 0 display area
T 0 Rz 0.00 T 0
IN/OUT
7 0 7 0
In Out 8 0 8 0

ROBOT
AXIS 0000_0000 TYPE 0000_0000 TOOL 0
F/B PULSE MOTOR POS REST
S 0S 01 0 Operation buttons
SYSTEM INFO

Human interface
display area
Main Menu ShortCut ! Turn on servo power

Figure 2-1 Screen Areas

NOTE: Selecting different screens or icon buttons may be performed either


using the Touch Screen or Area key, then using the Cursor and Select
keys.

2.1.1 Menu Area


The Menu Area, at the top of the screen, is a permanent display that changes
according to the active General Display on the screen.

DATA EDIT DISPLAY UTILITY

Figure 2-2 Menu Area

NX Operator’s Training Manual Page 2-1 © MOTOMAN


Pendant Screens

2.1.2 Status Display Area


The Status Display Area shows the data related to the controller’s current condition.
The cursor cannot access this area; changes are made via the appropriate keys.
The status line should always be referenced before operating the system. When an
alarm condition exists, the indicator icon appears. Alarms must be cleared before
any further operation or programming is possible.

Group operation axis Page


Operation coordinate system State under execution
Manual speed Operation cycle
Security mode

Figure 2-3 Status Area

Items displayed are as follows:

Group Operation Axis


to : Robot Axes to : Base Axes to : Station Axes

Operation Coordinate Systems


: Joint : Rectangular : Cylindrical : Tool : User

Manual Speeds
: Inching : Low Speed : Medium Speed : High Speed

Security Mode

: Operation : Edit : Management

Operation Cycle
: Step : Cycle : Continuous

State Under Execution


: Stop : Hold : Emergency Stop : Alarm : Operating

Page

: Displayed when the page can be switched.

Figure 2-4 Status Line Icons

NX Operator’s Training Manual Page 2-2 © MOTOMAN


Pendant Screens

2.1.3 Main Menu Area


The Main Menu area is the area where display icons are located. This Area may be
displayed or concealed by toggling the Main Menu icon or key.

JOB FD/PC CARD


DOUT
MOVE
END CF

SPOT WELDING SETUP

VARIABLE
B001

IN/OUT

In Out

ROBOT

SYSTEM INFO

Main Menu ShortCut

Figure 2-5 Main Menu Area

Selecting an icon causes a sub-menu to be displayed as a pull-down menu.


Selections made at the sub-menu are displayed in the General Purpose display area.

JOB EDIT DISPLAY UTILITY

JOB DOUT

DOUT
MOVE
END JOB
MOVE
END

ARC WELDING SELECT JOB

VARIABLE CREATE NEW JOB

B001
MASTER JOB
IN/OUT

In Out
JOB CAPACITY
ROBOT

CYCLE

SYSTEM INFO

Main Menu ShortCut !Turn on servo power

Figure 2-6 Sub Menu Screen

NX Operator’s Training Manual Page 2-3 © MOTOMAN


Pendant Screens

2.1.4 General Purpose Display Area


The General Display Area is where the content of the currently selected menu
choice is displayed. Every General Display shows a title-bar description.

NOTE: The following figures have the Main Menu concealed, thereby
displaying the General Display Area across the entire screen.

JOB EDIT DISPLAY UTILITY

JOB LIST

TEST3A-1 TEST03 TEST3A


TEST02 TEST TEST01

Main Menu ShortCut Set tool mass data

Figure 2-7 Job List

To access a desired item from the General Display area, use the Cursor key, then
press the SELECT key

JOB EDIT DISPLAY UTILITY

JOB CONTENT
TEST : STEP NO: 0000
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 MOVJ VJ=0.78
0002 MOVJ VJ=100.00
0003 MOVJ VJ=25.00
0004 END

Main Menu ShortCut ! Turn on servo power

Figure 2-8 JOB CONTENT

NX Operator’s Training Manual Page 2-4 © MOTOMAN


Pendant Screens

2.1.5 Human Interface Display Area - Message Line


Prompts for operating or editing are displayed on the Message Line at the bottom
of the pendant screen. An ERROR message takes precedence over all other
messages and must be cleared by pressing CANCEL. If any message is too long to
display on a single line, the screen automatically scrolls to the left, repeatedly
displaying the full message. Multiple messages are indicated with the 2-page icon.
Selecting the message area and using the up/down cursor sequences the messages.

! Turn on servo power.

Figure 2-9 Message Line with 2-page Icon

NOTE: The message “Memory battery weak” will appear on the Message Line
of the Pendant display when the battery needs to be replaced. DO NOT
TURN OFF THE CONTROLLER UNTIL THE BATTERY HAS BEEN
REPLACED.

2.2 Main Menu Selections


The number of available icons in the MAIN MENU depends on the current
Secutiry Level. With the MAIN MENU open, SECURITY settings are available
under the SYSTEM INFO selection. There are three levels of SECURITY as
follows:

• OPERATION MODE 0 (no password ID number required)


• EDITING MODE 1 (4 to 8-digit ID number = 00000000 default)
• MANAGEMENT MODE 2 (4 to 8-digit ID number)

NOTE: This training manual is based on the OPERATION MODE 0 Security


Level with the exception of using the EDITING MODE only for
modifying steps in a job.
The Touch Screen may be used to choose the desired function from the MAIN
MENU icons in OPERATION MODE 0:

• JOB
• ARC WELDING or GENERAL or HANDLING or SPOT WELDING
• VARIABLE
• IN/OUT
• ROBOT
• SYSTEM INFO
• FD/CF

NX Operator’s Training Manual Page 2-5 © MOTOMAN


Pendant Screens

2.2.1 Job
The JOB icon accesses sub menu for selection of the active JOB, the MASTER
JOB, the SELECT JOB list, CYCLE Selection, as well as view the JOB
CAPACITY.

2.2.2 Arc Welding, General, Handling, or Spot Welding


The second icon identifies the application for which the NX100 has been initialized.
This icon provides access to application specific information.

2.2.3 Variable
The VARIABLE icon accesses the four kinds of arithmetic variable files used for
number storage, the position variable file used for robot position and shift data
storage, and the string variable file for text storage.

2.2.4 In/Out
The IN/OUT icon offers access to the simple and detail monitor screens for viewing
I/O status and forcing Universal Outputs ON/OFF.

2.2.5 Robot
The ROBOT selection allows the display of the robot’s status including CURRENT
POSITION and SECOND HOME POS. Also, the function for viewing/setting
TOOL data and USER COORDINATE data is accessed through this menu.

2.2.6 System Info


The SYSTEM INFO selection provides SECURITY selection, VERSION
information on the robot’s hardware and software, an ALARM HISTORY, and
MONITORING TIME for power on, servo on, job play, robot travel time, and
device/tool operating time.
2.2.7 FD/CF
The FD/CF icon menu includes the ability to choose a device (FC1, FC2, or
CompactFlash), SAVE, LOAD, and perform other functions using the external
memory medium.

NOTE: These seven icons always appear in MAIN MENU. However, the menu
choices vary depending on TEACH/PLAY mode as well as level of
SECURITY.

NX Operator’s Training Manual Page 2-6 © MOTOMAN


Pendant Screens

2.3 Area Key AREA

The AREA key can be used in place of touching the screen to access a desired
menu display. The AREA key cycles the active cursor through the following areas
for editing and selection purposes: Main Menu, Menu Area, General Display Area,
the Inform List menu if active, as well as the Human Interface Area when the edit
buffer is active.

2.4 Cursor Key


The CURSOR key is a 4-directional key that moves the cursor up, down, right or
left based on the arrows marked accordingly. The cursor key must be used to
move-about within a job content screen, a list, etc., or to highlight a desired menu
item which can then be chosen by using the SELECT key.

2.5 Select Key SELECT

The SELECT key is used to choose the item currently highlighted by the cursor. It
is also used in conjunction with the INTERLOCK key for forcing Universal Outputs
ON/OFF, and in conjunction with the SHIFT key for highlighting addresses in a job
for various editing functions such as COPY, CUT, and TRT.

2.6 Editing Keys

INTER 7 8 9 TEST
SHIFT LOCK START SHIFT

ROBOT INFORM 4 5. 6 BWD FWD


LIST

EX.AXIS 1 2 3 DELETE INSERT

BACK MOTION 0 . -
SPACE MODIFY ENTER
TYPE

MOTOMAN

Figure 2-10 Editing Keys

NX Operator’s Training Manual Page 2-7 © MOTOMAN


Pendant Screens

2.6.1 Programming Pendant Keypad


The Programming Pendant keypad is used primarily for entering numeric values. A
negative or decimal number may be entered where applicable. These keys are also
labeled with device operating instructions specific to the application for which the
controller has been initialized.

2.6.2 Enter ENTER

The ENTER key is not functional in Operation Mode. When in Editing Mode or
Managment Mode, the ENTER key accepts data into the controller.

2.6.3 Insert INSERT

The INSERT key is not functional in Operation Mode.

2.6.4 Modify MODIFY

The MODIFY key is not functional in Operation Mode. It is used in Editing or


Management Mode to change the command position of a step in a job. The servos
must be enabled before pressing ENTER.

2.6.5 Delete DELETE

The DELETE key is not functional in Operation Mode.

2.7 Shift Keys SHIFT

There are two SHIFT keys on the Programming Pendant so that either hand can
comfortably use a SHIFT key in conjunction with any keys having a black bar
across the top. Examples are as follows:

• SHIFT + PAGE key (Go to previous page)


• SHIFT + UP/DOWN CURSOR key (Go to previous/next full
screen when job or list fills more than one screen)
• SHIFT + COORD key (TOOL No. or User Frame selection)

NOTE: The description for use of the SHIFT key with each of the above
functions is described in detail in the sections of the manual that require
its use.

NX Operator’s Training Manual Page 2-8 © MOTOMAN


Operation Hardware

3.0 OPERATION HARDWARE


The Pendant is a single-point control device for all robot operations and
programming with the NX100 Controller.

Start button

Hold button

Mode switch Emergency


stop button
REMOTE TEACH
PLAY START HOLD

Menu area JOB EDIT DISPLAY UTILITY

JOB CONTENT
JOB NAME: TEST01 STEP NO: 0003
CONTROL GROUP: R1 TOOL: 00
General-purpose 0000 NOP Insertion slot for
0001 SET B000 0
display area 0002 SET B001 1 CompactFlash
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OGH#(13) B002
0006 DOUT OT#(41) ON
0007 MOVL C00002 V=880.0 CV#(1) CTP=0.662
0008 DOUT OT#(44) ON
0009 TIMER T=3.0
0010 MOVL V=880.0
0011 MOVL V=880.0
0012 MOVL V=880.0
0013 MOVL V=880.0

Page key
Main Menu ShortCut !Turn on servo power

Cursor key
LAYOUT GO BACK
DIRECT
OPEN
COORD
Multi PAGE AREA

MAIN SHORT
SERVO SELECT Select key
ON !? CANCEL
MENU CUT
READY ASSIST

SERVO ON
X- X+
S- S+ X- X+
HIGH R- R+
SPEED
Y-. Y+
L- L+ Y- Y+
.
FAST
B- B+
Manual speed keys
MANUAL SPEED
Z- Z+
U- U+ Z- Z+
SLOW T- T+

Axis keys
INTER 7 8 9 TEST
SHIFT LOCK START SHIFT
Enable switch
Located on the back of ROBOT INFORM 4 5. 6 BWD FWD
Enable switch (option)
LIST
the programming pendant.
EX.AXIS 1 2 3 DELETE INSERT

BACK MOTION 0 . - MODIFY ENTER


SPACE
TYPE Enter key
MOTOMAN

Motion Numeric keys / Function keys


Type key

Figure 3-1 NX100 Pendant

The overall control of the system is provided on the pendant, including an E-STOP
switch, a selector switch for PLAY, TEACH, & REMOTE Mode selection, a
SERVO ON/READY button, as well as HOLD and START control buttons.

Also included on the pendant is a CompactFlash memory slot.

NX Operator's Training Manual Page 3-1 © MOTOMAN


Operation Hardware

Start button

Hold button

Mode switch Emergency


stop button
REMOTE TEACH
PLAY START HOLD

Servo On Ready button

Servo On LED
LAYOUT GO BACK
DIRECT
OPEN
COORD
Multi PAGE AREA

MAIN SHORT
SERVO SELECT
ON !? CANCEL
MENU CUT
READY ASSIST

SERVO ON

Figure 3-2 Pendant Control Switches/Buttons

3.1 Mode Selection Switch REMOTE TEACH


PLAY

Three mode selections determine control of the robot system. These are PLAY,
TEACH, and REMOTE.

3.1.1 Play Mode


In PLAY mode, the START button becomes functional and the NX100 has control
of job execution. Special playback menu choices become available.

3.1.2 Teach Mode


In TEACH mode, the operator has control for jogging the robot, programming,
editing, customizing, and other menu choices.

NOTE: Changing modes from PLAY to TEACH, during playback, will cause the
program to cease execution (similar to an E-Stop); to resume, select
PLAY, SERVO ON READY, and START.

3.1.3 Remote Mode


The REMOTE mode allows control from an optional external device such as a
remote operator station or a host computer.

NX Operator's Training Manual Page 3-2 © MOTOMAN


Operation Hardware

3.2 Operation Buttons

3.2.1 Emergency Stop (E-STOP)

Pressing the Emergency Stop (E-STOP) removes servo motor power and causes
the brakes to be applied. The pendant message “!Robot is stopped by P. Pendant
emergency stop” is displayed, and the SERVO ON indicator light turns off. Fully
twist the E-STOP knob clockwise until it unlatches to reset it. All Emergency Stops
function the same in Teach, Play, or Remote mode.

3.2.2 Start

In Play mode with servo power ON, pressing the START button will begin
execution of a job from the line the cursor is on in the program. The START button
light remains lit the entire time the controller is running the program. Also, the
START button’s indicator light will be ON whenever a TEST START is performed
in TEACH mode.

3.2.3 Hold

Pressing the HOLD button stops execution of a job in the PLAY mode. Servo
power remains on, and the brakes are not applied. The START light goes off when
job execution ceases. The HOLD button light is on only as long as the HOLD
button is pressed. To resume program execution, press the START button.

INTER
3.2.4 Interlock Key LOCK

The INTERLOCK key is used in conjunction with keys labeled in yellow:

• INTERLOCK + TEST START key (Path confirmation simulating


playback)
• INTERLOCK + FWD key (Individual execution of non-motion
instruction except tool instructions located under DEVICE)
• INTERLOCK + SELECT key (Manually operate Universal Outputs
ON/OFF)

NOTE: The description for use of the INTERLOCK key with each of the above
functions is described in detail in the sections of the manual that require
its use.

NX Operator's Training Manual Page 3-3 © MOTOMAN


Operation Hardware

SERVO
ON
3.2.5 Servo On/Ready READY

In PLAY mode, pressing the SERVO ON/READY button initiates a sequence that
sends power to the servo motors and releases all brakes. The SERVO ON light
will indicate the status. Playback of any job (with or without motion steps) is not
possible unless servo power is applied.

In TEACH mode, pressing the SERVO ON/READY button will only cause the
SERVO ON indicator to blink. Servo power can be applied by activating the
Enable Switch located on the back left side of the pendant.

NOTE: All alarms, errors and E-STOPs must be cleared prior to pressing the
SERVO ON/READY button in either the PLAY mode or the TEACH
mode.

3.3 Enable Switch


Servo Power is required in order to manipulate the robot, modify job positions, or
program new steps in a job. In order to turn on servo power in Teach mode, the
SERVO ON/READY button must be pressed, then the servo ENABLE switch
must be held in its middle position. Fully released or fully compressed causes the
servos to shut OFF.

Figure 3-3 Servo Enable Switch

NX Operator's Training Manual Page 3-4 © MOTOMAN


Control Groups, Coordinates & Axes

4.0 CONTROL GROUPS,


COORDINATES & AXES
4.1 Control Groups
The appropriate group of axes to be controlled must be selected for jog operations
in a system configured with multiple robots, station axes, and base axes. The active
selection is displayed in the status line for use with the 12 Axis keys.

4.1.1 ROBOT Key ROBOT to : Robot Axes

Pressing the ROBOT key chooses the desired robot, R1 to R4. The ROBOT
selection is active by default at power ON.

4.1.2 EX. AXIS Key EX.AXIS to : Station Axes to : Base Axes

Pressing the EX. AXIS key configures the axis keys to move the servo motors for
station axes S1 to S12 or base track axes B1 to B4.
NOTE: Pressing SHIFT and ROBOT or EX. AXIS forces the controller to
change to the desired group. This is required when the control group is
not identified in selected job.

4.2 Coordinates
The active Coordinate system, identified in the status line, determines how each of
the six sets of multifunctional axis keys with “+” and “-” will operate when moving
the robot with the 12 axis keys. Only Joint coordinates wiht one pair of +/- keys
are used for each external axes. The COORD key allows four different selections
for jogging a robot.

: Joint Coordinates [SLURBT]

: Robot Frame Rectangular Coordinates [RECT]

TOOL SEL
: Cylindrical Coordinates [CYL]
COORD

: Tool Frame Coordinates [Tool No.00-23]

: User Frame Coordinates [UF#1-24]

Figure 4-1 Programming Pendant COORD Key & Display

NX Operator’s Training Manual Page 4-1 © MOTOMAN


Control Groups, Coordinates & Axes

4.2.1 Joint Coordinates

When in Joint coordinates, the letters S, L, U, R, B, T on the six pair of axis keys
are applicable, allowing the operator to move the robot one axis (one motor) at a
time in a positive or negative direction. Each axis is independent of the others.
JOINT is the default coordinate system upon power up or job selection.

U-axis
Z+
U+
R-axis
X+
R+ B-axis
Y+
B+

T-axis
Z- Z+
U- X- T+
L-axis R- Y-
B-

Y-
L- Z-
T-

Y+
L+
S-axis
X- X+
S-
S+

Figure 4-2 Axis Keys and JOINT (S,L,U,R,B,T) Operation

NOTE: When two or more axes keys are pressed simultaneously, the robot will
perform a compound movement, but if two opposites are pressed at the
same time, such as [X-/S-] and [X+/S+], then neither operates.

4.2.2 Rectangular or Cylindrical , Tool , and User

In all of the XYZ type coordinate systems the axis keys control the Tool Control
Point (TCP) rather than each individual axis motor. The X, Y, Z and Rx, Ry, Rz
labels are applicable, as they define the direction/orientation when jogging the TCP.

RECT moves the TCP in a straight line path in the ROBOT FRAME (RF)
of reference with the XYZ axis keys in Figures 4-3 and 4-4.
CYL moves the TCP as in Figure 4-5 when using the XYZ axis keys.

TOOL moves the TCP based on current TOOL FRAME (TF) orientation.

USER moves the TCP based on a selected USER FRAME (UF#) where
the origin and plane in space are user defined.

NX Operator’s Training Manual Page 4-2 © MOTOMAN


Control Groups, Coordinates & Axes

Z-axis

Y-axis

X-axis

Figure 4-3 Robot Frame RECT Coordinates

Moves TCP parallel to X-axis Moves TCP parallel to Y-axis

X-
S-
Y-axis

X+
S+

Y- Y+
L- L+
X-axis

Z-axis
Z+
U+

Z-
U-

Moves TCP parallel to Z-axis

Figure 4-4 Operation of X, Y, & Z-Axis Keys in RECT

NX Operator’s Training Manual Page 4-3 © MOTOMAN


Control Groups, Coordinates & Axes

The CYL coordinates can be set in place of the RECT selection. Operation of the
X, Y, and Z-axis moves the active TCP as illustrated in Figure 4-5.
Moves TCP in Radius Path of Cylinder

Y-
L-

Y-
L-

X- X+ Y+
S- S+ L+

Y+
L+
Y+, Radial Axis

Moves TCP in Circumference Path of Cylinder Y+, Radial Axis

Z-axis
Z+
U+

Moves TCP parallel to Robot Frame Z-axis

Z-
U-

Figure 4-5 Operation of X, Y, & Z Keys in CYL

When using RECT/CYL, TOOL or USER Coordinates, pressing a “rotate-about”


Rx, Ry, Rz axis key (the six keys in Figure 4-10) will change the tool’s angle of
orientation, but the TCP should remain at its present position. This can also be used
to verify that the TOOL DATA for the Tool No. currently in use is accurate.

X- X+
R- R+

Y- Y+
B- B+

Z- Z+
T- T+

Figure 4-6 Axis Keys to Change Tool’s Angle of Orientation

NX Operator’s Training Manual Page 4-4 © MOTOMAN


Control Groups, Coordinates & Axes

4.3 Manual Speed Icons/Keys


The Manual Speed determines the velocity at which the axis keys or the FWD &
BWD keys will move the ROBOT or EX. AXIS.

4.3.1 MANUAL SPEED


The four speed settings, INCHING, LOW, MEDIUM, and HIGH, are changed by
using the MANUAL SPEED keys FAST and SLOW. The status line symbol
indicates the current selected speed.

: Inching

FAST : Low Speed


MANUAL SPEED

SLOW
: Medium Speed

: High Speed

Figure 4-7 Manual Speed Icons and Keys

When INCHING has been selected, each press of an axis key will move the robot
one pulse count in Joint coordinate. In all other coordinate systems the default
setting for INCHING will move the robot’s TCP 0.30 mm or 0.30 degrees with
each press of the axis key.

NOTE: The Programming Pendant defaults to LOW manual speed upon


power-up.

HIGH
4.3.2 HIGH SPD Key SPEED

While using only a single axis key or only the FWD key, pressing and holding the
HIGH SPD key will momentarily override the L, M, or H manual speed setting
with a preset faster speed. Releasing the key defaults back to the selected manual
speed.

NOTE: The HIGH SPD key will not override I (Inching), and it is not functional
with the BWD key.

NX Operator’s Training Manual Page 4-5 © MOTOMAN


Control Groups, Coordinates & Axes

4.4 Robot Position


The Robot’s position is always expressed in PULSE data. The active TCP’s
position can be displayed in BASE, ROBOT, or USER FRAME Coordinates.

4.4.1 Displaying Current Position

To display the current position in PULSE (S,L,U,R,B,T) or XYZ coordinates


for BASE, ROBOT or USER, perform the following:

1. Choose the MAIN MENU by touch, or press the MAIN MENU key.
2. Choose ROBOT by touch or use Cursor & SELECT key.
3. Choose CURRENT POSITION by touch or use cursor keys and SELECT
key.
4. Press SELECT and cursor to PULSE, BASE, ROBOT, or USER and
press SELECT again.
5. If USER is selected, then enter the frame number on the data line
(>User_coord_no.= ) and press ENTER.

4.4.2 Displaying Command Position


To display the command position of a cursored step in the JOB CONTENT
screen, press the DIRECT OPEN key as shown below:

DATA EDIT DISPLAY UTILITY

COMMAND POSITION
INTR: MOVL SPD: 558 cm/min
[CMD] TOOL: [CURR] TOOL:
R1: S 0 R1: S 98
L 0 L 20
U 0 U 0
R 0 R 99
B 0 B 0
T 0 T 459

Main Menu ShortCut !Turn on servo power

DIRECT
OPEN

Figure 4-8 Direct Open Key/Command Position Screen

The left column displays the command position [CMD] for that step and the right
column displays the step’s current position [CURR]. Press the Direct Open again
to close the display.

NX Operator’s Training Manual Page 4-6 © MOTOMAN


Alarms & Errors

5.0 ALARMS & ERRORS


ERROR messages appear in the Message Line at the bottom of the pendant screen.
All ALARM messages appear in the General Display Area, and the icon indicating
alarm status appears on the status line. No further operation or editing is possible
until the ERROR/ALARM situation is cleared.

5.1 Error Messages


An ERROR occurs when a simple mistake has been made such as pressing the
START button while still in TEACH mode. An ERROR is cleared by pressing the
CANCEL key. Multiple messages are indicated with the 2-page icon. Select the
message area and cursor up/down to sequence through the messages.

Example: Pressing START button when not in PLAY mode.

! ERROR 0120 Set to PLAY mode.

Figure 5-1 Error message

5.2 Minor Alarms


Minor Alarms usually indicate a jogging problem or a simple programming error that
requests the controller to perform tasks it is not capable of performing. The four-
digit alarm codes for Minor Alarms begin with “4 through 8”. The alarm code and
message appear in the General Display area. Job execution is stopped, but Servo
Power remains ON. The cause of any minor alarm should be fixed immediately to
avoid reoccurrence. Minor Alarms are cleared by pressing RESET or using the
SELECT key to choose the RESET icon.
NOTE: An additional procedure, “Check Position”, is required after RESET for
ALARM 4107: ABSO DATA OUT OF RANGE (Refer to Section 6.0).

DATA EDIT DISPLAY UTILITY

ALARM

ALARM 4315 [ S L U R B T ]
COLLISION DETECT

OCCUR TIMES : 1

RESET
Main Menu ShortCut

Figure 5-2 Minor Alarm Example

NX Operator’s Training Manual Page 5-1 © MOTOMAN


Alarms & Errors

5.3 ALARM:4107 and SECOND HOME


If the controller determines there is a change in encoder data (pulse) between
power off and power on, it will generate the “ALARM:4107 OUT OF RANGE
(ABSO DATA)”. After resetting the alarm and turning the servo power ON, the
controller will prompt with the message “Check Position”. Checking position
involves forwarding the robot to the Second Home position, and then ensuring the
robot is at the proper position. The default Specified Point is the “Home Position”,
where the alignment arrows and keyways for each axis are aligned. Attempting to
play a job without forwarding to the Specified Point and confirming the position
check results in the “ERROR 0380: Position not checked”.
CAUTION! An error in the pulse generator (PG) system can cause an alarm.
If PG failure is suspected, then do not FWD until checking each
suspected axis separately by jogging + and - in JOINT coordinates
to confirm valid operation.

CAUTION! Alarms brought about by a crash may have caused damage to the
drive(s). Verify smooth drive operation prior to continuing.
To check the Specified Point, perform the following steps:

1. RESET the alarm.


2. Switch to TEACH.
3. Press the SERVO ON READY button.
4. Turn Servos ON with the ENABLE switch. The Message Line should indicate
“Check Position”.
5. From MAIN MENU, choose ROBOT, then choose SECOND HOME POS
This displays a data screen with columns as shown in Figure 6-1.

DATA EDIT DISPLAY UTILITY

SECOND HOME POS


SPECIFIED CURRENT DIFFERENCE
R1:S 0 0 0
L 0 0 0
U 0 0 0
R 0 0 0
B 0 0 0
T 0 0 0

Main Menu ShortCut

Figure 5-3 Second Home Position Display (Specified Point)

NX Operator’s Training Manual Page 5-2 © MOTOMAN


Alarms & Errors

6. Ensure the pendant is in JOINT coordinates and increase manual speed to


Medium.

CAUTION! The operation below may cause a crash when the FWD key is
pressed if there are obstacles between the robot’s present
position and the Specified Point position; use extreme care during
this procedure.

7. Ensure a clear path, then press and hold the FWD key to move the robot to
the Second Home position. The data display changes to all zeros in the
DIFFERENCE column.
8. Visually verify that the robot is at the Second Home position.

NOTE: If the robot does NOT appear to be at the proper location, maintenance
on the robot may be required.
9. Choose DATA.
10. Cursor to CONFIRM POSITION; press SELECT. The message line will
display “!Home position checked”.

5.4 Major Alarms


A Major Alarm may occur because of equipment failure or what the controller
considers a potential failure during operation often associated with crashes. The
four-digit alarm codes for all Major Alarms begin with “1, 2, or 3”. The alarm
code and a message appear in the General Display area. Servo power turns off.
A Major Alarm may only be cleared by cycling controller power OFF/ON. Any
hardware failures will require repair/replacement of the affected components.

An Off-line alarm occurs upon detection of a failure that requires a maintenance


procedure. The 4 digit alarm codes that begin with a “0”cannot be cleared by
simply cycling the NX100 controller power. Check for connection problems or
perform required repair/replacement of affected components.

5.5 Alarm Display


It is possible for a current Alarm not to be displayed on the screen if the display has
been changed before RESET is selected. The controller is still “locked” from the
alarm occurrence with the indicatoricon on the status line. An attempt to restore
Servo Power ON will re-display the minor alarm, or it may be accessed in the menu
as described below.

NX Operator’s Training Manual Page 5-3 © MOTOMAN


Alarms & Errors

To re-display the Minor Alarm for access to RESET, perform the following:

1. From MAIN MENU, touch SYSTEM INFO, or cursor and press SELECT.
2. Touch ALARM, or use cursor keys and SELECT key.

5.6 Displaying Alarm History


The Programming Pendant keeps a log of the last 20 each of Major Alarms, Minor
Alarms, User Alarms (System), User Alarms (User), and Off-Line Alarms.

To display the history of these alarms, perform the following steps:

1. From MAIN MENU, choose SYSTEM INFO.


2. Choose ALARM HISTORY.
3. Use the PAGE key for the next Alarm type, and SHIFT + PAGE for the
previous page.
4. Move the cursor to choose a specific alarm; details for this alarm will appear at
the bottom of the screen display.

NOTE: ERRORS displayed on the Message Line are not registered in the
pendant’s ALARM HISTORY display.

NX Operator’s Training Manual Page 5-4 © MOTOMAN


Selecting a Job

6.0 SELECTING A JOB

6.1 Selecting A Job


To bring an existing job to the screen in Teach or Play modes:

1. From MAIN MENU, choose JOB.


2. Choose SELECT JOB to access the name list.

JOB EDIT DISPLAY UTILITY

JOB LIST

TEST3A-1 TEST03 TEST3A


TEST02 TEST TEST01

Main Menu ShortCut Set tool mass data

Figure 6-1 Job List

3. Cursor to the name of the desired job and press SELECT.

NOTE: Other jobs cannot be selected during program execution (when the
START light is on) in Play mode.

6.2 Displaying The Active Job


When a job is actively playing, but the screen display has been changed to
something other than the active job, there is only one way to get this active JOB
CONTENT back on the screen.
To return to the active JOB CONTENT, perform the following:
1. From MAIN MENU, choose JOB.
2. Choose JOB. The last active job will appear on the screen.

NX Operator’s Training Manual Page 6-1 © MOTOMAN


Selecting a Job

6.3 Master Job


It is useful to register (store) a frequently played job as the Master Job, because this
allows easy access to this job. Only one job can be registered as the Master Job in
a standard system configuration.
displayed.

To call the Master Job to the screen in Teach or Play modes, perform the
following:

1. From TOP MENU, choose JOB.


2. Choose MASTER JOB and press SELECT.
3. With the cursor on CALL MASTER JOB, press SELECT.
The registered Master Job’s Job Content screen will be displayed.

NOTE: The Master Job cannot be “called” when the START light is on during
program execution in Play mode.

NX Operator’s Training Manual Page 6-2 © MOTOMAN


Path Creation

7.0 ROBOT PATHS

7.1 Robot Motion Types


Robot paths are not based on the coordinate system when the controller is “playing”
a job. The robot paths are based on job instructions. There are four motion type
instructions that have the controller move the robot as follows:

• MOVJ Joint motion controls only the robot by running each


motor, SLURBT, to the Command Position of the step.
The path of the TCP is not controlled.
• MOVL Linear motion moves the active TCP in a straight line as it
moves the robot to the Command Position of the step.
• MOVC Circular motion moves the TCP in a circular arc requiring
at least three MOVC steps, or four to complete a full circle.
• MOVS Spline motion moves the TCP in a parabolic path through
at least three MOVS steps, or follows a “free curve”
through a string of multiple MOVS steps.

An example of a job that moves the robot is shown in Figure 7-1.

JOB EDIT DISPLAY UTILITY

JOB CONTENT
JOB NAME: TEST STEP NO: 0004
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 MOVJ VJ=0.78
0002 MOVJ VJ=100.00
0003 MOVJ VJ=25.00
0004 MOVL V=276
0005 MOVJ VJ=50.00
0006 MOVJ VJ=100.00
0007 END

Main Menu ShortCut ! Turn on servo power

Figure 7-1 Job Example

7.2 Robot /TCP Speeds


The motion instruction may express velocity with one of three speed tags in order to
tell the controller how fast to move the robot or active TCP. The MOVJ has a
VJ=Joint_speed tag for “velocity of the joints”. The MOVL, MOVC, and MOVS
may have either a V=Control_point_speed for “velocity of the TCP” or a
VR=Angle_speed for “velocity of rotation”.
NX Basic Programming Manual Page 8-1 © MOTOMAN
Path Creation

7.3 Robot Command Position


The position where the controller moves the robot is called the Command Position
because the controller is “commanding” the robot to move to a point. Figure 7-1
shows a “cursor” resting on 0001. This number is called the Line Number. Every
instruction has a Line Number.

When the cursor is resting on a motion instruction, the instruction may be blinking.
The controller is comparing the Command Position to the robot’s current position.
If the robot is not at the Command Position, the instruction blinks. When the robot
is at the Command Position, the instruction is not blinking.

7.4 Moving the Robot to a Command Position


With the cursor on a MOV_ instruction, the robot can be forwarded at the Manual
Speed to the Command Position by pressing and holding the FWD key shown in
Figure 7-2. If the robot will collide with an obstruction, use the jogging keys with
the appropriate Coordinate System to move around the obstacle, then continue
using the FWD key.
CAUTION! The robot will Forward (FWD) directly to the cursored Command
Position with the motion type (MOV_) of the cursored step. Care
should be taken to place the cursor on the correct line. Always
ensure a clear path when moving the robot.

7.5 Path Confirmation


The Programming Pendant has two path confirmation functions that check the
programmed path using the keys shown in Figure 7-2.
Interlock/Test Start

HIGH
SPEED

FAST
B- B+
Manual Speed Keys
MANUAL SPEED

SLOW

INTER 7 8 9 TEST
SHIFT LOCK START SHIFT

ROBOT INFORM 4 5. 6 BWD FWD


FWD/BWD Keys
LIST

EX.AXIS 1 2 3 DELETE INSERT

BACK MOTION 0 . -
SPACE MODIFY ENTER
TYPE

MOTOMAN

Figure 7-2 Path Confirmation

NOTE: The JOB CONTENT display will always show the active line of
execution at the top of the screen.

NX Basic Programming Manual Page 8-2 © MOTOMAN


Path Creation

7.5.1 Method 1: FWD and BWD Keys


1. Cursor to the first step in the job and verify that there is a clear path to this
command position from where the robot is currently positioned. Whenever the
current robot position does not match the cursored command position, the
information will blink.
2. Choose a desired manual speed setting.
3. With Servos enabled, press and hold the FWD key. The robot will move to
the step and cease motion; the cursor will show the active line of execution at
the top of the screen no longer flashing.
4. Release and press the FWD key to move the robot through each successive
step.
This will allow the programmer/operator to sequence through the job and take the
robot through the interpolated path.

5. Pressing the BWD key will move the robot to the previous step.

NOTE: Robot motion will be executed only while the FWD or BWD keys are
pressed; releasing the key will stop robot motion. The HIGH SPD key is
functional with FWD but not BWD.

7.5.2 Method 2: Interlock + Test Start


This method allows the robot to act as if it were in the playback mode. All
instructions (other than non-handling tool instructions found under the DEVICE
menu) are executed as programmed. Motions recorded at speeds greater than
25% will be executed at 25% of the robot’s maximum speed; all others will be
executed at program speed. The cycle selection will affect the TEST START
program execution; therefore, the 1-CYCLE setting is recommended.

To test the job using the Test Start method, perform the following:
1. Cursor to the NOP line of the selected job.
2. Enable the Servos.
3. While pressing the INTERLOCK key, press and hold the TEST START key.

The START button on the pendant will light and the robot will go through all steps
of the programmed path. The Interlock key may be released once the robot is in
motion. Release the TEST START key or Enable switch to interrupt/stop program
execution.
NOTE: The programmer/operator should always verify that there is a clear path
from where the robot is currently positioned to the first step command
position.

NX Basic Programming Manual Page 8-3 © MOTOMAN


Path Creation

7.6 Cycle Selection


Three cycle selections determine how the controller runs the selected job when the
START button is pressed in the Play mode. They also affect TEST START
operation of the Programming Pendant . These selections are STEP, CYCLE, and
AUTO; the selected cycle is indicated in the pendant Status Display Area.

STEP

The controller will execute only the one line on which the cursor is
located, in the selected job, each time the START button is
pressed. Tool/Device instructions are NOT executed when in the
STEP cycle.

CYCLE

The controller will execute the selected job one time, from the
cursor location to the END statement of that job when the START
button is pressed.

AUTO

The controller will execute the selected job repetitively from the
cursor location when the START button is pressed.

To select the desired cycle:

1. From MAIN MENU choose JOB.


2. Choose CYCLE from the sub menu.
DATA EDIT DISPLAY UTILITY

JOB FD/PC CARD CYCLE


DOUT
MOVE
END CF

WORK SELECT STEP


ARC WELDING SETUP
CYCLE
CONTINUOUS

VARIABLE
B001

IN/OUT

In Out

ROBOT

SYSTEM INFO

Main Menu ShortCut ! Turn on servo power

Figure 7-3 Cycle Selection

3. With the cursor on WORK SELECT, press SELECT.


4. Cursor to the desired Cycle, and press SELECT.

NX Basic Programming Manual Page 8-4 © MOTOMAN


Path Creation

7.7 Playing A Job


To play a job, perform the following steps:

1. Select a job and verify where the cursor will begin execution of the job [NOP].
2. Switch from TEACH to PLAY on the Mode Selector Switch.
3. Press the SERVO ON/READY button.
4. Choose AUTO, CYCLE, or STEP as described in Section 7.6.
5. Press the START button to initiate job execution.

NX Basic Programming Manual Page 8-5 © MOTOMAN


Path Creation

NOTES

NX Basic Programming Manual Page 8-6 © MOTOMAN


Path Editing

8.0 PATH EDITING

8.1 Editing Mode Security Level


The NX100 Controller must in at least EDITING MODE to modify positions in a
job. The “key” icon in the Status Area indicates the current security level.

: Operation Mode

: Edit Mode

Figure 8-1 Security Level Icons

• OPERATION MODE - Lowest level; no User ID number required.


• EDITING - Protected by 4 to 8-digit User ID number. Default is
00000000 (8 zeros).

NOTE: No password is necessary to change to a lower level of security.

To change the Security level setting to EDITING, complete the following


steps:

1. From MAIN MENU, choose SYSTEM INFO.


2. Choose SECURITY.
3. With the cursor on the MODE; press SELECT. Cursor to EDITING, and
press SELECT.
4. Enter the password, 00000000, using the number keypad; press ENTER.

8.2 Job Header Screen


Software edit protection for jobs only is set in each individual JOB HEADER. If a
job has EDIT LOCK:ON, then it cannot be edited even in the EDITING MODE.
However, is the TEACHING CONDITION item for STEP ONLY CHANGING
is set for PERMIT, command position can be modified.

NX Operator’s Training Manual Page 8-1 © MOTOMAN


Path Editing

JOB EDIT DISPLAY UTILITY

JOB HEADER
JOB NAME: TEST01
COMM. :'This job is test job
DATE : 2003/05/20 12:00
CAPACITY : 1024 BYTE
LINES : 30 LINE
STEPS : 20 STEP
EDIT LOCK : OFF
TO SAVE TO FD : NOT DONE
GROUP SET : R1

Main Menu ShortCut

Figure 8-2 Job Header Screen

To display a JOB HEADER to check for EDIT LOCK: ON/OFF, complete


the following:

1. In TEACH from MAIN MENU, choose JOB.


2. Choose SELECT JOB.
3. Cursor to the name of the job and press SELECT.
4. Choose DISPLAY in the Menu Area.
5. Choose JOB HEADER.

NOTE: If the edit protection status has EDIT LOCK:ON, then it is necessary to
access the TEACHING CONDITION list and set STEP ONLY
CHANGING to PERMIT before points can be modified.

8.3 Teaching Conditions


The TEACHING CONDITION list item for STEP ONLY CHANGING can be
set for either PROHIBIT for full protection of EDIT LOCK:ON jobs, or to
PERMIT for the ability to modify only step positions.

To set the STEP ONLY CHANGING to PERMIT, complete the following


steps:

1. In TEACH from MAIN MENU, choose SETUP.


2. Choose TEACHING CONDITION.
3. Cursor to STEP ONLY CHANGING..
4. Press SELECT to toggle to PERMIT to allow position modifications or
PROHIBIT for full edit protection.

NX Operator’s Training Manual Page 8-2 © MOTOMAN


Path Editing

DATA EDIT DISPLAY UTILITY

TEACHING CONDITION

RECT/CYLINDRICAL RECT
LANGUAGE LEVEL STANDARD
INSTRUCTION INPUT LEARNING VALID
MOVE INSTRCUTION SET LINE
STEP ONLY CHANGING PROHIBIT

Main Menu ShortCut

Figure 8-3 Teach Condition Screen

8.4 Job Content Screen


The Job Content screen is divided into two sections, as shown in Figure 8-1.
The right side of the screen is the “instruction” side of the screen.

Address Side Instruction Side

JOB CONTENT
JOB-A STEP NO: 0003
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 MOVJ VJ=50.00 Step 1
0002 MOVJ VJ=50.00 Step 2
0003 MOVL V=1122 Step 3
0004 TIMER T=5.00
Line number
0005 DOUT OT#(1) ON
0006 MOVL V=1122 Step 4
0007 MOVJ VJ=50.00 Step 5
0008 END

Figure 8-4 The Two Sections of the Job Screen

The left side of the screen is the “address” side of the screen, which contains a line
number for every line in the job. Each line that includes a robot motion, such as
MOVJ, also has a “step” number that is indicated in the upper part of the Job
Content screen next to the Job Name.

NOTE: The cursor must be on the address side to MODIFY the command
position of a step.

NX Operator’s Training Manual Page 8-3 © MOTOMAN


Path Editing

8.5 Modifying a Step Position


To modify the position of a step in a job, perform the following steps:
1. In TEACH, ensure that the Security is set for EDITING MODE.
2. Select the job to be edited. Display the JOB HEADER to check if EDIT
LOCK:ON or OFF. If OFF, skip to next step. If ON, go to the SETUP
menu TEACHING CONDITION and set STEP ONLY CHANGING to
PERMIT.
3. Either step through the job with the FWD key until at the desired step to be
modified, or if safe, put the cursor on that step and FWD directly to the
command position. The cursor will stop blinking.
4. If multiple tools are in use, select the appropriate Tool No.00-23 with SHIFT
+ COORD to turn the list ON/OFF.
5. Enable servos and jog the robot’s TCP to the new desired position. The
cursor will now be blinking.
6. Ensure that the cursor is on the address side, and press MODIFY.
7. With servos enabled, press ENTER.

MODIFY ENTER

Figure 8-5 The MODIFY and ENTER Keys

NOTE: The cursor stops blinking and the pendant beeps as confirmation that
the position data was accepted for that address. The instruction side of
the screen does not change when modifying position data.

Before running the job in PLAY mode, always confirm the edited path by first using
FWD/BWD with desired manual speed, and secondly by using
INTERLOCK+TEST START.

NX Operator’s Training Manual Page 8-4 © MOTOMAN


Path Editing

8.6 Position Level Specification


A Position Level is a motion step tag that specifies the level of accuracy for travel
through a point. At higher velocities where an abrupt directional change occurs,
such as at a corner, the robot’s TCP will not fully reach the taught position, but
rather maintain the continuous path flow with the program speed as its priority.

If exact precision is needed, regardless of the velocity, a Position Level tag of


PL=0 can be used to instruct the controller to move the TCP to the exact command
position data for SLURBT. Use of a PL=0 will result in a momentary hesitation at
the programmed point for confirmation of Command Position PULSE data.

Other Position Level settings are available that force the robot’s TCP to come
within the set distance from the target point before going directly to the next
destination point.

Default distances are programmed in parameter files and can only be modified in
Management Mode.

Results vary based on speed.

P2 P3
MOVL PL= 0 MOVL
MOVL PL= 1
MOVL PL= 2

Regardless of speed, the MOVL PL= 3


result of approach is the
distance set in the parameter.

MOVL PL= 4 Default PL=1 through PL=4


results shown in half scale.
P1

Figure 8-6 Example Position Levels

NX Operator’s Training Manual Page 8-5 © MOTOMAN


Path Editing

NOTES

NX Operator’s Training Manual Page 8-6 © MOTOMAN


Non-Motion Instructions

9.0 NON-MOTION INSTRUCTIONS

9.1 CALL
The CALL instruction allows one job to open another as a subroutine. The job
doing the calling is referred to as the parent job. The job being called is referred to
as a child job.
NOTE: The NX controller will automatically return to the next line of execution
of the parent job after the END of the child job.
The following figure illustrates 2 child jobs, TEST1 and TEST2, linked together
consecutively in the parent job TEST:
JOB EDIT DISPLAY UTILITY JOB EDIT DISPLAY UTILITY

JOB CONTENT JOB CONTENT


JOB NAME:
: PART20 STEP NO: 0000 JOB NAME:
: PART20-1 STEP NO: 0000
CONTROL GROUP: R1 TOOL: 00 CONTROL GROUP: R1 TOOL: 00
0000 NOP 0000 NOP
0001 CALL JOB: PART20-1 0001 MOVJ VJ=0.78
0002 CALL JOB:PART20-2 0002 MOVJ VJ=100.00
0003 END 0003 MOVJ VJ=25.00
0004 END

Main Menu ShortCut ! Turn on servo power Main Menu ShortCut ! Turn on servo power

JOB EDIT DISPLAY UTILITY

JOB CONTENT
JOB NAME:
: PART20-2 STEP NO: 0000
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 MOVJ VJ=0.78
0002 MOVJ VJ=100.00
0003 MOVJ VJ=25.00
0004 END

Main Menu ShortCut ! Turn on servo power

Figure 9-1 Linking Jobs with CALL Instruction

NOTE: FWD and BWD keys do not execute Call instructions. These can only
be executed while in TEACH Mode by using Interlock + FWD to
execute this one line, or use Interlock + TEST START for continuous
execution. To display the child job content, use Direct Open.

CAUTION! If the called job is also a motion job, care should be taken when
modifying points to ensure a clear path to and from each child job.

NX Operator’s Training Manual Page 9-1 © MOTOMAN


Non-Motion Instructions

9.2 Direct Open


Touching DIRECT OPEN, as shown in Figure 9-2, will “open” the JOB
CONTENT of the child job to be editied. The DIRECT OPEN function will work
whether the cursor is on either side of the screen, as long as it is highlighting the
desired line number or CALL instruction’s job name.

JOB EDIT DISPLAY UTILITY

JOB CONTENT
JOB NAME:
: PART20 STEP NO: 0001
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 MOVJ VJ=0.78
0002 CALL JOB: PART20-1
0003 MOVJ VJ=25.00
JOB EDIT DISPLAY UTILITY
0004 END
JOB CONTENT
JOB NAME: PART20-1 STEP NO: 0000
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 MOVJ VJ=0.78
0002 MOVJ VJ=100.00
Main Menu ShortCut 0003
! Turn on servo power
MOVJ VJ=25.00
0004 END

DIRECT
OPEN

Main Menu ShortCut ! Turn on servo power

Figure 9-2 Displaying a “child” Job Using Direct Open

When editing is complete, simply touch DIRECT OPEN again to turn is off and
return to the CALL instruction line in the parent job.

9.3 JUMP *LABEL


The JUMP *LABEL instructs the controller to go to the matching *LABEL
instruction within the same job and resume execution on the next line. This is used
to skip a portion of lines in the job when the JUMP precedes the LABEL. If the
LABEL precedes the JUMP, a repeat loop is created.

In the job sample, the controller will execute the program from L:0004 to L:0008
without executing lines 5,6, and 7.

0003 MOVJ VJ=25.00


0004 JUMP *LABEL1
0005 MOVC V=150
0006 MOVC V=150
0007 MOVC V=150
0008 *LABEL1
0009 MOVL V=150
0010 MOVJ VJ=25.00

Figure 9-3 Jump to a Label

NX Operator’s Training Manual Page 9-2 © MOTOMAN


Non-Motion Instructions

9.4 Conditional “IF” Construct


The IF statement is a conditional construct that permits execution of the root
instruction only if the designated condition is met (True). When the condition is not
met (False), the controller prohibits the instruction from execution. For example,
CALL a tool cleaning job if a Variable has reached a certain value, or JUMP a
sequence of steps if a Universal Input is on.

Thefollowing is a set of examples for the CONTROL instructions


that can be made conditional with the IF tag:
• JUMP *LABEL IF IN#(2) ON
• CALL JOB: TOOCLN IF D017>30
• RET IF IG#(1)=0
• PAUSE IF IN#(5) OFF

9.5 PAUSE
The PAUSE instruction causes the robot to cease execution of the job. The start
lamp turns OFF, and the robot maintains its position. Pause instructions are used
whenever a programmed HOLD is required. The message “Robot is stopped by
execution of PAUSE command...” appears on the message line. To continue the
job, press the START button.

9.6 TIMER
The TIMER instruction delays further exectuion of a job. The cursor remains on
this instruction line until the time expires. The TIMER function is typically used
when the robot needs to remain at a certain position for some length of time, such as
during arc establish, gripping, nozzle cleaning, etc. The TIMER range is 0.01 to
655.30 seconds.

0003 DOUT OT#(3) ON


0004 TIMER T=3.25
0005 DOUT OT#(3) OFF

Figure 9-4 Example DOUT and TIMER Instructions

9.7 DOUT
The DOUT instruction is used any time a device, such as a light or gripper, is to be
turned ON or OFF. This instruction is a Digital Output instruction.
NOTE: By default, once an Output has been turned ON it will remain ON until a
DOUT “OFF” instruction is executed by the job or manually turned off.

NX Operator’s Training Manual Page 9-3 © MOTOMAN


Non-Motion Instructions

9.8 WAIT (Digital Input)

The WAIT instruction is a Digital Input instruction often used when a robot program
is dependent on a signal from a sensor, such as a limit switch or proximity sensor.
The following are examples of the WAIT instruction using a UNIV IN with/without
a timer:

0011 WAIT IN#(3)=ON [waits indefinitely for Input 3 to be ON]

0052 WAIT IN#(5)=OFF T=3.25 [waits either for Input 5 to be OFF or for
3.25 seconds, then resumes]

Figure 9-5 Job Examples Using the Wait Instruction

NOTE: If the condition status is already “true” when the controller gets to the
WAIT instruction in the job then there will be no waiting.

NX Operator’s Training Manual Page 9-4 © MOTOMAN


Monitoring I/O Bit Status

10.0 MONITORING I/O BIT STATUS

10.1 Monitoring Universal Inputs


It is possible to monitor the status and/or determine the name description of
Universal Inputs whether in TEACH mode or PLAY mode.

Perform the following steps to access the Universal Input display screen:

1. From MAIN MENU, choose IN/OUT.


2. Choose UNIVERSAL INPUT.

NOTE: This screen offers two different displays. SIMPLE shows only
groupings of Inputs with Bit indicators for each individual Input. DETAIL
shows individual Inputs with names and status.
3. Choose DISPLAY in the Menu Area.
4. Choose DETAIL or SIMPLE.

NOTE: Only the alternate selection will be available as a choice.

To search for a specific Input number:


1. In the DETAIL display, choose EDIT.
2. Cursor to SEARCH SIGNAL NO. and press SELECT.
3. Key in the desired Input number and press ENTER.
or
1. In the DETAIL display, put the cursor on any IN# ( ) and press SELECT.
2. Enter the desired Input number and press ENTER.
DATA EDIT DISPLAY UTILITY

UNIVERSAL INPUT
GROUP IG#001 107 : DEC. 6B : HEX.
IN#0001 #00010
IN#0002 #00011
IN#0003 #00012
IN#0004 #00013
IN#0005 #00014
IN#0006 #00015
IN#0007 #00016
IN#0008 #00017

PAGE

Main Menu ShortCut

Figure 10-1 Universal Input Detail Display

NX Basic Programming Manual Page 10-1 © MOTOMAN


Monitoring I/O Bit Status

10.2 Monitoring Universal Outputs


It is possible to monitor the status and/or determine the name description of
Universal Outputs whether in TEACH mode or PLAY mode.

To display and monitor/operate Universal Outputs, perform the following


steps to access the Universal Output display screen:

1. From MAIN MENU, choose IN/OUT.


2. Choose UNIVERSAL OUTPUT.

NOTE: This screen offers two different displays. SIMPLE shows only
groupings of Outputs with Bit indicators for each individual Output.
DETAIL shows individual Outputs with names and status.
3. Choose DISPLAY in the Menu Area.
4. Choose DETAIL/SIMPLE.

To search for a specific Output number:

5. Choose EDIT, cursor to SEARCH SIGNAL NO. and press SELECT. Enter
the Output number; press ENTER.
or
Place the cursor on any OT#( ), press SELECT, enter the desired number
and press ENTER.

The DETAIL Output screen allows Universal Outputs to be forced ON/OFF.

DATA EDIT DISPLAY UTILITY

UNIVERSAL OUTPUT
GROUP OG#001 205 : DEC. CD : HEX.
OT#0001 #00010
OT#0002 #00011
OT#0003 #00012
OT#0004 #00013
OT#0005 #00014
OT#0006 #00015
OT#0007 #00016
OT#0008 #00017

PAGE

Main Menu ShortCut

Figure 10-2 Universal Output Detail Display

NX Basic Programming Manual Page 10-2 © MOTOMAN


Monitoring I/O Bit Status

To force an individual Output ON/OFF, perform the following steps in


TEACH mode:

1. Cursor to the status symbol [❍] for the Output to be changed.


2. Hold the INTERLOCK key and press SELECT to toggle the Output status
between [●] ON and [❍] OFF.

10.3 Binary Status and I/O Groups


I/O Groups use the Binary system to read or control multiple Digital Inputs or
Outputs at the same time. Digital I/O signals are either On or Off. The software
recognizes these two states as “0” (Off) or “1” (On). The Binary system uses
these zeros and ones to express the status of groups of I/O signals, for example
“10011101”. These 8 bit Binary groups are based on eight consecutive Inputs or
Outputs. Group 1 would be made up of Inputs or Outputs 1-8, Group 2 would
include 9-16, etc. For example, using the group instruction DOUT OG#(1) = 162,
the Outputs 2, 6, and 8 could all be turned ON (and Outputs 1, 3, 4, 5, and 7
would be turned OFF) with a single instruction, since the designated Outputs all
belong to the same Output Group.

Conversion of the Binary number to a Decimal value is performed as illustrated in


Table 10-1. Each Input or Output is assigned a Binary position, with the Off or On
status read as a (0) or (1). The 8-bit place values in Binary are the same for each
Group and are shown in Table 10-1 for Input or Output Group #(1).

Table 10-1 8-Bit Place Values in Binary

IN#/OT# (8) (7) (6) (5) (4) (3) (2) (1)


Binary place value 27 26 25 24 23 22 21 20
Decimal value 128 64 32 16 8 4 2 1
Sample ON/OFF 1 0 0 1 0 0 0 0 = 144

NOTE: There are 128 Universal Input Groups, IN#(1) through IN#(1024), and
128 Universal Output Groups, OT#(1) through OT#(1024) available on
the NX100.

NX Basic Programming Manual Page 10-3 © MOTOMAN


Monitoring I/O Bit Status

The I/O Group number will be displayed when viewing the Universal Input or
Universal Output Detail Display under the IN/OUT icon. The group number will be
indicated in the General Display Area on the line beneath the Status Display Area.
The line begins on the left with the word GROUP, followed by the group
designation. Input Groups will be listed as “IG#(__)” and Output Groups as
“OG#(__)”. Additional I/O Groups can be displayed by pressing the PAGE key.
The decimal equivalent is shown as “__:DEC”.

The status of individual Inputs or Outputs is shown as an open or filled Status


Circle. A filled Status Circle indicates an “ON” condition.

DATA EDIT DISPLAY UTILITY DATA EDIT DISPLAY UTILITY

UNIVERSAL INPUT UNIVERSAL OUTPUT


GROUP IG#001 107 : DEC. 6B : HEX. GROUP OG#001 205 : DEC. CD : HEX.
IN#0001 #00010 OT#0001 #00010
IN#0002 #00011 OT#0002 #00011
IN#0003 #00012 OT#0003 #00012
IN#0004 #00013 OT#0004 #00013
IN#0005 #00014 OT#0005 #00014
IN#0006 #00015 OT#0006 #00015
IN#0007 #00016 OT#0007 #00016
IN#0008 #00017 OT#0008 #00017

PAGE PAGE

Main Menu ShortCut Main Menu ShortCut

Figure 10-3 Universal Input and Output Displays

In the Figure 10-3, the first Universal Input Group, IG#(01) has a status of
107:DEC (1 + 2 + 8 + 32 + 64). The first Universal Output Group, OG#(01) has
a status of 205:DEC (1 + 4 + 8 + 64 + 128).

NX Basic Programming Manual Page 10-4 © MOTOMAN


Recovery Techniques

11.0 RECOVEREY TECHNIQUES


There are severeal conditions that will require operator interaction with the system;
among these are Overrun & Shock Sensor Action and Internal Shock Sensor.

11.1 Shock Sensor Action


In some robot installations, there is a device called a “shock sensor” mounted
between the robot arm and the tool. This device protects the robot from damage in
the event of a crash. Crashing the tool causes loss of the signal from this device to
the NX100. The controller will then react to this loss of signal.
NOTE: E-STOP is the default setting for shock sensor activation, but a HOLD
setting is also available.
The controller must be told to overlook the status of the shock sensor while the
robot is jogged away from the crash. To do this, the appropriate screen must be
displayed.

To display the recovery screen, perform the following keystrokes:

1. From MAIN MENU, choose ROBOT, or use cursor keys and SELECT key.
2. Choose OVERRUN&S-SENSOR.
The screen in Figure 11-3 will be displayed.

DATA EDIT DISPLAY UTILITY

OVERRUN&SHOCK SENSOR
SHOCK SENSOR STOP COMMAND: E-STOP
OCCUR GRP OVERRUN S-SENSOR
ROBOT1

RELEASE ALM RST


Main Menu ShortCut

Figure 11-1 Overrun and Shock Sensor

NOTE: This selection is only available in the Editing and Management modes.
3. Choose “RELEASE”.

NX Operator’s Training Manual Page 11-1 © MOTOMAN


Recovery Techniques

4. Choose “ALM RST”.


Servo Power may now be turned on in the TEACH mode only. The robot may be
jogged, but only in the Joint coordinates.
NOTE: This “RELEASE” is only in effect when this screen is displayed. If the
screen is changed to any other prior to the Shock Sensor being reset,
the controller will return to an Alarm condition and E-Stop the robot.

11.2 Internal Shock Sensor


The NX100 controlled robot has an internal shock sensor system that can protect
both the tool and the robot arm during an impact by monitoring the torque of the
servomotors. If the torque exceeds a specified value, an alarm will be generated.
This is often caused by the tool or robot arm coming in contact with a part or
fixture, also known as a “crash”.

NOTE: Some situations may not require that the robot be “recovered” by
jogging. In other situations, releasing the brakes and pushing the robot
may be more effective.
To recover from an Internal Shock Sensor action, perform the following:

1. From MAIN MENU, choose ROBOT.


2. Choose SHOCK SENS LEVEL.

DATA EDIT DISPLAY UTILITY

SHOCK DETECTION LVL

DETECTION MODE PLAY


COND. NO. 8 (STANDARD)
FUNC. MAX. DISTURBANCE DETECTION LVL
R1 VALID 80 100

Main Menu ShortCut

Figure 11-2 Shock Sensor Display

3. Using the Page key, find the Condition Number where the Max Disturbance is
greater than the Detection Level (normally Cond 8 for PLAY and Cond 9 for
TEACH).

NX Operator’s Training Manual Page 11-2 © MOTOMAN


Recovery Techniques

4. Cursor to the function (VALID) and press SELECT, changing the function to
INVALID.

Servo power can now be applied as the controller “overlooks” the motor torque
values, allowing the robot to be jogged..

NOTE: Ensure the Condition is returned to VALID after the robot is recovered.

DATA EDIT DISPLAY UTILITY

SHOCK DETECTION LVL

DETECTION MODE PLAY


COND. NO. 8 (STANDARD)
FUNC. MAX. DISTURBANCE DETECTION LVL
R1 INVALID 80 100

Main Menu ShortCut

Figure 11-5 Shock Sensor - Invalid

11.3 Sequence Wait


A “Cubic Interference Zone” or an “Axis Interference Zone” is an area that the
programmer has defined for monitoring the location of the active TCP. The
controller recognizes when the TCP is inside this cube, and the respective Specific
Output is ON.

Many systems have a cube defined as a Safe Cube. This area is the robot location
where the controller can safely start running the Master Job or perhaps a positioner
is safe to flip or rotate. Possible crash conditions could occur if the controller
started running the job when the TCP is not in the desired zone.

cThrough internal instructions, if the robot is not in this safe cube zone when the
START button is pressed, the controller will not run the job. Additionally, the
message line may display the reason for the controller not starting the job, or the
cursored instruction in the job will indicate the reason.

When multiple robots are in use, one robot will go into “Program sequence wait”
until the other robot’s TCP is out of the monitored interference zone.

NX Operator’s Training Manual Page 11-3 © MOTOMAN


Recovery Techniques

NX Operator’s Training Manual Page 11-4 © MOTOMAN


INDEX
A
Active Job 6-1
Alarm Display 5-3
Alarm History 5-4
ALARMS & ERRORS 5-1
Arc Welding, General, Handling, or Spot Welding 2-6
AREA key 2-7

B
BINARY 10-1
Binary Status and I/O Groups 10-3
BWD key 4-5

C
CALL 9-1
CANCEL 2-5, 5-1
Check Position 5-2
Command Position 4-6, 7-3
CompactFlash 3-1
Control Group Keys 4-1
COORD key 2-8
COORDINATES/AXES 4-1
Current Position 4-6
Cursor Key 2-7
Cycle Selection 7-4

D
Digital Input 9-4
Direct Open 4-6, 9-2
DOUT 9-3

E
E-Stop 3-3
Edit protection 8-1, 8-2
Editing Keys 2-7
EDITING MODE 2-5
Enable Switch 3-4
ENTER 2-8
Error Messages 5-1
EX. AXIS Key 4-1

F
FD/CF 2-6
FWD key 3-3, 4-5, 7-3

NX Basic Programming Manual Index-1 © MOTOMAN


G
General Display Area 2-4
GROUPS,COORDINATES & AXES 4-1

H
HIGH SPD Key 4-5
Hold 3-3
Human Interface Area 2-5

I
In/Out 2-6
INSERT key 2-8
INTERLOCK key 3-3
Interlock/Test Start 7-3
Internal Shock Sensor 11-2

J
Job 2-6
Joint Coordinates 4-2, 4-5
JUMP *LABEL 9-2

L
Label 9-2
Linking jobs 9-1

M
Main Menu Area 2-3
Main Menu Selections 2-5
Main power switch 1-1
Major Alarms 5-3, 5-4
MANUAL SPEED 4-5
Master Job 6-2
Menu Area 2-1, 2-7
Message Line 2-5
Minor Alarms 5-1, 5-4
Mode Selection Switch 3-2
MODIFY key 2-8
Modifying a Step Position 8-4
Monitoring Universal Inputs 10-1
Monitoring Universal Outputs 10-2

N
NX Pendant Screen 2-1

O
Operation Buttons 3-3
OPERATION MODE 2-5

NX Basic Programming Manual Index-2 © MOTOMAN


P
Path Confirmation 7-2
PAUSE 9-3
PLAY mode 3-2, 3-3, 3-4
Playing A Job 7-5
Position Level Specification 8-5
Powering Up The NX 1-1

R
Rectangular 4-2
REMOTE Mode 3-1
RET 9-1
ROBOT Key 4-1
Robot Position 4-6

S
Screen Areas 2-1
Second Home Position 5-2
SELECT key 2-7, 3-3
Selecting A Job 6-1
Servo On/Ready 3-4
SHIFT keys 2-8
Shock Sensor Action 11-1
Speed 4-5
START button 3-2, 3-3
Status Display Area 2-2
System Info 2-6

T
TEACH mode 3-2, 3-3, 3-4
TIMER 9-3
Tool 4-2

U
Universal Inputs 10-1
Universal Outputs 10-2
User Coordinates 4-2

V
Variable 2-6

W
WAIT 9-4

NX Basic Programming Manual Index-3 © MOTOMAN


NX Basic Programming Manual Index-4 © MOTOMAN