NX100 OPTIONS

INSTRUCTIONS
FOR INDEPENDENT/COORDINATED CONTROL FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.

MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

Part Number: 149648-1CD

Revision: 4

MANUAL NO. RE-CKI-A443 4

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 MANDATORY
• This manual explains the independent/coordinated control function of
the NX100 system and general operations. Read this manual carefully
and be sure to understand its contents before handling the NX100.

• General items related to safety are listed in Chapter 1: Safety of the

NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.

CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.

• The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your prod-
uct’s warranty.

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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,”
“MANDATORY,” or ”PROHIBITED.”

Indicates a potentially hazardous situation which, if not avoided,

WARNING could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided,

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.

Always be sure to follow explicitly the items listed under this

MANDATORY heading.

PROHIBITED Must never be performed.

Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.

NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING.”

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 WARNING
• Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the program-
ming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.

Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

TURN

Release of Emergency Stop

• Observe the following precautions when performing teaching operations

within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the P-point maximum envelope of

the manipulator and that you are in a safe location before:
- Turning ON the NX100 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations

Injury may result if anyone enters the P-point maximum envelope of the manipulator dur-
ing operation. Always press an emergency stop button immediately if there are prob-
lems.The emergency stop buttons are located on the right of the front door of the NX100
and the programming pendant.

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 CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the NX100 cabi-
net after use.

The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the NX100

Instructions before operating the manipulator.

Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming pendant, and supply
cables.
In this manual, the equipment is designated as follows:

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

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Descriptions of the programming pendant keys, buttons, and displays are shown as follows:

Equipment Manual Designation

Programming Character Keys The keys which have characters printed on them are
Pendant denoted with [ ].
ex. [ENTER]

Symbol Keys The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
GO BACK

ex. page key PAGE

The cursor key is an exception, and a picture is not

shown.

Axis Keys “Axis Keys” and “Numeric Keys” are generic names
Numeric Keys for the keys for axis operation and number input.

Keys pressed When two keys are to be pressed simultaneously,

simultaneously the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed, or that the item is directly
selected by touching the screen.

Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered
trademarks, or brand names for each company or corporation. The indications of (R) and TM
are omitted.

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1 Independent/Coordinated Control Function
1.1 Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Independent Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

2 Coordinated Positioner System

2.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Function Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2.1 Arc Welding Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2.2 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.3 Example of Job Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
2.4 System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.4.1 Registering Group Combination . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.4.2 Calibration between Manipulator and Station . . . . . . . . . . . . .2-10
 Calibration Tool Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
 Teaching Positions for Calibration. . . . . . . . . . . . . . . . . . . .2-11
 Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-14
2.5 JOB CONTENT Window . . . . . . . . . . . . . . . . . . . . . . . . . . .2-17
2.6 Synchronized/Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-18
2.6.1 Synchronized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-18
2.6.2 Single. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-19
2.7 Selecting Axis to be Handled . . . . . . . . . . . . . . . . . . . . . .2-20
2.7.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .2-20
2.7.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .2-20
2.8 Registering Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-21
2.9 Registering Move Instruction (S)MOV+MOVJ . . . .2-22
2.9.1 Operating Master Side (Station) . . . . . . . . . . . . . . . . . . . . . . .2-22
2.9.2 Operating Slave Side (Manipulator) . . . . . . . . . . . . . . . . . . . .2-23
2.10 Registering Reference Point Instruction
(SREFP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-24

3 Jigless System
3.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.2 Specific Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.3 Opening and Closing Handling Tool . . . . . . . . . . . . . . . .3-4
3.4 Example of Teaching Job . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.5 System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.5.1 Registering Group Combination . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.5.2 Calibration between Manipulators . . . . . . . . . . . . . . . . . . . . . . .3-8

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  Calibration Tool Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
 Teaching Position for Calibration . . . . . . . . . . . . . . . . . . . . . 3-9
 Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.6 Job Content Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.7 Synchronized/Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.7.1 Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.7.2 Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.8 Selecting Axis to be Handled . . . . . . . . . . . . . . . . . . . . . 3-16
3.8.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.8.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.9 Registering Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.10 Registering Move Instruction (S)MOV+MOV . 3-18
3.10.1 Operating Master Side (Workpiece) . . . . . . . . . . . . . . . . . . . 3-18
3.10.2 Operating Slave Side (Torch) . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.11 Registering Reference Point Instruction
(SREFP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.12 Registering Handling Instructions . . . . . . . . . . . . . . . . 3-21
3.13 Other Convenient Features . . . . . . . . . . . . . . . . . . . . . . 3-22
3.13.1 Example of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.13.2 Operation Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.13.3 Manipulator Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
 Basic axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
 Wrist axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
 Synchronized/Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

4 Twin Synchronous System

4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Function Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.1 Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.2 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3 Job Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.4 Leader and Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.5 Synchronizing with TSYNC . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.6 Job Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.7 JOB CONTENT Window . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.8 Synchronized/Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4.8.1 Synchronized/Single Movement Between Station
and Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
 Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
 Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.8.2 Job Synchronized Mode for Subtask 1 and 2 . . . . . . . . . . . . . 4-15

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4.9 Selecting Axis to be Handled . . . . . . . . . . . . . . . . . . . . . .4-17
4.9.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
4.9.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . .4-17
4.10 Registering Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-18
4.11 Registering Move Instruction (S)MOV+MOVJ . .4-19
4.11.1 Operating Master Side (Station) . . . . . . . . . . . . . . . . . . . . . .4-19
4.11.2 Operating Slave Side (Manipulator) . . . . . . . . . . . . . . . . . . .4-20
4.12 Registering Reference Point Instruction
(SREFP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-21
4.13 Switching Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-22
4.14 Creating a Job in a Subtask - Method 1 and 2 . . . .4-23
4.15 Method 1: Copy One Subtask Job and
Create Another Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-24
4.15.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-24
4.15.2 Teaching and Mirror Shift . . . . . . . . . . . . . . . . . . . . . . . . . . .4-25
 Converting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-25
 Jobs Not to be Converted . . . . . . . . . . . . . . . . . . . . . . . . . .4-27
 Group Axes for Conversion . . . . . . . . . . . . . . . . . . . . . . . . .4-27
 Position Type Variables. . . . . . . . . . . . . . . . . . . . . . . . . . . .4-27
 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-27
4.15.3 Correcting Positional Dislocation . . . . . . . . . . . . . . . . . . . . .4-28
 Setting the Items for Conversion . . . . . . . . . . . . . . . . . . . . .4-28
 Setting the Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-29
 Executing Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-32
4.16 Method 2: Perform Teaching for
Each Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-33
4.16.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-33
4.16.2 Teaching using Master Task . . . . . . . . . . . . . . . . . . . . . . . . .4-34
4.16.3 Teaching using SUPERVISORY Window . . . . . . . . . . . . . . .4-36
4.17 Job in Master Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-39
4.18 Confirming Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
4.18.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-41
4.18.2 Precautions for Confirming Operation. . . . . . . . . . . . . . . . . .4-42
 Stops during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-42
 When “Multi-job operation mode” is Set
in the TEACHING CONDITION Window . . . . . . . . . . . . . . .4-43
4.19 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-44
4.19.1 Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-44
4.19.2 Automatic Correction of Shift Value . . . . . . . . . . . . . . . . . . .4-45

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5 Triple Synchronous System
5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Function Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Arc Welding Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.2 General Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.3 Job Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5.4 Leader and Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.5 Synchronizing with TSYNC . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.6 Job Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.7 JOB CONTENT Window . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.8 Synchronized/Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.8.1 Synchronized/Single Movement Between Station and
Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
 Synchronized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
 Single . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.8.2 Job Synchronized Mode for Subtask 1, 2, and 3 . . . . . . . . . . 5-16
5.9 Selecting Axis to be Handled . . . . . . . . . . . . . . . . . . . . . 5-18
5.9.1 When There is an Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.9.2 When There is No Edit Job . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.10 Registering Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.11 Registering Move Instruction (S)MOV+MOVJ . . 5-20
5.11.1 Operating Master Side (Station) . . . . . . . . . . . . . . . . . . . . . . 5-20
5.11.2 Operating Slave Side (Manipulator) . . . . . . . . . . . . . . . . . . . 5-21
5.12 Registering Reference Point Instruction
(SREFP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.13 Changing Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.14 Creating a Job in a Subtask - Method 1 and 2. . . . 5-23
5.15 Method 1: Copy One Subtask Job and
Create Other Two Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.15.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.15.2 Teaching and Mirror Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
 Converting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26
 Jobs Not to be Converted . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
 Group Axes for Conversion . . . . . . . . . . . . . . . . . . . . . . . . 5-28
 Position Type Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.15.3 Correcting Positional Dislocation . . . . . . . . . . . . . . . . . . . . . 5-29
 Setting the Items for Conversion . . . . . . . . . . . . . . . . . . . . 5-29
 Setting the Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
 Executing Conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.16 Method 2: Perform Teaching for
Each Manipulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

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 5.16.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34
5.16.2 Teaching using Master Task . . . . . . . . . . . . . . . . . . . . . . . . .5-34
5.16.3 Teaching using SUPERVISORY Window . . . . . . . . . . . . . . .5-37
5.17 Job in Master Task . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-40
5.18 Confirming Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-42
5.18.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-42
5.18.2 Precautions for Confirming Operation. . . . . . . . . . . . . . . . . .5-43
 Stops during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-43
 When “Multi-job operation mode” is Set in the
TEACHING CONDITION Window. . . . . . . . . . . . . . . . . . . .5-44
5.19 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-45
5.19.1 Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-45
5.19.2 Automatic Correction of Shift Value . . . . . . . . . . . . . . . . . . .5-46

6 Coordinated Control
6.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.2 Group Combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.3 Coordinated and Individual Interpolations . . . . . . . . . . .6-2
6.3.1 Coordinated Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.3.2 Individual Interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.3.3 Changing Interpolation Mode . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.4 Restriction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3

7 Independent Control
7.1 Independent Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.2 Startup Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-3
7.2.1 Starting a Job always Fixed (Master Job) . . . . . . . . . . . . . . . . .7-3
7.2.2 Starting Various Jobs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5
7.3 Switching Task Window . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
7.4 Registering Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-6
7.4.1 PSTART Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-7
7.4.2 PWAIT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-10
7.4.3 TSYNC Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-11
7.5 Registering Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14
7.5.1 Robot Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-14
7.5.2 Concurrent Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-15
7.6 Job Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-16
7.6.1 Non-Synchronous Operation . . . . . . . . . . . . . . . . . . . . . . . . . .7-16
7.6.2 Synchronous Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-17
7.7 Confirming Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-18

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11/210
 7.7.1 FWD/BWD Operation and Test Run . . . . . . . . . . . . . . . . . . . . 7-18
 Confirming the Operation of the Task being Displayed . . . 7-18
 Confirming the Operation of All Tasks . . . . . . . . . . . . . . . . 7-18
7.7.2 Switching Operating Method. . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
 Switching by [SHIFT]+[SMOV] . . . . . . . . . . . . . . . . . . . . . . 7-18
 Switching on TEACHING CONDITION Window. . . . . . . . . 7-19
7.7.3 BWD Operation of Concurrent Job . . . . . . . . . . . . . . . . . . . . . 7-19
7.8 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
7.8.1 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
7.8.2 Registering Master Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
 Registering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
 Cancelling Registration. . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
7.8.3 Calling Master Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-24
 When the Master Job in the Master Task is Called . . . . . . 7-24
 When the Master Job in a Subtask 1/2/3 is Called . . . . . . . 7-25
7.8.4 Registration of Root (startup) Job . . . . . . . . . . . . . . . . . . . . . . 7-26
 Registrering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
 Cancelling Registration. . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
7.8.5 Confirming Operating Status (SUPERVISORY
Window) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
7.8.6 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
 Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
 Restarting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
 Stopping and Restarting a Subtask Alone . . . . . . . . . . . . . 7-31

8 Servo Power Supply Individual Control Function

8.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.2 Connection of Signals for Servo Power Supply
Individual Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.3 Confirming Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.4 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.4.1 Turning ON Only the Servo Power Supply for
the Selected Control Group at Teaching . . . . . . . . . . . . . . . . . 8-4
8.4.2 Turning OFF Only the Servo Power Supply for
the Selected Control Group at Playback . . . . . . . . . . . . . . . . . 8-4
8.5 System Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.5.1 Servo Power ON Status Signal for Each Control Group. . . . . . 8-6
8.5.2 “During Servo ON” Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.6 Operation of Job Without Control Group
Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

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9 Robot Language (INFORM II) Instructions
9.1 Coordinated Motion Instructions . . . . . . . . . . . . . . . . . . . .9-1
9.2 Independent Control Instructions . . . . . . . . . . . . . . . . . . .9-5

10 CONVSFT Instruction ( Coordinate System

Conversion Instruction of the Shift Value)
10.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1
10.2 CONVSFT Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
10.2.1 Explanation of CONVSFT . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
 Instructed Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
 Converted Shift Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
 Base Point Shift Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
 Master Robot (Station) Position . . . . . . . . . . . . . . . . . . . . .10-3
 Coordinate System to be Converted . . . . . . . . . . . . . . . . . .10-3
10.3 Example of Conversion . . . . . . . . . . . . . . . . . . . . . . . . . .10-4
10.4 Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-6
 4499 UNDEFINED POSITION VARIABLE . . . . . . . . . . . . .10-6
 4495 UNDEFINED ROBOT CARIBRATION . . . . . . . . . . . .10-6
 4500 UNDEFINED USER FRAME . . . . . . . . . . . . . . . . . . .10-6
10.5 Supplementary Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-7
 About the need to make parallel shift on the master tool
coordinate system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-7

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1.1 Coordinated Control

1 Independent/Coordinated Control
Function

With the NX100, a system can be configured to control multiple manipulators or stations
simultaneously with a single controller.
With the independent / coordinated control function, manipulators and/or stations can be oper-
ated together or individually. Operation can be optimized for the jobs.

1.1 Coordinated Control

With this function, manipulators or stations execute jobs in a coordinated motion.

<Example>
Using two coordinated manipulators to execute a job.

Job

NOP


SMOVL
+MOVL



1-1
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 1.2 Independent Control

1.2 Independent Control

With this function, manipulators and/or stations execute jobs independently without synchroni-
zation.

<Example>
While executing a work job at one station, the other station executes a job to return to the
home position for the next job.

Job Job
(Work job) (Home position return job)

NOP NOP
 
 
SMOVL MOVJ
+MOVJ 
 


1-2
15/210
2.1 Outline

2 Coordinated Positioner System

2.1 Outline

The coordinated positioner system is a system which coordinates a job where a positioner
(hereinafter called “station”) holds a workpiece while a manipulator holds a tool.

Manipulator Station

In order to operate a station and a manipulator simultaneously, a coordinated job is needed.

In the coordinated job, there are two operations: a coordinated interpolation where a station
and a manipulator perform a reciprocal movement as master and slave, and an individual
interpolation where a station and a manipulator move individually.
The move instruction in a coordinated job displays two lines: The first line is for the slave side
(manipulator), and the second line is for the master side (station).

SMOVL
Slave +MOVJ
Master
MOVL
+MOVJ

2-1
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 2.2 Function Keys

2.2 Function Keys

The function keys for the coordinated positioner system are assigned to the Numeric keys as
shown in the figures below.

2.2.1 Arc Welding Application

REMOTE TEACH
PLAY START HOLD

!?

7 8 9
SYNCRO
SINGLE ARCON FEED

4 5 6
GAS
SMOV ARCOFF RETRACT

1 2 3
TIMER CUR/VOL

0 . -
REFP CUR/VOL

Registers a timer instruction “TIMER” in a job.

1
TIMER

Registers a reference point “REFP” in a job, or modifies the registered ref-

erence point.
0
REFP [REFP] + [FWD]
Moves the manipulator to the registered reference point.

2-2
17/210
2.2 Function Keys

Registers a welding start instruction “ARCON.”

8
ARCON

Registers a welding end instruction “ARCOF.”

5
GAS
ARCOFF

(These keys are for future use and disabled in the current version.)
Used for the gas flow control.
INTER 5 Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20
LOCK + GAS seconds, and then the valve automatically closes.
ARCOFF Pressing [INTERLOCK] + [GAS ARCOFF] again within the 20 seconds,
the gas valve can be manually closed.
Used for wire inching. Press [FEED] to feed the wire, and press
[RETRACT] to retract the wire.
9
While these keys are pressed, the wire feed motor operates.
FEED
When the following are pressed simultaneously, wire inching is performed
in the high speed mode.
6 [HIGH SPEED] + [FEED]
RETRACT [HIGH SPEED] + [RETRACT]

Modifies the welding current/voltage while welding during the play mode.
Press [3/CUR/VOL] to increase the current/voltage value, and press
3 [/CUR/VOL] to decrease the current/voltage value.
CUR/VOL (Refer to “11.6 Changing Welding Conditions During Playback” in the
Operator’s Manual.)
-
CUR/VOL

Changes the type of movement for the manipulator when teaching a coor-
dinated job. Each time this key is pressed, the movement type changes.

7 SYNCRO: The mark for “synchronized” appears in the status display area.
SYNCRO When the master side is moved, the slave side will follow the
SINGLE movement of the master.

SINGLE: Only the selected group axis moves.

Selects either a coordinated or an individual interpolation when teaching a
coordinated job. Each time this key is pressed, the operation type
changes.

4 Coordinated: All the move instructions that are registered in this mode
SMOV become coordinated instructions.

Individual: The master-slave relationship is cancelled. Each manipulator

and station moves independently.

Wire retraction, high-speed inching, or high-speed retraction cannot be performed depend-

SUPPLE-
MENT ing on the Power Source.

[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
NO TE for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.

2-3
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 2.2 Function Keys

2.2.2 General Application

REMOTE TEACH
PLAY START HOLD

!?

7 8 9
SYNCRO
SINGLE

4 5 6
SMOV

1 2 3
TOOLON
TOOLON JOB

0 . -
TOOLOF
TOOLOF JOB

Registers the TOOLON instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLON operation is exe-
2
cuted.
TOOLON

Registers the TOOLOF instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is exe-
.
cuted.
TOOLOF

Registers the CALL instruction for the reserved job TOOLONxx.

3
TOOLON
JOB

Registers the CALL instruction for the reserved job TOOLOFxx.

-
TOOLOF
JOB

2-4
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2.2 Function Keys

Changes the type of movement for the manipulator when teaching a coordi-
nated job. Each time this key is pressed, the movement type changes.

7 SYNCRO: The mark for “synchronized” appears in the status display area.
SYNCRO When the master side is moved, the slave side will follow the
SINGLE
movement of the master.

SINGLE: Only the selected group axis moves.

Selects either a coordinated or an individual interpolation when teaching a

coordinated job. Each time this key is pressed, the operation type changes.

4 Coordinated: All the move instructions that are registered in this mode
SMOV
become coordinated instructions.

Individual: The master-slave relationship is cancelled. Each manipulator and

station moves independently.

[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
NO TE for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.

2-5
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 2.3 Example of Job Teaching

2.3 Example of Job Teaching

Stand-by

Step Instruction
001 MOVJ VJ=50.00
+MOVJ

Starting

002 SMOVL V=200

+MOVJ

SWVON WEV#(1)

ARCON ASF#(1)
Coordinated operation

003 SMOVL V=200

+MOVJ
Ending

004 SMOVL V=200

+MOVJ

005 SMOVL V=200

+MOVJ

ARCOF AEF#(1)

SWVOF

Separate from the workpiece

006 MOVJ VJ=50.00

+MOVJ

007 MOVJ VJ=50.00

+MOVJ

The torch moves to the cleaner. The workpiece is unloaded.

2-6
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2.4 System Setup

2.4 System Setup

2.4.1 Registering Group Combination

Register a combination of a station and a manipulator.

Operation Explanation

1 Select {SETUP} under the

main menu.
2 Select {GRP COMBINATION}. The GROUP COMBINATION window appears.
DATA EDIT DISPLAY UTILITY

GROUP COMBINATION
GROUP AXIS MASTER
R1
S1

Main Menu Short Cut

3 Press [SELECT]. The selection dialog box appears.

DATA EDIT DISPLAY UTILITY

GROUP COMBINATION
GROUP AXIS MASTER
ADD GROUP
MODIFY GROUP
DELETE GROUP

Main Menu Short Cut

2-7
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 2.4 System Setup

Operation Explanation

4 Select “ADD GROUP.” The GROUP COMBI SET window appears.

DATA EDIT DISPLAY UTILITY

GROUP COMBI SET

NO.1 CONTROL GROUP
NO.2 CONTROL GROUP
MASTER

EXECUTE CANCEL

Main Menu Short Cut

5 Press [SELECT]. The selection dialog box appears.

DATA EDIT DISPLAY UTILITY

GROUP COMBI SET

NO.1 CONTROL GROUP R1: ROBOT1
NO.2 CONTROL GROUP S1: STATION1
MASTER

EXECUTE CANCEL

Main Menu Short Cut

6 Select a group axis to be set. Set a station as “MASTER.”

DATA EDIT DISPLAY UTILITY

GROUP COMBI SET

NO.1 CONTROL GROUP R1
NO.2 CONTROL GROUP S1
MASTER S1

EXECUTE CANCEL

Main Menu Short Cut

2-8
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2.4 System Setup

Operation Explanation

7 Select “EXECUTE.” The GROUP COMBINATION window reappears.

DATA EDIT DISPLAY UTILITY

GROUP COMBINATION
GROUP AXIS MASTER
R1
S1
R1+R2 R2

Main Menu Short Cut

2-9
24/210
 2.4 System Setup

2.4.2 Calibration between Manipulator and Station

For a coordinated motion between a manipulator and a station, prior registration of the set-
tings for mutual positioning is required. This relationship is set by calibration between the
manipulator and the station.

 Calibration Tool Setting

Operation Explanation

1 Mount a tool for calibration on Use a tool whose exact dimensions are known.
the manipulator.

2 Select {ROBOT} under the

main menu.
3 Select {TOOL}. The TOOL window appears.
DATA EDIT DISPLAY UTILITY

TOOL
TOOL NO. : 0 / 1
NAME STANDARD TOOL
X 0.000 mm Rx 0.000 deg.
Y 0.000 mm Ry 0.000 deg.
Z 0.000 mm Rz 0.000 deg.

W 0.000 kg

Xg 0.000 mm Ix 0.000 kg m2
Yg 0.000 mm Iy 0.000 kg m2
Zg 0.000 mm Iz 0.000 kg m2

Main Menu Short Cut

4 Enter the tool dimensions.

5 Press [ENTER].

2-10
25/210
2.4 System Setup

 Teaching Positions for Calibration

For a station with one rotating axis
1. Determine an arbitrary point (point P) on the turntable of the station axis. Point P
should be as far as possible from the turntable rotation center. Align the TCP of the
manipulator with point P, and register it as C1.

Point P

C1

2. Turn the station axis. The amount of turning is not limited but should be 30or more. It
does not matter if the rotational direction is positive or negative. Then, align the TCP of
the manipulator to point P, and register it as C2.

Turn C2

3. Turn the station axis further in the same direction as in step 2. Then, align the TCP of
the manipulator to point P, and register it as C3.

Turn C3

• To minimize teaching error, attach a tool with a pointed end tool on the station axis as
NOTE shown in the figure above, and use this pointed end as an arbitrary point (point P) when
teaching.
• When registering C2 and C3, the manipulator tool should keep as much as possible the
same orientation as when C1 was registered.
• The manipulator at teaching should have its L-axis at a 90 angle to the ground and its U-
axis parallel to the ground.
• Do not teach with the L-axis and U-axis fully extended or tightly contracted. Otherwise,
inaccurate calibration will result.

2-11
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 2.4 System Setup

For a station with two rotating axes

1. Determine an arbitrary point (point P) on the turntable. Point P should be as far as
possible from the rotation center of the turntable. With the 1st station axis parallel to
the ground, align the TCP of the manipulator to point P, and register it as C1.

Point P

C1

2. Turn the 2nd station axis about 30. Align the TCP of the manipulator to point P, and
register it as C2.

C2

Turn

3. Turn the 2nd station axis again for about 30. Align the TCP of the manipulator to point
P, and register it as C3.

C3

Turn

4. Turn the 1st station axis about 30. Align the TCP of the manipulator to point P, and
register it as C4.

C4

Turn

2-12
27/210
2.4 System Setup

5. Turn the 1st station axis again for about 30. Align the TCP of the manipulator to point
P, and register it as C5.

C5

Turn

• To minimize teaching error, attach a tool with a pointed end tool on the station axis as
NOTE shown in the figure above, and use this pointed end as an arbitrary point (point P) when
teaching.
• When registering C2 to C5, the manipulator tool should keep as much as possible the
same orientation as when C1 was registered.
• The manipulator at teaching should have its L-axis at a 90 angle to the ground and its U-
axis parallel to the ground.
• Do not teach with the L-axis and U-axis fully extended or tightly contracted. Otherwise,
inaccurate calibration will result.
• For C1, C2, and C3, the position of the 1st station axis must be the same.
• The position of the 2nd station axis for C4 and C5 must be the same as that for C3.

2-13
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 2.4 System Setup

 Calibration
Operation Explanation

1 Select {ROBOT} under the

main menu.

2 Select {ROBOT CALIB}. The ROBOT CALIBRATION list window appears.

DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. SET ROBOT
01
02
03
04
05
06
07
08

Main Menu Short Cut

3 Select a robot calibration No. The ROBOT CALIBRATION window for teaching appears.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT POSITION C1
<STATUS>
C1:
C2:
C3:

COMPLETE CANCEL

Main Menu Short Cut

4 Select “ROBOT.” The selection dialog box appears.

DATA EDIT DISPLAY UTILITY

ROBOT CALIBRAION
NO. :01 ROBOT R1+S1 POSITION C1
<STATUS>
C1:
C2:
C3:

COMPLETE CANCEL

Main Menu Short Cut

2-14
29/210
2.4 System Setup

Operation Explanation

5 Select a group axis combina- The teaching positions are displayed.

tion for calibration.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT R1+S1 POSITION C1
R1:S TOOL:00 <STATUS>
L C1:
U C2:
R C3:
B
T

COMPLETE CANCEL PAGE

Main Menu Short Cut

6 Select “POSITION.” The selection dialog box appears.

DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT R1+S1 POSITION C1
C1
R1:S TOOL:00 <STATUS> C2
L C1: C3
U C2:
R C3:
B
T

COMPLETE CANCEL PAGE

Main Menu Short Cut

7 Press the axis key to move the

manipulator to the desired
position.

8 Press [MODIFY] and The positions for calibration are registered.

[ENTER]. Repeat Operations 7 and 8 to teach set positions C1 to C3.
On the window, “” indicates that the teaching is completed while
“” indicates that the teaching is not completed.
The calibration positions appear according to the selected group
axis. Press the page key to change the window.
GO BACK

PAGE

DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT R1+S1 POSITION C1
R1:S 12345 TOOL:00 <STATUS>
L 1025 C1:
U 10230 C2:
R 1010 C3:
B 521
T 2340

COMPLETE CANCEL PAGE

Main Menu Short Cut

2-15
30/210
 2.4 System Setup

Operation Explanation

9 Select “COMPLETE.” The robots are calibrated. When the calibration is completed, the
ROBOT CALIBRATION list window reappears.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. SET ROBOT
01
02
03
04
05
06
07
08

Main Menu Short Cut

2-16
31/210
2.5 JOB CONTENT Window

2.5 JOB CONTENT Window

An example of the contents of a coordinated job is shown below.

 Synchronized/Single
 Group axis being handled

JOB EDIT DISPLAY UTILITY

JOB CONTENT
JOB NAME: TEST STEP NO.: 002
CONTROL GROUP: R1+S1:S1 TOOL: 00
0001 SMOVL V=138
 Instructions +MOVJ
0002 MOVL V=138
+MOVJ VJ=3.12
0003 END

 Coordinated interpolation/ SMOVL V=138

Independent interpolation +MOVJ

Main Menu Short Cut

Instructions
For a coordinated job, the move instruction is displayed in two lines: The first line is the
instruction to the slave side; the second line is the instruction to the master side.

SMOVL V=138 Slave, a manipulator

+MOVJ Master, a station

Synchronized/Single
Synchronized/single are the types of movement available for the manipulator during axis
operation. This mark appears when synchronized movement is selected.
Switch between movements by pressing [SYNCRO/SINGLE].

Group axis being handled

Displays the group axis being handled.
Pressing [ROBOT] selects the manipulator.
Pressing [EX. AXIS] selects the station.

Coordinated interpolation/Individual interpolation

Switch between coordinated interpolation and individual interpolation by pressing [SMOV].

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 2.6 Synchronized/Single

2.6 Synchronized/Single

There are two ways to handle axes when teaching: “Synchronized” and “Single.”
Switch between movements by pressing [SYNCRO/SINGLE].

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

2.6.1 Synchronized
If the axes are handled in the “Synchronized” mode, the slave (manipulator) follows the mas-
ter (station) when the master moves. This feature is used to keep the position of the manipu-
lator relative to the station.
However, the master does not move when the slave is moved.

• A master axis is moved:

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2.6 Synchronized/Single

2.6.2 Single
If an axis is handled in “Single” mode, the manipulator or the station whose axis has been
handled, moves.
This feature is used where a manipulator and a station each execute an individual job.

• A slave axis is moved:

• A master axis is moved:

• The selected mode, Synchronized or Single, is maintained until the next selection is
NOTE made.
• When an edit job is changed, “Single” is automatically selected.

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 2.7 Selecting Axis to be Handled

2.7 Selecting Axis to be Handled

In a coordinated system with multiple numbers of group axes, select a group axis to be han-
dled in the following manner.

2.7.1 When There is an Edit Job

When the edit job is displayed, the group axes registered in the displayed job is the one to be
handled.

Pressing [ROBOT] selects a manipulator for axis handling.

TILITY

Pressing [EX. AXIS] selects a station for axis handling.

TILITY

2.7.2 When There is No Edit Job

When there is no edit job, move a manipulator in the following manner.

1. Press [SHIFT]+[ROBOT] to change the manipulator for axis handling. The LED of
[ROBOT] flashes.
Press [SHIFT]+[EX. AXIS] to change the station for axis handling. The LED of [EX.
AXIS] flashes.

2. Select the group axes to be moved, and then move it by pressing the axis key.

3. Press [ROBOT] or [EX. AXIS] to return to the original window.

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2.8 Registering Job

2.8 Registering Job

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.
JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Select “JOB NAME,” and then enter a job name by entering the
characters. Refer to “1.2.7 Character Input” of the Operator’s
Manual.
4 Press [ENTER].

5 Select “GROUP SET.”

6 Select a group combination.

7 Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB
CONTENT window appears.

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 2.9 Registering Move Instruction (S)MOV+MOVJ

2.9 Registering Move Instruction (S)MOV+MOVJ

Register a move instruction in the following manner.

2.9.1 Operating Master Side (Station)

Operation Explanation

1 Call the JOB CONTENT win-

dow in teach mode.
2 Press [EX. AXIS]. The master side (station) is selected for axis handling.

UTILITY

3 Select either “synchronized” or Press [SYNCRO/SINGLE] to select either “synchronized” or “sin-

“single.” gle.”
When “synchronized” is selected, the mark in the window below
appears.
When the slave side is supposed to follow the master side
motion, select “synchronized.”

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

4 Press the axis key to move to

the desired position.

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2.9 Registering Move Instruction (S)MOV+MOVJ

2.9.2 Operating Slave Side (Manipulator)

Operation Explanation

1 Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling.

TILITY

2 Press the axis key to move to

the desired position.

3 Select either a coordinated Press [SMOV] to select either interpolation.

interpolation or an indepen-
dent interpolation. SMOVL V=138
+MOVJ

Main Menu Short Cut

4 Select an interpolation type. Press [MOTION TYPE] to select an interpolation type.

SMOVC V=138
+MOVJ

Main Menu Short Cut

5 Confirm the speed.

6 Press [ENTER]. The registration is completed as follows.

0003 SMOVC V=138
+MOVJ

• When joint interpolation is set for the slave side (manipulator), teaching cannot be done
NOTE during a coordinated operation.
• When “JOINT” is selected, the interpolation type will not change to a coordinated interpo-
lation, even if [SMOV] is pressed.
• When “JOINT” is selected during coordinated interpolation, a coordinated move instruc-
tion such as “SMOVL” in the input buffer line changes to “MOVJ,” and the interpolation
type becomes individual interpolation.

Initial
Parameter Contents and Set Value
Value
S2C164 Specifies whether the speed inputting for move instructions of the
0
master side robot in a coordinated job is permitted or not.
<Example> 0: Not Provided 1: Provided
SMOVL V=100 SMOVL V=100
+MOVJ  Master +MOVJ VJ=10.00  Master
side side

Speed speci- Speed spec-

fication not ification
provided provided

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 2.10 Registering Reference Point Instruction (SREFP)

2.10 Registering Reference Point Instruction (SREFP)

Register a reference point instruction (SPEFP) for a coordinated interpolation in the following
manner.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}.

3 Move the cursor. Move the cursor to the line immediately before the line where the
reference point instruction is to be registered.
Immediately before 0003 SMOVL V=558
the line where the 0004 +MOVJ
reference point 0005 CALL JOB: TEST
0006 SMOVL V=138
instruction is to 0007 +MOVJ
be registered

4 Grasp the Enable switch.

5 Press the axis key. Turn ON the servo power with the Enable switch. Move the
manipulator to the position which will be a reference point.

6 Select the coordinated interpo- Press [SMOV] to select a coordinated operation.

lation.

7 Press [REF PNT]. The reference point instruction appears in the input buffer line.

SREFP 1

8 Change the reference point Move the cursor to the reference point number, and press
number. [SHIFT] + the cursor key to change the reference point number.

SREFP 2

If you use the Numeric keys to change the reference point num-
ber, press [SELECT] when the cursor is on the reference point
number. Input the number and press [ENTER].

Ref-point_no.=
SREFP

9 Press [INSERT]. The [INSERT] key lamp lights up.

When registering immediately before the END instruction, press-
ing [INSERT] is not needed.

10 Press [ENTER]. The REFP instruction is registered.

0003 SMOVL V=558
0004 +MOVJ
The reference point 0005 CALL JOB:TEST
instruction is registered. 0006 SREFP 1
0007 SMOVL V=138
0008 +MOVJ

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3.1 Outline

3 Jigless System

3.1 Outline

A jigless system is a system that welds by coordinating two manipulators; one holding the
workpiece while the other holds the torch.
To coordinate the movements of the two manipulators, a coordinated job is needed.
In a coordinated job, there is a coordinated operation where two manipulators, master and
slave, perform a reciprocal movement, and an individual operation where each of the two
manipulators performs an independent movement.

Coordinated operation

To NX100

Individual operation

A move instruction in coordinated jobs displays two lines. The first line is for the slave side
(torch); the second line is for the master side (workpiece).

SMOVL
Slave
+MOVL
Master
MOVL
+MOVL

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 3.2 Specific Keys

3.2 Specific Keys

The specific keys for the jigless system are allocated to the number keys as shown in the fig-
ure below.

Registers a timer instruction “TIMER” in a job.

1
TIMER

Registers a reference point “REFP” in a job, or modifies the registered ref-

erence point.
0
REFP [REFP] + [FWD]
Moves the manipulator to the registered reference point.

Registers a welding start instruction “ARCON” in a job.

8
ARCON

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3.2 Specific Keys

Registers a welding end instruction “ARCOF” in a job.

5
GAS
ARCOFF

(These keys are for future use and disabled in the current version.)
Used for the gas flow control.
INTER 5 Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20
LOCK + GAS seconds, and then the valve automatically closes.
ARCOFF Pressing [INTERLOCK] + [GAS ARCOFF] again within the 20 seconds,
the gas valve can be manually closed.

Used for wire inching. Press [FEED] to feed the wire, and press
[RETRACT] to retract the wire.
9
While these keys are pressed, the wire feed motor operates.
FEED
When the following are pressed simultaneously, wire inching is performed
in the high speed mode.
6 [HIGH SPEED] + [FEED]
RETRACT [HIGH SPEED] + [RETRACT]

Changes the type of movement for the manipulator when teaching a coor-
dinated job. Each time this key is pressed, the movement type changes.

7 SYNCRO: The mark for “synchronized” appears in the status display area.
SYNCRO When the master side is moved, the slave side will follow the
SINGLE movement of the master.

SINGLE: Only the selected group axis moves.

Selects either a coordinated or an individual interpolation when teaching a

coordinated job. Each time this key is pressed, the operation type
changes.

4 Coordinated: All the move instructions that are registered in this mode
SMOV become coordinated instructions.

Individual: The master-slave relationship is cancelled. Each manipulator

and station moves independently.

Wire retraction, high-speed inching, or high-speed retraction cannot be performed depend-

SUPPLE-
MENT ing on the Power Source.

[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
NO TE for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.

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 3.3 Opening and Closing Handling Tool

3.3 Opening and Closing Handling Tool

This section explains how to open and close a handling tool by teaching. It is unrelated to the
content of the job being taught. To close and open a handling tool by pressing the specific
keys, the general output signals #17 to 20 are used.

The general output signal No. can be changed by the parameter A1P.
NOTE A1P026 Tool1 ON general output No. (Initial value: 17)
A1P027 Tool1 OFF general output No. (Initial value: 18)
A1P028 Tool 2 ON general output No. (Initial value: 19)
A1P029 Tool 2 OFF general output No. (Initial value: 20)

Sends an open instruction to Tool 1.

Only while the keys are pressed, general output signal #17 is ON.
+ 2
INTER
LOCK
TOOLON

Sends a close instruction to Tool 1.

Only while the keys are pressed, general output signal #18 is ON.
+ .
INTER
LOCK
TOOLOF

Sends an open instruction to Tool 2.

Only while the keys are pressed, general output signal #19 is ON.
+ 3
INTER
LOCK TOOLON
JOB

Sends a close instruction to Tool 2.

INTER - Only while the keys are pressed, general output signal #20 is ON.
LOCK + TOOLOF
JOB

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3.4 Example of Teaching Job

3.4 Example of Teaching Job

Stand-by

Step Instruction
001 MOVJ VJ=50.00
+MOVJ

Starting
002 SMOVL V=200
+MOVL
SWVON WEV#(1)

ARCON ASF#(1)
Coordinated operation

003 SMOVL V=200

+MOVL During an operation

004 SMOVL V=200

+MOVL
ARCOF AEF#(1)

SWVOF

Ending

005 MOVJ VJ=50.00

+MOVJ

006 MOVJ VJ=50.00

+MOVJ

Separate from the workpiece

The torch moves to the cleaner. The workpiece is uncloaded.

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 3.5 System Setup

3.5 System Setup

3.5.1 Registering Group Combination

Register a combination of two manipulators.

Operation Explanation

1 Select {SETUP} under the

main menu.
2 Select {GRP COMBINATION}. The GROUP COMBINATION window appears.
DATA EDIT DISPLAY UTILITY

GROUP COMBINATION
GROUP AXIS MASTER
R1
R2

Main Menu Short Cut

3 Press [SELECT]. The selection dialog box appears.

DATA EDIT DISPLAY UTILITY

GROUP COMBINATION
GROUP AXIS MASTER
ADD GROUP
MODIFY GROUP
DELETE GROUP

4 Select “ADD GROUP.” The GROUP COMBI SET window appears.

DATA EDIT DISPLAY UTILITY

GROUP COMBI SET

NO.1 CONTROL GROUP
NO.2 CONTROL GROUP
MASTER

EXECUTE CANCEL

Main Menu Short Cut

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3.5 System Setup

Operation Explanation

5 Press [SELECT]. The selection dialog box appears.

DATA EDIT DISPLAY UTILITY

GROUP COMBI SET

NO.1 CONTROL GROUP R1: ROBOT1
NO.2 CONTROL GROUP R2: ROBOT2
MASTER

EXECUTE CANCEL

Main Menu Short Cut

6 Select a group axis to be set. Set R2: ROBOT2 as “MASTER.”

DATA EDIT DISPLAY UTILITY

GROUP COMBI SET

NO.1 CONTROL GROUP R1
NO.2 CONTROL GROUP R2
MASTER R1

EXECUTE CANCEL

Main Menu Short Cut

7 Select “EXECUTE.” The GROUP COMBINATION window reappears.

DATA EDIT DISPLAY UTILITY

GROUP COMBINATION
GROUP AXIS MASTER
R1
S1
R1+R2 R2

Main Menu Short Cut

3-7
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 3.5 System Setup

3.5.2 Calibration between Manipulators

For a coordinated operation between manipulators, prior registration of the settings for mutual
positioning is required. This relationship is set by calibration between manipulators.

 Calibration Tool Setting

Operation Explanation

1 Mount a tool for calibration on Use a tool whose exact dimensions are known.
the manipulator.

Tool for calibration

2 Select {ROBOT} under the

main menu.

3 Select {TOOL}. The TOOL window appears.

DATA EDIT DISPLAY UTILITY

TOOL
TOOL NO. : 0 / 1
NAME STANDARD TOOL
X 0.000 mm Rx 0.000 deg.
Y 0.000 mm Ry 0.000 deg.
Z 0.000 mm Rz 0.000 deg.

W 0.000 kg

Xg 0.000 mm Ix 0.000 kg m2
Yg 0.000 mm Iy 0.000 kg m2
Zg 0.000 mm Iz 0.000 kg m2

Main Menu Short Cut

4 Enter the tool dimensions.

5 Press [ENTER].

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3.5 System Setup

 Teaching Position for Calibration

Calibrate the control point for two manipulators at three arbitrary points (C1 to C3) in the
space between the manipulators.

1. Move a manipulator to an arbitrary position. Align the tool center point of the other
manipulator or to the tool center point of the first manipulator by handling the axis.
Register it as C1.
2. Register C2 and C3 in the same manner as C1.

C1

C2

C3

• When registering C2 and C3, the manipulator tool should keep as much as possible the
NOTE same orientation as when C1 was registered.
• The standard distance between C-1and C-2, C2 and C3, and C3 and C1 should be 1 m or
more.
• Teach C1, C2, and C3 so that a triangle, not a straight line, is formed.
• Do not teach with the LU axis fully extended or tightly contracted. Otherwise, inaccurate
calibration will result.

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 3.5 System Setup

 Calibration

Operation Explanation

1 Select {ROBOT} under the

main menu.

2 Select {ROBOT CALIB}. The ROBOT CALIBRATION list window appears.

DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. SET ROBOT
01
02
03
04
05
06
07
08

Main Menu Short Cut

3 Select a robot calibration No. The ROBOT CALIBRATION window for teaching appears.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT POSITION C1
<STATUS>
C1:
C2:
C3:

COMPLETE CANCEL

Main Menu Short Cut

4 Select “ROBOT.” The selection dialog box appears. Select a control group for cali-
bration.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRAION
NO. :01 ROBOT R1+R2 POSITION C1
<STATUS>
C1:
C2:
C3:

COMPLETE CANCEL

Main Menu Short Cut

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3.5 System Setup

Operation Explanation

5 Select a group axis combina- The teaching positions are displayed.

tion for calibration.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT R1+R2 POSITION C1
R1:S TOOL:00 <STATUS>
L C1:
U C2:
R C3:
B
T

COMPLETE CANCEL PAGE

Main Menu Short Cut

6 Select “POSITION.” The selection dialog box appears. Select a position to be taught.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT R1+R2 POSITION C1
C1
R1:S TOOL:00 <STATUS> C2
L C1: C3
U C2:
R C3:
B
T

COMPLETE CANCEL PAGE

Main Menu Short Cut

7 Press the axis key to move the

manipulator to the desired
position.

8 Press [MODIFY] and The positions for calibration are registered.

[ENTER]. Repeat Operations 7 and 8 to teach set positions C1 to C3.
On the window, “” indicates that the teaching is completed while
“” indicates that the teaching is not completed.
The calibration positions appear according to the selected group
axis. Press the page key to change the window.
GO BACK

PAGE

DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. :01 ROBOT R1+R2 POSITION C1
R1:S 12345 TOOL:00 <STATUS>
L 1025 C1:
U 10230 C2:
R 1010 C3:
B 521
T 2340

COMPLETE CANCEL PAGE

Main Menu Short Cut

3-11
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 3.5 System Setup

Operation Explanation

9 Select “COMPLETE.” The robots are calibrated. When the calibration is completed, the
ROBOT CALIBRATION list window reappears.
DATA EDIT DISPLAY UTILITY

ROBOT CALIBRATION
NO. SET ROBOT
01 R1+R2
02
03
04
05
06
07
08

Main Menu Short Cut

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3.6 Job Content Display

3.6 Job Content Display

The contents of a coordinated job are displayed as shown below.

 Synchronized/Single
Group axis being handled
JOB EDIT DISPLAY UTILITY

JOB CONTENT
JOB NAME: TEST STEP NO.: 001
CONTROL GROUP: R1+R2:R1 TOOL: 00+01
0000 NOP
Instructions 0001 SMOVL V=138
+MOVL
0002 MOVL V=138
+MOVL V=138
0003 END

Coordinated interpolation/ MOVL V=138

+MOVL V=138
Independent interpolation
Main Menu Short Cut

Instructions
For coordinated jobs, the move instruction, the weaving instruction, the shift instruction, and
others are displayed in two lines. The first line is the instruction to the slave side; the sec-
ond line is the instruction to the master side.

SMOVL V=138 Slave, the manipulator holding a torch

+MOVL Master, the manipulator holding a workpiece

Synchronized/Single
Synchronized/single are the types of movement available for the manipulator during axis
operation. This mark appears when synchronized movement is selected.
Switch between movements by pressing [SYNCRO/SINGLE].

Group axis being handled

Displays the group axis being handled.
Press [ROBOT] to change the group axis to be handled.

Coordinated operation/Individual operation

Switch between coordinated operation and individual operation by pressing [SMOV].

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 3.7 Synchronized/Single

3.7 Synchronized/Single

There are two ways to handle axes when teaching: “Synchronized” and “Single”.
Switch between movements by pressing [SYNCRO/SINGLE].

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

3.7.1 Synchronized
If the axes are handled in the “Synchronized” mode, the slave (torch) follows the master
(workpiece) when the master moves. This feature is used to keep the position of the manipu-
lator relative to the other manipulator.
However, the master does not move when the slave is moved.

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3.7 Synchronized/Single

3.7.2 Single
If an axis is handled in “Single” mode, only the manipulator whose axis is being handled
moves.
This feature is used where each of the two manipulators executes an individual job.

Only the manipulator whose

axis is handled moves.

• The selected mode, Synchronized or Single, is maintained until the next selection is
NOTE made.
• When an edit job is changed, “Single” is automatically selected.

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 3.8 Selecting Axis to be Handled

3.8 Selecting Axis to be Handled

This section explains the methods to select a manipulator to be handled in teach mode.

3.8.1 When There is an Edit Job

Each time [ROBOT] is pressed, a manipulator to be handled changes.

UTILITY

UTILITY 2

3.8.2 When There is No Edit Job

When there is no edit job, move the manipulator in the following manner.

1. Press [SHIFT]+[ROBOT] to change the manipulator to be handled. The LED of

[ROBOT] flashes.

2. Select the group axes to be moved, and then move it by pressing the axis key.

3. Press [ROBOT] to return to the original display.

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3.9 Registering Job

3.9 Registering Job

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.
JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Select “JOB NAME,” and then enter a job name by entering the
characters. Refer to “1.2.7 Character Input” of the Operator’s
Manual.

4 Press [ENTER].

5 Select “GROUP SET.”

6 Select a group combination.

7 Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB
CONTENT window appears.

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 3.10 Registering Move Instruction (S)MOV+MOV

3.10 Registering Move Instruction (S)MOV+MOV

Register a move instruction in the following manner.

3.10.1 Operating Master Side (Workpiece)

Operation Explanation

1 Call the JOB CONTENT win-

dow in teach mode.

2 Press [EX. AXIS]. The master side (station) is selected for axis handling.

UTILITY

3 Select either “synchronized” or Press [SYNCRO/SINGLE] to select either “synchronized” or “sin-

“single.” gle.”
When “synchronized” is selected, the mark in the window below
appears.
When the slave side is supposed to follow the master side
motion, select “synchronized.”

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

4 Press the axis key to move to

the desired position.

5 Select an interpolation type. Press [MOTION TYPE] to select an interpolation type.

SMOVL V=138
+MOVJ

Main Menu Short Cut

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3.10 Registering Move Instruction (S)MOV+MOV

3.10.2 Operating Slave Side (Torch)

Operation Explanation

1 Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling.

UTILITY 2

2 Press the axis key to move to

the desired position.
3 Select either a coordinated Press [SMOV] to select either interpolation.
interpolation or an indepen-
dent interpolation. SMOVL V=138
+MOVL

Main Menu Short Cut

4 Select an interpolation type. Press [MOTION TYPE] to select an interpolation type.

SMOVC V=138
+MOVL

Main Menu Short Cut

5 Confirm the speed.

6 Press [ENTER]. The registration is completed as follows.

0003 SMOVC V=138
+MOVL

• When joint motion is set for the slave side (torch), teaching cannot be done during a coor-
NOTE dinated operation.
• When “JOINT” is selected, the interpolation type will not change to a coordinated opera-
tion, even if [SMOV] is pressed.
• When “JOINT” is selected during coordinated interpolation, a coordinated move instruc-
tion such as “SMOVL” in the input buffer line changes to “MOVJ”, and the interpolation
type becomes individual interpolation.

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 3.11 Registering Reference Point Instruction (SREFP)

3.11 Registering Reference Point Instruction (SREFP)

Register a reference point instruction (SPEFP) for a coordinated operation in the following
manner.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}.

3 Move the cursor. Move the cursor to the line immediately before the line where the
reference point instruction is to be registered.
Immediately before 0003 SMOVL V=558
the line where the 0004 +MOVL
0005 CALL JOB: TEST
reference point 0006 SMOVL V=138
instruction is to 0007 +MOVL
be registered

4 Grasp the Enable switch.

5 Press the axis key. Turn ON the servo power with the Enable switch. Move the
manipulator to the position which will be a reference point.

6 Select the coordinated interpo- Press [SMOV] to select either interpolation.

lation.

7 Press [REF PNT]. The reference point instruction appears in the input buffer line.

SREFP 1

8 Change the reference point Move the cursor to the reference point number, and press
number. [SHIFT] + the cursor key to change the reference point number.

SREFP 2

If you use the Numeric keys to change the reference point num-
ber, press [SELECT] when the cursor is on the reference point
number. Enter the number and press [ENTER].

Ref-point_no.=
SREFP

9 Press [INSERT]. The [INSERT] key lamp lights up.

When registering immediately before the END instruction, press-
ing [INSERT] is not needed.

10 Press [ENTER]. The REFP instruction is registered.

0003 SMOVL V=558
The reference 0004 +MOVL
0005 CALL JOB:TEST
point instruction 0006 SREFP 1
is registered. 0007 SMOVL V=138
0008 +MOVL

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3.12 Registering Handling Instructions

3.12 Registering Handling Instructions

To register handling instructions, the specific keys [TOOL1 ON], [TOOL1 OFF], [TOOL2 ON],
and [TOOL2 OFF] are used. When these keys are pressed, the instructions shown in the fol-
lowing table are registered. The general output signals #17 to 20 and the general input sig-
nals #17 to 20 are used for handling.

General Output General Input

Specific Signal No. Signal No.
Tool Instruction to be Registered
key (Instruction (Confirmation
Output) Input)
Open #17 #17 CALL JOB : H1OPEN
2
TOOLON

Tool 1
Close #18 #18 CALL JOB : H1CLOSE
.
TOOLOF

Open #19 #19 CALL JOB : H2OPEN

3
TOOLON
JOB

Tool 2
Close #20 #20 CALL JOB : H2CLOSE
-
TOOLOF
JOB

Also by registering a CALL instruction from the instruction list dialog, the instructions in the
above table can be registered.
The H1OPEN, H1CLOSE, H2OPEN, and H2CLOSE are reserved jobs. The job contents
must have been registered beforehand. Register a handling instruction according to the appli-
cation.
An example of H1OPEN registration is shown.

<Example>
The OPEN and CLOSE instructions are of pulse outputs.
After the OPEN or CLOSE instruction, the manipulator waits for a confirmation of the move-
ment.

NOP
PULSE OT#1H1OPEN instruction 0.3 second pulse output
WAIT IN#17Waits for confirmation of H1OPEN
RET

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 3.13 Other Convenient Features

3.13 Other Convenient Features

In a jigless system, the control point of slave side manipulator can be set as a reference point
so that the master side manipulator can be moved.

Manipulator R2 Manipulator R1
(Slave side) (Master side)

X-axis

Tool center
point of R2

Y-axis Z-axis
Tool coordinates

3.13.1 Example of Movement

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3.13 Other Convenient Features

3.13.2 Operation Method

Operation Explanation

1 Select the tool coordinate sys- Press [COORD] and select a tool coordinate system.
tem.
2 Press [SHIFT] + [COORD]. The switch to tool coordination display is shown.

DATA EDIT DISPLAY UTILITY

SWITCH TO TOOL COORD

ROBOT: R1

CONTROL POINT: R1 TOOL 00

R2 TOOL 01

Main Menu Short Cut Turn on servo power

3 Select a operation tool coordi- Select a manipulator with whose tool center point the manipulator
nate. is moved. At turning ON the power supply, the tool center point of
the currently selected manipulator is shown.

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 3.13 Other Convenient Features

3.13.3 Manipulator Movement

The operation by the axis keys is the same as that on normal tool coordinate system.

Axis
Axis Key Movement
Name

Basic Moves in parallel to X, Y, and Z-axis of tool coordinates

axes of the selected manipulator.

Wrist With the tool center point of the selected manipulator as

axes a reference point, TCP fixed operation is executed.
X- X+
R- R+

Y- Y+
B- B+

Z- Z+
T- T+

 Basic axes

Tool coordinates
on slave side
Y-axis
Y+
L+

Tool center point of the slave side

X-axis

X+
S+

Parallel movement

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3.13 Other Convenient Features

 Wrist axes
Executing a TCP fixed operation by wrist axes, can change only the wrist orientation without
changing its position, with the tool center point of the slave side manipulator as a reference
point.
Slave side tool center point

TCP fixed operation

 Synchronized/Single

When “synchronized” is selected: The master moves with the tool center point of the slave as a
reference point.
The slave follows the master.

.
The slave moves The master moves

When “single” is selected: The master moves with the tool center point of the slave as a reference
point.
The slave remains stationary.

The slave does not move. The master moves.

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 4.1 Outline

4 Twin Synchronous System

4.1 Outline

The twin synchronous system is a system where two manipulators operate in coordination for
one station.
Master task
such as calculation, I/O control

Start Start

Subtask 1 Subtask 2
R1+S1 R2+S1

Station
S1

In this system, two coordinated jobs are done at the same time.
• A coordinated job for one manipulator and the station (R1+S1)
• A coordinated job for the other manipulator and the station (R2+S1)

A concurrent job or a robot job without control groups starts these two jobs and implements
I/O control. The master task job uses the independent control function to start the robot jobs
of subtasks 1 and 2.
Two robot jobs can be created by the following two methods.

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4.1 Outline

Method 1: Copy one subtask job to create another subtask job.

 

Teaching

Mirror shift

This method is useful when two movement paths are symmetrical. Use the mirror shift func-
tion to convert a job path and copy it. The same teaching operation does not have to be
repeated.

Method 2: Perform teaching for each manipulator.

 REMOTE
PLAY
TEACH
START HOLD

 REMOTE
PLAY
TEACH
START HOLD

!?
!?

Teaching
Teaching
(Follower)
(Leader)

Where there are not many similarities in the paths and movements of the two manipulators,
create jobs in Method 2.

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 4.2 Function Keys

4.2 Function Keys

The function keys for the twin synchronous system are assigned to the Numeric keys as
shown in the figures below.

4.2.1 Arc Welding Application

7 8 9
SYNCRO
SINGLE ARCON FEED

4 5 6
GAS
SMOV ARCOFF RETRACT

1 2 3
TIMER CUR/VOL

0 . -
REFP CUR/VOL

Registers a timer instruction “TIMER” in a job.

1
TIMER

Registers a reference point “REFP” in a job, or modifies the registered ref-

erence point.
0
REFP [REFP] + [FWD]
Moves the manipulator to the registered reference point.

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4.2 Function Keys

Registers a welding start instruction “ARCON.”

8
ARCON

Registers a welding end instruction “ARCOF.”

5
GAS
ARCOFF

(These keys are for future use and disabled in the current version.)
Used for the gas flow control.
INTER 5 Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20
LOCK + GAS seconds, and then the valve automatically closes.
ARCOFF
Pressing [INTERLOCK] + [GAS ARCOFF] again within the 20 seconds,
the gas valve can be manually closed.
Used for wire inching. Press [FEED] to feed the wire, and press
[RETRACT] to retract the wire.
9
While these keys are pressed, the wire feed motor operates.
FEED
When the following are pressed simultaneously, wire inching is performed
in the high speed mode.
6 [HIGH SPEED] + [FEED]
RETRACT [HIGH SPEED] + [RETRACT]

Modifies the welding current/voltage while welding during the play mode.
Press [3/CUR/VOL] to increase the current/voltage value, and press
3 [/CUR/VOL] to decrease the current/voltage value.
CUR/VOL (Refer to “11.6 Changing Welding Conditions During Playback” in the
Operator’s Manual.)
-
CUR/VOL

Changes the type of movement for the manipulator when teaching a coor-
dinated job. Each time this key is pressed, the movement type changes.

7 SYNCRO: The mark for “synchronized” appears in the status display area.
SYNCRO When the master side is moved, the slave side will follow the
SINGLE movement of the master.

SINGLE: Only the selected group axis moves.

Selects either a coordinated or an individual interpolation when teaching a
coordinated job. Each time this key is pressed, the operation type
changes.

4 Coordinated: All the move instructions that are registered in this mode
SMOV become coordinated instructions.

Individual: The master-slave relationship is cancelled. Each manipulator

and station moves independently.

Wire retraction, high-speed inching, or high-speed retraction cannot be performed depend-

SUPPLE-
MENT ing on the Power Source.

[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
NO TE for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.

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 4.2 Function Keys

4.2.2 General Application

7 8 9
SYNCRO
SINGLE

4 5 6
SMOV

1 2 3
TOOLON
TOOLON JOB

0 . -
TOOLOF
TOOLOF JOB

Registers the TOOLON instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLON operation is exe-
2
cuted.
TOOLON

Registers the TOOLOF instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is exe-
.
cuted.
TOOLOF

Registers the CALL instruction for the reserved job TOOLONxx.

3
TOOLON
JOB

Registers the CALL instruction for the reserved job TOOLOFxx.

-
TOOLOF
JOB

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4.3 Job Configuration

Changes the type of movement for the manipulator when teaching a coordi-
nated job. Each time this key is pressed, the movement type changes.

7 SYNCRO: The mark for “synchronized” appears in the status display area.
SYNCRO When the master side is moved, the slave side will follow the
SINGLE
movement of the master.

SINGLE: Only the selected group axis moves.

Selects either a coordinated or an individual interpolation when teaching a

coordinated job. Each time this key is pressed, the operation type changes.

4 Coordinated: All the move instructions that are registered in this mode
SMOV
become coordinated instructions.

Individual: The master-slave relationship is cancelled. Each manipulator and

station moves independently.

[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
NO TE for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.

4.3 Job Configuration

Using the independent control function, configure jobs so that the concurrent job or robot job
without control groups of master task operates the robot jobs in subtask 1 and 2.

Master task: Concurrent job (or robot job without control groups)
Starts subtasks 1 and 2, and controls I/Os.
Subtask 1: Robot job
A coordinated job for one manipulator + the station
Subtask 2: Robot job
A coordinated job for the other manipulator + the station

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 4.4 Leader and Follower

Subtasks 1 and 2 are determined as leader or follower with a tag SYNC in PSTART instruc-
tion.
Jobs

Master task

Shows the
connection among
relative jobs.

Starts Starts

Subtask 1 Subtask 2

4.4 Leader and Follower

Set either the subtask 1 or the subtask 2 as the follower. To set a follower, add a tag SYNC
and the leader subtask to the PSTART instruction of the master task. The subtask to which a
tag SYNC is added is follower while the subtask without a tag is leader.
The station axis is controlled by the leader job, and the follower job follows the movement of
station axis.
Subtask 1 (follower)
0004 PSTART JOB:JOB-1 SUB1 SYNC SUB2
0005 PSTART JOB:JOB-2 SUB2 Subtask 2 (leader)
Master task job In this case, the manipulator of subtask 1
synchronizes with the leader subtask 2.

NOTE Register a PSTART instruction so that the follower job starts first.

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4.5 Synchronizing with TSYNC

4.5 Synchronizing with TSYNC

During the execution of the jobs, a deviation between the movements of the two manipulators
may occur. In the steps where the movements of the two manipulators should be exactly the
same, execute a TSYNC instruction immediately before these steps.
When a TSYNC instruction is executed in one of the robot jobs, the manipulator waits until the
same synchronized signal, TSYNC, is executed in the other robot job. Set the number of syn-
chronized tasks. When setting “SYNCHRO NUM” to “UNUSED,” the number of tasks is the
same as when “SNUM=2.”

Format

TSYNC Synchronization
No. 1 to 32

Number of
synchronized
tasks 2 or 4

Operation Explanation

1 Move the cursor to the line just

above the line where TSYNC
instruction is to be registered.

2 Press [INFORM LIST]. The instruction list appears.

IN/OUT
JUMP TSYNC CONTROL
CALL DEVICE
TIMER MOTION
LABEL ARITH
COMMENT SHIFT
RET OTHER
PSTART SAME
PWAIT PRIOR

3 Select “TSYNC.” A TSYNC instruction is displayed in the input buffer line.

TSYNC 1

4 Change additional items. <To register items as displayed in the input buffer line>
Proceed to Operation 5.

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 4.5 Synchronizing with TSYNC

Operation Explanation

4 (cont’d) <To change the numerical data>

Move the cursor to the numerical data. Press [SHIFT] and the
cursor key simultaneously to increment or decrement the number.

TSYNC 2

To enter a number by pressing the Numeric keys, press

[SELECT] to display the input line.
Synchronization_no.=
TSYNC

Enter a number and press [ENTER], then the number in the input
buffer line is changed.

After having changed the numerical data, press [ENTER]. The

DETAIL EDIT window is closed and the the JOB CONTENT win-
dow reappears.

<To edit additional items>

To edit additional items, move the cursor to the instruction in the
input buffer line, then press [SELECT]. The DETAIL EDIT win-
dow appears.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 1
SYNCHRO NUM UNUSED

TSYNC 1

Main Menu Short Cut

To change the synchronization number, select “1” of “SYNCHRO

NO.” When the number input status enters, enter the synchroni-
zation number, “SYNCHRO NO.” by pressing the Numeric keys,
and press [ENTER].
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 2
SYNCHRO NUM UNUSED

TSYNC 2

Main Menu Short Cut

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4.5 Synchronizing with TSYNC

Operation Explanation

4 (cont’d) To add the number of synchronized tasks, select “UNUSED” of

“SYNCHRO NUM.” The selection dialog box appears. Select
“SNUM=.”
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 2
SYNCHRO NUM SNUM= 2

TSYNC 2 SNUM=2

Main Menu Short Cut

After changed or added the additional items, press [ENTER]. The

DETAIL EDIT window is closed, and the JOB CONTENT window
appears.

5 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

<Example>

NOP NOP
Synchronizes at
TSYNC 1 TSYNC 1
the start of job.
MOVJ MOVJ
+MOVJ +MOVJ

SMOVL SMOVL
+MOVJ +MOVJ Synchronizes just
TSYNC 2 TSYNC 2 before the start of
ARCON ARCON work (in this case,
welding)
ARCOF ARCOF
SMOVL SMOVL
+MOVJ +MOVJ Synchronizes just
TSYNC 3 TSYNC 3 after the end of
DOUT OT#(1)=OFF DOUT OT#(2)=OFF work.
MOVJ MOVJ
+MOVJ +MOVJ
END END

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 4.6 Job Example

4.6 Job Example

Master task
(Concurrent job or robot job witout control groups) Jobs in subtasks 1 and 2
NOP
*G
'RESET
DOUT OG#(1) 0
DOUT OG#(2) 0
DOUT OG#(4) 0
DOUT OG#(8) 0 Home position return
job
'RETURN TO HOME 1 R1 HOME1 (R1+S1)
PSTART JOB:R1 HOME 1 SUB1 (R1+S1)
PSTART JOB:R2 HOME 1 SUB2 (R2)
R2 HOME2 (R2)
PWAIT SUB1
PWAIT SUB2
Waiting JOB
'WAITING FOR THE FIRST START
WAIT IN#(1)=ON R1 WAIT (R1)
PSTART JOB:R1 WAIT SUB1 (R1) R2 WAIT (R2)
PSTART JOB:R2 WAIT SUB2 (R2)
PWAIT SUB1
PWAIT SUB2
Tip replacement JOB
'TIP REPLACEMENT
JUMP *A IF IN#(2)=OFF R1 TIP (R1)
PSTART JOB:R1 TIP SUB1 IF IN#(2)=ON (R1) R2 TIP (R2)
PSTART JOB:R2 TIP SUB2 IF IN#(2)=ON (R2)
PWAIT SUB1
PWAIT SUB2
JUMP *G (omitted)
*A
Work JOB (coordinated job)
'WAITING FOR THE SECOND START
WAIT IN#(10)=ON TES11-R1(R1+S1)

'RETURN TO HOME 1
JUMP *B IF IG#(3)<>99
NOP TES11-R2(R2+S1)
PSTART JOB:R1 HOME 1 SUB1 (R1+S1) TSYNC 1 NOP
PSTART JOB:R2 HOME 1 SUB2 (R2) MOVJ+MOVJ TSYNC 1
PWAIT SUB1 MOVJ+MOVJ
PWAIT SUB2 SMOVL+MOVJ
JUMP *G TSYNC 2 SMOVL+MOVJ
*B ARCON TSYNC 2
'WORK JOB
ARCON
JUMP *C IF IG#(3)=0 ARCOF
SMOVL+MOVJ ARCOF
'WORK 1 TSYNC 3 SMOVL+MOVJ
JUMP *E IF IG#(3)<>1 DOUT OT#(1)=OFF TSYNC 3
PSTART JOB:TES11-R1 SUB1 SYNC SUB2 (R1+S1) MOVJ+MOVJ DOUT OT#(2)=OFF
PSTART JOB:TES11-R2 SUB2 (R2+S1) END MOVJ+MOVJ
PWAIT SUB1
PWAIT SUB2
END
*E

'WORK 2
JUMP *F IF IG#(3)<>2
PSTART JOB:TES12-R1 SUB1 SYNC SUB2 (R1+S1)
PSTART JOB:TES12-R2 SUB2 (R2+S1)
PWAIT SUB1
PWAIT SUB2
*F
JUMP *H IF IN#(2)=OFF
PSTART JOB:R1 CHIP SUB1 (R1)
PSTART JOB:R2 CHIP SUB2 (R2)
PWAIT SUB1
PWAIT SUB2
*C

DOUT OG#(4) 15
JUMP *C
END

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4.7 JOB CONTENT Window

4.7 JOB CONTENT Window

The contents of coordinated job are displayed as shown below.

 Synchronized/Single
 Group axis being handled

JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: TEST STEP NO: 005
CONTROL GROUP: R1+S1:S1 TOOL: 00+
0005 SMOVL V=138
 Instructions +MOVL
0006 MOVL V=138
+MOVJ

 Coordinated interpolation/ MOVL V=138

Individual interpolation +MOVJ

Main Menu Short Cut

Instructions
For coordinated jobs, the move instruction is displayed in two lines. The first line is the
instruction to the slave side; the second line is the instruction to the master side.

SMOVL V=138 Slave, a manipulator

+MOVJ Master, a station

Synchronized/Single
Synchronized/single are the types of movement available for the manipulator during axis
operation. This mark appears when synchronized movement is selected.
Switch between movements by pressing [SYNCRO/SINGLE].

Group axis being handled

Displays the group axis being handled.
Pressing [ROBOT] selects the manipulator.
Pressing [EX. AXIS] selects the station.

Coordinated interpolation/Individual interpolation

Changes between coordinated interpolation and individual interpolation by pressing
[SMOV].

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 4.8 Synchronized/Single

4.8 Synchronized/Single

4.8.1 Synchronized/Single Movement Between Station and

Manipulator
There are two ways to handle axes when teaching: “Synchronized” and “Single.”
Switch between movements by pressing [SYNCRO/SINGLE].

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

 Synchronized
If the axes are handled in the “Synchronized” mode, the slave (manipulator) follows the mas-
ter (station) when the master moves. This feature is used to keep the position of the manipu-
lator relative to the station.
However, the master does not move when the slave is moved.
• A master axis is moved:

The slave follows

the motion of
the master.

Moves Moves

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4.8 Synchronized/Single

 Single
If an axis is handled in “Single” mode, the manipulator or the station whose axis has been
handled, moves.
This feature is used where a manipulator and a station each executes an individual job.

• A slave axis is moved:

Does not move Moves

• A master axis is moved:

Moves Does not move

• The selected mode, Synchronized or Single, is maintained until the next selection is
NOTE made.
• When an edit job is changed, “Single” is automatically selected.

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 4.8 Synchronized/Single

4.8.2 Job Synchronized Mode for Subtask 1 and 2

When moving only the leader manipulator in FWD/BWD operation, the follower manipulator in
stop status may interfere with a workpiece. To prevent this, using “job synchronized mode”
can move the follower synchronizing the motion of the leader. The follower manipulator
moves, keeping the relative position to the station.
Follower
Follower

Leader Leader

Leader in FWD operation. Leader in FWD operation,

using job synchronized mode.

Pressing [SHIFT] + [SYNCRO/SINGLE] changes the job synchronized mode.

Main Menu Short Cut Twin coordinated mode ON

Main Menu Short Cut Twin coordinated mode OFF

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4.8 Synchronized/Single

Also in the TEACHING CONDITION window, the job synchronized mode can be set and con-
firmed.

Operation Explanation

1 Select {SETUP} under the

main menu.
2 Select {TEACHING COND}. The TEACHING CONDITION window appears.
DATA EDIT DISPLAY UTILITY

TEACHING CONDITION
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
INSTRUCTION INPUT LEARNING VALID
MOVE INSTRUCTION SET STEP
STEP ONLY CHANGING PROHIBIT
STEP/TEST RUN OPERATION MODE SINGLE
BWD OPERATION NO GROUP AXIS PERMIT
BWD OPERATION CONCURRENT JOB PROHIBIT
TWIN COORDINATED MODE INVALID

Main Menu Short Cut

3 Select “TWIN COORDINATED Each time [SELECT] is pressed, “VALID” and “INVALID” is
MODE.” selected alternately.
DATA EDIT DISPLAY UTILITY

TEACHING CONDITION
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
INSTRUCTION INPUT LEARNING VALID
MOVE INSTRUCTION SET STEP
STEP ONLY CHANGING PROHIBIT
STEP/TEST RUN OPERATION MODE SINGLE
BWD OPERATION NO GROUP AXIS PERMIT
BWD OPERATION CONCURRENT JOB PROHIBIT
TWIN COORDINATED MODE INVALID

Main Menu Short Cut Twin coordinated mode OFF

NOTE The job synchronized mode is enabled only when “SINGLE” is selected in “STEP/TEST
RUN OPERATION MODE” for the follower manipulator.

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 4.9 Selecting Axis to be Handled

4.9 Selecting Axis to be Handled

In a coordinated system with multiple numbers of group axes, select a group axis to be han-
dled in the following manner.

4.9.1 When There is an Edit Job

When the edit job is displayed, the group axes registered in the displayed job is the one to be
handled.

Pressing [ROBOT] selects a manipulator for axis handling.

TILITY

Pressing [EX. AXIS] selects a station for axis handling.

TILITY

4.9.2 When There is No Edit Job

When there is no edit job, move a manipulator in the following manner.

1. Press [SHIFT] + [ROBOT] to change the manipulator for axis handling. The LED of
[ROBOT] flashes.
Press [SHIFT] + [EX. AXIS] to change the station for axis handling. The LED of [EX.
AXIS] flashes.

2. Select the group axes to be moved, and then move it by pressing the axis key.

3. Press [ROBOT] or [EX. AXIS] to return to the original window.

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4.10 Registering Job

4.10 Registering Job

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.

JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1+S1:S1
JOB TYPE ROBOT JOB

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Select “JOB NAME,” and then enter a job name by entering the
characters. Refer to “1.2.7 Character Input” of the Operator’s
Manual.

4 Press [ENTER].

5 Select “GROUP SET.”

6 Select a group combination.

7 Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB
CONTENT window appears.

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 4.11 Registering Move Instruction (S)MOV+MOVJ

4.11 Registering Move Instruction (S)MOV+MOVJ

Register a move instruction in the following manner.

4.11.1 Operating Master Side (Station)

Operation Explanation

1 Call the JOB CONTENT

window in teach mode.
2 Press [EX. AXIS]. The master side (station) is selected for axis handling.

TILITY

3 Select either “synchronized” or Press [SYNCRO/SINGLE] to select either “synchronized” or “sin-

“single.” gle.”
When “synchronized” is selected, the mark in the window below
appears.
When the slave side is supposed to follow the master side
motion, select “synchronized.”

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

4 Press the axis key to move to

the desired position.

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4.11 Registering Move Instruction (S)MOV+MOVJ

4.11.2 Operating Slave Side (Manipulator)

Operation Explanation

1 Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling.

TILITY

2 Press the axis key to move to

the desired position.
3 Select either a coordinated Press [SMOV] to select either interpolation.
interpolation or an indepen-
dent interpolation. SMOVL V=138
+MOVJ

Main Menu Short Cut

4 Select an interpolation type. Press [MOTION TYPE] to select an interpolation type.

SMOVC V=138
+MOVJ

Main Menu Short Cut

5 Confirm the speed.

6 Press [ENTER]. The registration is completed as follows.

0003 SMOVC V=138
+MOVJ

• When joint motion is set for the slave side (manipulator), teaching cannot be done during
NOTE a coordinated interpolation.
• When “JOINT” is selected, the interpolation type will not change to a coordinated interpo-
lation, even if [SMOV] is pressed.
• When “JOINT” is selected during coordinated interpolation, a coordinated move instruc-
tion such as “SMOVL” in the input buffer line changes to “MOVJ,” and the interpolation
type becomes individual interpolation.

Initial
Parameter Contents and Set Value
Value
S2C164 Specifies whether the speed inputting for move instructions of the
0
master side robot in a coordinated job is permitted or not.
<Example> 0: Not Provided 1: Provided
SMOVL V=100 SMOVL V=100
+MOVJ  Master +MOVJ VJ=10.00  Master
side side

Speed speci- Speed spec-

fication not ification
provided provided

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 4.12 Registering Reference Point Instruction (SREFP)

4.12 Registering Reference Point Instruction (SREFP)

Register a reference point instruction (SPEFP) for a coordinated interpolation in the following
manner.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}.

3 Move the cursor. Move the cursor to the line immediately before the line where the
reference point instruction is to be registered.
Immediately before 0003 SMOVL V=558
the line where the 0004 +MOVJ
registration point 0005 CALL JOB:TEST
0006 SMOVL V=138
instruction is to be 0007 +MOVJ
registered

4 Grasp the Enable switch.

5 Press the axis key. Turn ON the servo power with the Enable switch. Move the
manipulator to the position which will be a reference point.

6 Select the coordinated interpo- Press [SMOV] to select a coordinated operation.

lation.

7 Press [REF PNT]. The reference point instruction appears in the input buffer line.

SREFP 1

8 Change the reference point Move the cursor to the reference point number, and press
number. [SHIFT] + the cursor key to change the reference point number.

SREFP 2

If you use the Numeric keys to change the reference point num-
ber, press [SELECT] when the cursor is on the reference point
number. Input the number and press [ENTER].
Ref-point no.=
SREFP

9 Press [INSERT]. The [INSERT] key lamp lights up.

When registering immediately before the END instruction, press-
ing [INSERT] is not needed.

10 Press [ENTER]. The REFP instruction is registered.

0003 SMOVL V=558
0004 +MOVJ
The reference 0005 CALL JOB:TEST
point instruction 0006 SREFP1
is registered. 0007 SMOVL V=138
0008 +MOVJ

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4.13 Switching Tasks

4.13 Switching Tasks

To call the JOB CONTENT window for master task, subtask 1 or subtask 2, proceed the fol-
lowing operation.

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select JOB}.
{

3 Press the page key

GO BACK
. Each time the page key
GO BACK
is pressed, the contents of the JOB
PAGE PAGE

CONTENT window change in order of master task, subtask 1 and

subtask 2.
When there is no job in a task, the JOB CONTENT window for
this task is not displayed.

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 4.14 Creating a Job in a Subtask - Method 1 and 2

4.14 Creating a Job in a Subtask - Method 1 and 2

Subtasks 1 and 2 are robot jobs.

Subtask 1: Job of one manipulator + the station
Subtask 2: Job of the other manipulator + the station

There are two methods to create a robot job for a subtask.

Method 1: Copy one subtask job to create another subtask.

 

Teaching

Mirror shift

This method is useful when two movement paths are symmetrical. Use the mirror shift func-
tion to convert a job path and copy it. The same teaching operation does not have to be
repeated.

Method 2: Perform teaching for each manipulator.

 REMOTE
PLAY
TEACH
START HOLD

 REMOTE
PLAY
TEACH
START HOLD

!?
!?

Teaching Teaching
(Leader) (Follower)

Where there are not many similarities in the paths and movements of the two manipulators,
create jobs in Method 2.

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4.15 Method 1: Copy One Subtask Job and Create Another Job

4.15 Method 1: Copy One Subtask Job and Create

Another Job

4.15.1 Procedure
When two movement paths are symmetrical, one subtask job can be created by using the job
taught by the other manipulator.
Perform teaching for either R1 + S1 or R2 + S1. Use the mirror shift to create a job for the
other manipulator.
 

Teaching

Mirror shift

Correct positional dislocation as necessary.

The mirror shift is a function for copying jobs, which creates a job by reversing the signs of the
position data for the S-axis, R-axis, and T-axis.

Original job New job created by mirror shift

Mirror shift

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 4.15 Method 1: Copy One Subtask Job and Create Another Job

4.15.2 Teaching and Mirror Shift

Teach the job for one manipulator + the station, and confirm the movement.
After having completed the teaching, perform mirror shift the job.

Teaching and confirming

movements.

 Converting
Call the JOB CONTENT window for the job to be converted.

For the job currently selected

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}.

To call another job

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {SELECT JOB}. The JOB LIST window appears.

3 Select a job to be displayed.

Execute conversion

Operation Explanation

1 Display the JOB CONTENT

window of the job to be con-
verted.

2 Select {UTILITY} under the

menu.

3 Select {MIRROR SHIFT}. The MIRROR SHIFT window appears.

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4.15 Method 1: Copy One Subtask Job and Create Another Job

Operation Explanation

4 Set items as required.

SOURCE JOB
Selects the conversion source job.
To select another job to be converted, move the cursor
to the name and press [SELECT] to call up the list of
jobs. Select the desired job and press [SELECT].

SOURCE CTRL GROUP

Displays the control group of the conversion source job.

STEP SELECTION
Specifies the steps to be converted. From the first step
to the last step of the selected job are specified as initial
value.

DESTINATION JOB
Specifies the converted job name. To enter the name,
move the cursor to the name and press [SELECT]. The
name of the conversion source job is displayed in the
input line as initial value. When "***" is displayed, the
name for the converted job is to be the same as that of
the conversion source job.
DEST CTRL GROUP
Selects the control group for the converted job. When
the destination job name is entered, the same control
group as the conversion source job is automatically set.
To change it, move the cursor to the control group and
press [SELECT] to call up the selection dialog box.

COORDINATES
Specifies the coordinates used for conversion. "PULSE,"
"ROBOT," or "USER" can be selected. The initial value
is "PULSE."
"PULSE": Executes the pulse mirror-shift conversion.
"ROBOT": Executes the mirror-shift conversion on the
basis of the cartesian coordinates.
"USER": Executes the mirror-shift conversion on the
basis of the specified user coordinates.

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 4.15 Method 1: Copy One Subtask Job and Create Another Job

Operation Explanation

4 (cont’d) USER COORD NO.

Specifies the user coordinates number when "USER" is
selected in . "01" is automatically set as initial value
when the "USER" is selected in .
This item cannot be set when "PULSE" or "ROBOT" is
selected in .

TARGET
Specifies the coordinate where conversion is to be done
when "ROBOT" or "USER" is selected in . "XY," "XZ,"
or "YZ" can be selected. The "XZ" is automatically set as
initial value when "ROBOT" or "USER" is selected in .
Always specify "XZ" for "ROBOT."

EXECUTE
Executes the conversion. When the conversion destina-
tion job name is entered, the converted job is created
with that name as a new job. When the conversion desti-
nation job name is not entered, the conversion source
job is converted and overwritten.

5 Select "EXECUTE."

 Jobs Not to be Converted

The jobs and relative jobs without group axes cannot be converted.

 Group Axes for Conversion

When the group axes for the SOURCE JOB in the multiple group axes system, the axis con-
figuration, etc. of each group axes for SOURCE JOB and DESTINATION JOB must be the
same.
• Robot axis: Same type
• Base axis: Same axis configuration
• Station axis: Same axis configuration

 Position Type Variables

The position type variables are not for mirror-shift.

 Parameter
Which axis is to be shifted (reverse the sign) is specified by the following parameter.
S1CG065: Mirror shift sign reversed axis specification
T B R U L S
1st axis (0: Not reversed, 1: Reversed)

6th axis

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4.15 Method 1: Copy One Subtask Job and Create Another Job

4.15.3 Correcting Positional Dislocation

In the job after mirror shift, a position may be dislocated due to the installation error. In this
case, all steps should be corrected by the same shift amount. For this operation, the parallel
shift job conversion function is used.

 Setting the Items for Conversion

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}. The JOB CONTENT window appears.

3 Select {UTILITY} under the

pull-down menu.
4 Select {PARALLEL SHIFT The PARALLEL SHIFT JOB window appears.
JOB}.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

 SOURCE JOB
 STEP SECTION
 DESTINATION JOB
 COORDINATES
BASE POINT
<SHIFT VALUE> R1:S 0
L 0
U 0
R 0
B 0
T 0

EXECUTE CANCEL

Main Menu Short Cut

5 Specify the conversion items. Specify the following items.

SOURCE JOB
Selects the job before conversion. The job which is shown in
the JOB CONTENT window is set initially. To change the job,
perform the following procedure.
Move the cursor to the job name and press [SELECT]. The
JOB LIST window appears. Select the desired job.

STEP SECTION (Start Step  End Step)

Specifies the step section of the source job. All the steps are
set initially. If there is no steps in the source job, “***” is dis-
played. To change the section, perform the following proce-
dure.
Move the cursor to the step section indication and press
[SELECT]. The input buffer line appears. Input the step number
and press [ENTER].

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 4.15 Method 1: Copy One Subtask Job and Create Another Job

Operation Explanation

5 (cont’d) DESTINATION JOB

Specifies the converted job. If this is not specified( “********” is
displayed), the source job is specified. To change the job, per-
form the following procedure.
Move the cursor to the converted job name indication and
press [SELECT]. The character input line appears. The source
job name is displayed in the input line. To enter job name with-
out using the source job name, press [CANCEL] and then input
a job name.

COORDINATES
Selects the conversion coordinates. Move the cursor to the
coordinates name and press [SELECT]. The selection dialog
box appears. Select the desired coordinates.
When the user coordinates are selected, the input buffer line
appears. Input the desired user coordinate number and press
[ENTER].

 Setting the Shift Value

There are two methods for specifying the shift value.
• Directly input the shift value by numerical value.
• Calculate the shift value by teaching the original base point and converted base point.

Numerical Value Input

Operation Explanation

1 Display the PARALLEL SHIFT

JOB window.

2 Select the shift value to be set. The number can now be entered.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X 0.000
Y 0.000
Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

3 Type the shift value using the

Numeric keys.

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4.15 Method 1: Copy One Subtask Job and Create Another Job

Operation Explanation

4 Press [ENTER]. The shift value is set.

DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X 200.000
Y 0.000
Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

Calculation by Teaching
Operation Explanation

1 Display the PARALLEL SHIFT

JOB window.

2 Select “TEACH SETTING” in

the item of “BASE POINT.” DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

R1:X 0.000 R1:X 0.000

Y 0.000 Y 0.000
Z 0.000 Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

3 Select “BASE POINT(SRC).”

4 Move the manipulator to the

original base point by the axis
keys.

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 4.15 Method 1: Copy One Subtask Job and Create Another Job

Operation Explanation

5 Press [MODIFY] and The original base point is set.

[ENTER].
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

R1:X 230.000 R1:X 0.000

Y 40.000 Y 0.000
Z 40.000 Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

6 Select “BASE POINT(DEST).”

7 Move the manipulator to the

converted base point by the
axis keys.

8 Press [MODIFY] and The conversion base point is set.

[ENTER].
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

R1:X 230.000 R1:X 460.000

Y 40.000 Y 60.000
Z 20.000 Z 100.000

EXECUTE CANCEL

Main Menu Short Cut

9 Select “EXECUTE.” The difference is calculated by the two teaching points and set as
a shift value.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X 230.000
Y 20.000
Z 80.000

EXECUTE CANCEL

Main Menu Short Cut

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4.15 Method 1: Copy One Subtask Job and Create Another Job

 Executing Conversion
Operation Explanation

1 Display the PARALLEL SHIFT

JOB window.

2 Select “EXECUTE.” The confirmation dialog box appears when the converted job is
not specified. Select “YES” then the conversion is executed. The
JOB CONTENT window appears when the conversion is com-
pleted.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X Overwrite?
200.000
Y 0.000
Z 0.000

YES NO

EXECUTE CANCEL

Main Menu Short Cut

SUPPLE-
If an alarm occurs during conversion, conversion is
MENT suspended.

JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: TEST STEP NO: 000
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 ’TEST JOB
0002 JUMP JOB:JOB-01
0003 MOVJ VJ=50.00
0004 MOVJ /0V VJ=50.00 At step outside the
0005 MOVJ VJ=50.00 P-point maximum
envelope, "/OV"is
displayed after the
move instruction.

MOVJ VJ=100.0

Main Menu Short Cut Step exceeding operation range is made

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 4.16 Method 2: Perform Teaching for Each Manipulator

4.16 Method 2: Perform Teaching for Each Manipulator

4.16.1 Procedure
First, perform teaching a job for the combination of leader manipulator and station.
Next, perform teaching a job for the combination of follower manipulator and station. For this
operation, perform teaching so that the follower manipulator follows the motion of station by
FWD operation of the leader job.
 REMOTE
PLAY
TEACH
START HOLD

 REMOTE
PLAY
TEACH
START HOLD

!?
!?

Teaching Teaching
(Follower)
(Leader)

For Method 2, there are two ways of teaching depending on whether the master task is used
or not.

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4.16 Method 2: Perform Teaching for Each Manipulator

4.16.2 Teaching using Master Task

Using the master task can omit the operation to register a job name in the SUPERVISORY
window.

Leader Follower
Call master task
New job Follower
Teaching and FWD
registration teaching
completed operation

Operation Explanation

1 Teach the coordinated job of Teach all the steps of coordinated job for one manipulator + the
leader subtask. station.

Teaching and confirming

movements.

2 New job registration for the Register as a new job the coordinated job for the other manipula-
coordinated job of follower tor + the station.
subtask. For new job registration, refer to " 4.10 Registering Job. "

New job registration

3 New job registration of master Newly register the master task as concurrent job.
task. For concurent job, refer to " 7.5.2 Concurrent Job. "

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 4.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

4 Register PSTART instruction. Register a PSTART instruction to start the job newly registered at
Operation 2. To specify this subtask as the follower, add a tag
SYNC and the leader subtask.
Then, register a PSTART instcution to start the job taught at
Operation 1.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL:
0000 NOP
0001 ’JOB FOR MASTER TASK
0002 PSTART JOB:JOB-R1 SUB1 SYNC SUB2 Follower
0003 PSTART JOB:JOB-R2 SUB2
Leader
0004 END

Main Menu Short Cut

5 Set to “Single job operation Set the operation mode at FWD operation to “Single job operation
mode.” mode.”
Pressing [SHIFT] + [SMOV] switches the operation mode.

6 Move the cursor to the first

PSTART instruction.

7 Press [INTERLOCK] + [FWD]. Starts the follower subtask.

8 Move the cursor to the second

PSTART instruction.

9 Press [INTERLOCK] + [FWD]. Starts the leader subtask.

10 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

change to the leader subtask. CONTENT window change in order of master task, subtask 1,
and subtask 2.

11 Move the cursor to the step 1.

12 Press [FWD].
13 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

switch to the follower subtask. CONTENT window change in order of master task, subtask 1,
and subtask 2.

14 Register the step 1 of the fol- After the FWD operation of step 1 of leader, switch to the follower
lower subtask. and register the position of the follower manipulator relative to the
station current position.
0000 NOP
0001 SMOVL V=276
+MOVJ

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4.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

15 Register the step 2 and  Change to the leader’s JOB CONTENT window, and perform a
onward of the follower sub- FWD operation to the next step.
task. To maintain the follower manipulator position relative to the sta-
tion, press [SHIFT] + [SYNCRO/SINGLE] to set the job syn-
chronized mode.

 Change to the follower’s JOB CONTENT window, and register

the follower manipulator position relative to the station current
position.
0000 NOP
0001 SMOVL V=276
+MOVJ
0002 SMOVL V=276
+MOVJ

Teach the follower job by repeating the above operations  and

.

4.16.3 Teaching using SUPERVISORY Window

When teaching without master task, it is necessary to register the startup job (ROOT JOB) in
the SUPERVISORY window.

Leader Follower
Register a startup
New job (root) job in the Follower
Teaching
registration SUPERVISORY teaching
completed
window

Operation Explanation

1 Teach a coordinated job of Teach all the steps of the coordinated job of one manipulator +
leader subtask. the station.

Teaching and confirming

movements.

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 4.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

2 New job registration of a coor- Register as a new job the coordinated job of the other manipula-
dinated job of follower sub- tor + the station.
task. For new job registration, refer to " 4.10 Registering Job. "

New job registration

3 Select {JOB} under the main

menu.

4 Select {CTRL MASTER}. The SUPERVISORY window appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB M-TASK
ROOT JOB M-TASK
EDIT JOB M-TASK
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP
SYNC TASK

Main Menu Short Cut

5 Select the root job of master

task.

6 Select “CANCEL ROOT JOB.” The root jobs of master task, subtask1, and subtask 2 are can-
celled.
MASTER SUB1 SUB2 SUB3

ROOT JOB

7 Select the root job of subtask

1.

8 Select “REGISTER ROOT The root jobs for subtask 1 and subtask 2 are registered.
JOB.” MASTER SUB1 SUB2 SUB3

ROOT JOB JOB-R1

9 Select a job to be registered

as root job.
10 Select the root job of subtask
2.

11 Select “REGISTER ROOT

JOB.”

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4.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

12 Select a job to be registered The root jobs for subtask 1 and subtask 2 are registered.
as root job. MASTER SUB1 SUB2 SUB3

ROOT JOB JOB-R1 JOB-R2

13 Select the synchronous task

of subtask 1.
14 Select “SUB2.” Specify SUB2 of leader task to synchronize the synchronous task
of subtask 1.
MASTER SUB1 SUB2 SUB3
SYNC TASK SUB2

15 Select “Single job operation Set “Single job operation mode” for the operation mode at FWD
mode.” operation.
Pressing [SHIFT] + [SMOV] switches the operation mode.

16 Select {JOB} under the main

menu.

17 Select {JOB}.

18 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

chage to leader subtask.* CONTENT window change in order of master task, subtask 1,
and subtask 2.

19 Move the cursor to the step 1.

20 Press [FWD].

21 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

change to the leader subtask. CONTENT window change in order of master task, subtask 1,
and subtask 2.
22 Register the step 1 of follower After the FWD operation of step 1 of leader, switch to follower and
subtask. register the position of the follower manipulator relative to the
station current position.
0000 NOP
0001 SMOVL V=276
+MOVJ

23 Register the step 2 and  Change to the leader’s JOB CONTENT window and perform
onward of follower subtask. FWD operation to the next step.
To maintain the follower manipulator position relative to the sta-
tion, press [SHIFT] + [SYNCRO/SINGLE] to set the job syn-
chronized mode.

 Change to the follower’s JOB CONTENT window, and register

the follower manipulator position relative to the station current
position.
0000 NOP
0001 SMOVL V=276
+MOVJ
0002 SMOVL V=276
+MOVJ

Teach the follower job by repeating the above operations  and

.

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 4.17 Job in Master Task

4.17 Job in Master Task

The job of master task is a concurrent job or a robot job without control groups.

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.
JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1
JOB TYPE ROBOT JOB

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Move the cursor to JOB NAME and press [SELECT], and enter a
job name by entering the characters.

4 Set “GROUP SET.” Selecting “R1” of “GROUP SET” displays the selection dialog
box. Select “NON GROUP.”

5 Set “CONCURRENT JOB.” Select “ROBOT JOB” of “JOB TYPE.”

Each time [SELECT] is pressed, “ROBOT JOB” or “CONCUR-
RENT JOB” is selected alternately.

6 Press [ENTER].
7 Select “EXECUTE.” The job is registered in the memory of NX100, and the JOB CON-
TENT window appears. NOP and END instructions are regis-
tered automatically.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL:

Main Menu Short Cut

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4.17 Job in Master Task

Operation Explanation

8 Register a PSTART instruc- Register PSTART instructions to start the subtask 1 and 2.
tion. Since the first PSTART instruction is for starting the follower sub-
task, add a tag SYNC and the leader subtask.
Then, register a PSTART instruction to start the leader subtask.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL:
0000
0001
0002
0003
0004
0005
0006

Main Menu Short Cut

• If a tag SYNC is added to neither of PSTARTs, an alarm occurs.

NOTE • If the synchronous task is set to “UNUSED,” the follower task, if it is SUB1, performs the
same motion as the leader task SUB2, and if it is SUB2, performs the same motion as the
leader task SUB1.

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 4.18 Confirming Operation

4.18 Confirming Operation

4.18.1 Procedure
• For confirming operation, set to “Multi-job operation mode.”
NOTE In the multi-job operation mode, the jobs in all the tasks operate. (The operation proce-
dures are explained below.)
If the follower subtask is operated individually, only the follower manipulator moves but
not the station. As the follower manipulator moves following to the station current posi-
tion, an alarm may occur and the manipulator may interfere the station as a result.
To verify the individual operation of the follower manipulator itself, call the job by job
selection operation and confirm the individual operation of the job, but not in the twin syn-
chronization.

Operation Explanation

1 Create a concurrent job. For procedure, refer to “4.17 Job in Master Task.”

2 Select {JOB} under the main

menu.
3 Select {CTRL MASTER}. The SUPERVISORY window appears.
JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
ROOT JOB M-TASK
EDIT JOB M-TASK
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP
SYNC TASK

Main Menu Short Cut

4 Move the cursor to the task

where the master job is to be
registered.

5 Press [SELECT].
6 Select “SETTING MASTER
JOB.”

7 Select a job to be the master

job.

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4.18 Confirming Operation

Operation Explanation

8 Press [SHIFT] + [SYNCRO/ Set to “Multi-job operation mode.”

SINGLE]. Each time [SHIFT] + [SYNCRO/SINGLE] are pressed, the opera-
tion mode changes between “Multi-job operation mode” and “Sin-
gle job operation mode.”

Main Menu Short Cut Multi-job operation mode available

9 Press [TEST START] or When a PSTART instruction is executed, the manipulator and the
[FWD]. station move.

Parameter Contents and Set Value Initial Value

S4C152 Specifies the user output number to externally output the 0

“Multi-job operation mode” status at teaching.
0: Not output
1 to 1024: User output number

4.18.2 Precautions for Confirming Operation

In the following operations, the steps of two manipulators will not coincide.

 Stops during Operation

<Example>
• When the manipulator stops during operation, move the cursor position to another step of
the job in one of the subtasks.
• Call the master job only by one of the subtasks.

When restarting the operation in the states as explained above, an interference with jig, etc.
may be caused. Restart both jobs from the same position (step).

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 4.18 Confirming Operation

 When “Multi-job operation mode” is Set in the TEACHING CONDI-

TION Window
<Example>
If the manipulator stops after operating to a certain step, and the step position of the follower
R1 is changed and performs FWD operation again, the leader R2 proceeds to the next step
but the R1 does not move. As a result, the R2 goes forward by one step ahead.
 R2 R1  Change the step of  Repeat FWD
(leader) (follower) follower
1 1 1 1 1 1

2 2 2 2 2 2

 FWD  FWD

1 1 1 1

2 2 2 2

3 3 3 3

4 4 4

(The numbers in the figure are step

5
numbers.)

This is because, in the FWD operation after position change, the step after the change is usu-
ally re-executed.
In the above figure, at the FWD operation after the position change, the leader R2, whose
step has not been changed, move to the step 3. However, since position of the follower R1 is
changed, the step after the change is executed again. As a result, operation is performed at
the same position and it does not proceed to the next step. In this way, the steps of the leader
and follower do not correspond each other.
To make the steps of two sides correspond each other at the FWD operation after the position
change in the above case, move the cursor to the next step for the job where a change has
been made, then perform FWD operation, TEST run, and playback.

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4.19 Playback

4.19 Playback

4.19.1 Start
Call the master job in the following operation and perform a playback. A job in the subtask is
started by a PSTART instruction.

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CTRL MASTER}. The SUPERVISORY window appears.

3 Move the cursor to MASTER

JOB of MASTER.

4 Press [SELECT].

5 Select “CALL MASTER JOB.”

6 Press [START]. The called master job is executed from the beginning and the
subtask is executed by a PSTART instruction.

Performing the Operation 2 clears the job of subtask.

NOTE Therefore, if the master task is called while the subtask is interrupted in the middle of its
execution, the information relating to the state of subtasks that are halted is lost.

Master task
Call master NOP
job
..
.
PSTART SUB1
PSTART SUB2
..
.
Starts Starts

Subtask 1 Subtask 2

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 4.19 Playback

4.19.2 Automatic Correction of Shift Value

During playback operation, as the station is controlled by the leader job, the follower job con-
trols only the follower manipulator.
If there is a shift between the teaching position of the leader job station and the station current
position (controlled by the leader job), the follower manipulator moves correcting automatically
the shift value in order to keep the position on the station at teaching.

shift
Position at teaching

Position at playback

Station

The shift between the teaching position and the station current position is always monitored.
If the shift amount exceeds the set value of parameter, the following message is displayed.

Main Menu Short Cut PULSE LIMIT (TWIN COORDINATED)

Parameter Contents and Set Value Initial Value

S3C809 Maximum shift angle of station axis in twin Differs depending on system
(triple) synchronous system (in units of 0.1)

The control method of manipulator posture during correction is set by the following parameter.

Parameter Contents and Set Value Initial Value

S2C322 Control method of follower manipulator 0

posture in twin (triple) synchronous sys-
tem
0: Follow the motion of station
1: Constant to the earth

0: Follow the motion of station

1: Constant to the earth

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 5.1 Outline

5 Triple Synchronous System

5.1 Outline

The triple synchronous system is a system where three manipulators operate in coordination
for one station.

Master task
such as calculation, I/O control

Start Start Start

Subtask 1 Subtask 2 Subtask 3

R1+S1 R2+S1 R3+S1

Station
S1

In this system, three coordinated jobs are done at the same time.
• A coordinated job for the first manipulator and the station (R1+S1)
• A coordinated job for the second manipulator and the station (R2+S1)
• A coordinated job for the third manipulator and the station (R3+S1)

A concurrent job or a robot job without control groups starts these three jobs and implements
I/O control. The master task job uses the independent control function to start the robot jobs
of subtasks 1, 2, and 3.
Three robot jobs can be created by the following two methods.

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5.1 Outline

Method 1: Copy one subtask job to create two other subtask jobs.
 

Teaching

Mirror shift

This method is useful when two movement paths are symmetrical. Use the mirror shift func-
tion to convert a job path and copy it. The same teaching operation does not have to be
repeated.

Method 2: Perform teaching for each manipulator.

 

Teaching Teaching Teaching

(Leader) (Follower) (Follower)

Where there are not many similarities in the paths and movements of the three manipulators,
create jobs in Method 2.

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 5.2 Function Keys

5.2 Function Keys

The function keys for the triple synchronous system are assigned to the Numeric keys as
shown in the figures below.

5.2.1 Arc Welding Application

7 8 9
SYNCRO
SINGLE ARCON FEED

4 5 6
GAS
SMOV ARCOFF RETRACT

1 2 3
TIMER CUR/VOL

0 . -
REFP CUR/VOL

Registers a timer instruction “TIMER” in a job.

1
TIMER

Registers a reference point “REFP” in a job, or modifies the registered ref-

erence point.
0
REFP [REFP] + [FWD]
Moves the manipulator to the registered reference point.

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5.2 Function Keys

Registers a welding start instruction “ARCON.”

8
ARCON

Registers a welding end instruction “ARCOF.”

5
GAS
ARCOFF

(These keys are for future use and disabled in the current version.)
Used for the gas flow control.
INTER 5 Pressing [INTERLOCK] + [GAS ARCOFF] once opens the gas valve for 20
LOCK + GAS seconds, and then the valve automatically closes.
ARCOFF Pressing [INTERLOCK] + [GAS ARCOFF] again within the 20 seconds,
the gas valve can be manually closed.
Used for wire inching. Press [FEED] to feed the wire, and press
[RETRACT] to retract the wire.
9
While these keys are pressed, the wire feed motor operates.
FEED
When the following are pressed simultaneously, wire inching is performed
in the high speed mode.
6 [HIGH SPEED] + [FEED]
RETRACT [HIGH SPEED] + [RETRACT]

Modifies the welding current/voltage while welding during the play mode.
Press [3/CUR/VOL] to increase the current/voltage value, and press
3 [/CUR/VOL] to decrease the current/voltage value.
CUR/VOL (Refer to “11.6 Changing Welding Conditions During Playback” in the
Operator’s Manual.)
-
CUR/VOL

Changes the type of movement for the manipulator when teaching a coor-
dinated job. Each time this key is pressed, the movement type changes.

7 SYNCRO: The mark for “synchronized” appears in the status display area.
SYNCRO When the master side is moved, the slave side will follow the
SINGLE movement of the master.

SINGLE: Only the selected group axis moves.

Selects either a coordinated or an individual interpolation when teaching a
coordinated job. Each time this key is pressed, the operation type
changes.

4 Coordinated: All the move instructions that are registered in this mode
SMOV become coordinated instructions.

Individual: The master-slave relationship is cancelled. Each manipulator

and station moves independently.

Wire retraction, high-speed inching, or high-speed retraction cannot be performed depend-

SUPPLE-
MENT ing on the Power Source.

[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
NO TE for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.

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 5.2 Function Keys

5.2.2 General Application

This application is to be added in the future.

7 8 9
SYNCRO
SINGLE

4 5 6
SMOV

1 2 3
TOOLON
TOOLON JOB

0 . -
TOOLOF
TOOLOF JOB

Registers the TOOLON instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLON operation is exe-
2
cuted.
TOOLON

Registers the TOOLOF instruction.

If [INTERLOCK] is pressed simultaneously, the TOOLOFF operation is exe-
.
cuted.
TOOLOF

Registers the CALL instruction for the reserved job TOOLONxx.

3
TOOLON
JOB

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5.2 Function Keys

Registers the CALL instruction for the reserved job TOOLOFxx.

-
TOOLOF
JOB

Changes the type of movement for the manipulator when teaching a coordi-
nated job. Each time this key is pressed, the movement type changes.

7 SYNCRO: The mark for “synchronized” appears in the status display area.
SYNCRO When the master side is moved, the slave side will follow the
SINGLE
movement of the master.

SINGLE: Only the selected group axis moves.

Selects either a coordinated or an individual interpolation when teaching a

coordinated job. Each time this key is pressed, the operation type changes.

4 Coordinated: All the move instructions that are registered in this mode
SMOV
become coordinated instructions.

Individual: The master-slave relationship is cancelled. Each manipulator and

station moves independently.

[7:SYNCRO/SINGLE] and [4: SMOV] keys are available only when "FUNCTION" setting
NO TE for each key is specified to "MAKER" in both KEY ALLOCATION(EACH) screen and KEY
ALLOCATION(SIM) screen.

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 5.3 Job Configuration

5.3 Job Configuration

Using the independent control function, configure jobs so that the concurrent job or robot job
without control groups of master task operates the robot jobs in subtask 1, 2, and 3.

Master task: Concurrent job (or robot job without control groups)
Starts subtasks 1, 2, and 3, and controls I/Os.
Subtask 1: Robot job
A coordinated job for the first manipulator + the station
Subtask 2: Robot job
A coordinated job for the second manipulator + the station
Subtask 3: Robot job
A coordinated job for the third manipulator + the station

Subtasks 1, 2, and 3 are determined as leader or follower with a tag SYNC in PSTART instruc-
tion.
Jobs

Master task

Shows the
connection among
relative jobs.

Starts Starts Starts

Subtask 1 Subtask 2 Subtask 3

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5.4 Leader and Follower

5.4 Leader and Follower

Set the two out of the subtask 1, the subtask 2, and the subtask 3 as the followers. To set a
follower, add a tag SYNC and the leader subtask to the PSTART instruction of the master
task. The subtask to which a tag SYNC is added is follower while the subtask without a tag is
leader.
The station axis is controlled by the leader job, and the follower job follows the movement of
station axis.
Subtask 1 (follower)
0004 PSTART JOB:JOB-1 SUB SYNC SUB3
0005 PSTART JOB:JOB-2 SUB SYNC SUB3 Subtask 2 (follower)
0006 PSTART JOB:JOB-3 SUB3

Master task job Subtask 3 (leader)

In this case, the manipulators of subtask
1 and 2 synchronize with the leader subtask 3.

NOTE Register a PSTART instruction so that the follower job starts first.

5.5 Synchronizing with TSYNC

During the execution of the jobs, a deviation between the movements of the three manipula-
tors may occur. In the steps where the movements of the three manipulators should be
exactly the same, execute a TSYNC instruction immediately before these steps.
When a TSYNC instruction is executed in one of the robot jobs, the manipulator waits until the
same synchronized signal, TSYNC, is executed in the other two robot jobs. Set the number of
synchronized tasks. When setting “SYNCHRO NUM” to “UNUSED,” the number of tasks is
the same as when “SNUM=2.”

Format

TSYNC Synchronizatio
n No. 1 to 32

Number of
synchronized
tasks 2 or 4

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 5.5 Synchronizing with TSYNC

Operation Explanation

1 Move the cursor to the line just

above the line where TSYNC
instruction is to be registered.
2 Press [INFORM LIST]. The instruction list appears.

IN/OUT
JUMP TSYNC CONTROL
CALL DEVICE
TIMER MOTION
LABEL ARITH
COMMENT SHIFT
RET OTHER
PSTART SAME
PWAIT PRIOR

3 Select “TSYNC.” A TSYNC instruction is displayed in the input buffer line.

TSYNC 1

4 Change additional items. <To register items as displayed in the input buffer line>
Proceed to Operation 5.

<To change the numerical data>

Move the cursor to the numerical data. Press [SHIFT] and the
cursor key simultaneously to increment or decrement the number.

TSYNC 2

To enter a number by pressing the Numeric keys, press

[SELECT] to display the input line.

Synchronization_no.=
TSYNC

Enter a number and press [ENTER], then the number in the input
buffer line is changed.

After having changed the numerical data, press [ENTER]. The

DETAIL EDIT window is closed and the JOB CONTENT window
reappears.

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5.5 Synchronizing with TSYNC

Operation Explanation

4 (cont’d) <To edit additional items>

• To edit additional items, move the cursor to the instruction in the
input buffer line, then press [SELECT]. The DETAIL EDIT win-
dow appears.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 1
SYNCHRO NUM UNUSED

TSYNC 1

Main Menu Short Cut

To change the synchronization number, select “1” of “SYNCHRO

NO.” When the number input status enters, enter the synchroni-
zation number, “SYNCHRO NO.” by pressing the Numeric keys,
and press [ENTER].
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 2
SYNCHRO NUM UNUSED

TSYNC 2

Main Menu Short Cut

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 5.5 Synchronizing with TSYNC

Operation Explanation

4 (cont’d) To add the number of synchronized tasks, select “UNUSED” of

“SYNCHRO NUM.” The selection dialog box appears. Select
“SNUM=.”
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 2
SYNCHRO NUM SNUM= 3

TSYNC 2 SNUM=3

Main Menu Short Cut

After changed or added the additional items, press [ENTER]. The

DETAIL EDIT window is closed, and the JOB CONTENT window
appears.

5 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

<Example>
NOP NOP NOP
Synchronizes
TSYNC 1 SNUM=3 TSYNC 1 SNUM=3 TSYNC 1 SNUM=3 at the start of
MOVJ MOVJ MOVJ job.
+MOVJ +MOVJ +MOVJ
SMOVL SMOVL Synchronizes
SMOVL
+MOVJ +MOVJ just before
+MOVJ
TSYNC 2 SNUM=3 TSYNC 2 SNUM=3 TSYNC 2 SNUM=3 the start of
ARCON ARCON ARCON work. (in this
case,
ARCOF ARCOF ARCOF welding)
SMOVL SMOVL SMOVL
+MOVJ +MOVJ +MOVJ
TSYNC 3 SNUM=3 TSYNC 3 SNUM=3 TSYNC 3 SNUM=3 Synchronizes
DOUT OT#(1)=OFF DOUT OT#(2)=OFF DOUT OT#(3)=OFF just after the
MOVJ MOVJ MOVJ
+MOVJ +MOVJ end of work.
+MOVJ
END END END

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5.6 Job Example

5.6 Job Example

Master task
(Concurrent job or robot job without control groups) Jobs in subtasks 1, 2 and 3
NOP
*G
' RESET
DOUT OG#(1) 0
DOUT OG#(2) 0
DOUT OG#(4) 0
DOUT OG#(8) 0 Home position return job
' RETURN TO HOME 1 R1 HOME 1 (R1+S1)
PSTART JOB:R1 HOME 1 SUB1 (R1+S1) R2 HOME 2 (R2)
PSTART JOB:R2 HOME 2 SUB2 (R2) R3 HOME 3 (R3)
PSTART JOB:R3 HOME 3 SUB3 (R3)
PWAIT SUB1
PWAIT SUB2
PWAIT SUB3
Waiting JOB
' WAITING FOR THE FIRST START
WAIT IN#(1)=ON R1 WAIT (R1)
PSTART JOB:R1 WAIT SUB1 (R1) R2 WAIT (R2)
PSTART JOB:R2 WAIT SUB2 (R2) R3 WAIT (R3)
PSTART JOB:R3 WAIT SUB3 (R3)
PWAIT SUB1
PWAIT SUB2
PWAIT SUB3

JUMP *G
*A

' RETURN TO HOME 1

JUMP *B IF IG#(3)<>99
PSTART JOB:R1 HOME 1 SUB1 Work JOB (coordinated job)
PSTART JOB:R2 HOME 2 SUB2
PSTART JOB:R3 HOME 3 SUB3 TES11-R1(R1+S1)
PWAIT SUB1 TES11-R2(R2+S1)
NOP TES11-R3(R3+S1)
PWAIT SUB2 TSYNC 1 SNUM=3 NOP
PWAIT SUB3 MOVJ+MOVJ TSYNC 1 SNUM=3 NOP
JUMP *G MOVJ+MOVJ TSYNC 1 SNUM=3
*B SMOVL+MOVJ MOVJ+MOVJ
TSYNC 2 SNUM=3 SMOVL+MOVJ
' WORK JOB ARCON TSYNC 2 SNUM=3 SMOVL+MOVJ
JUMP *C IF IG#(3)=0 ARCON TSYNC 2 SNUM=3
ARCOF ARCON
' WORK 1 SMOVL+MOVJ ARCOF
JUMP *E IF IG#(3)<>1 TSYNC 3 SNUM=3 SMOVL+MOVJ ARCOF
PSTART JOB:TES11-R1 SUB1 SYNC SUB3 (R1+S1) DOUT OT#(1)=OFF TSYNC 3 SNUM=3 SMOVL+MOVJ
PSTART JOB:TSE11-R2 SUB2 SYNC SUB3 (R2+S1) MOVJ+MOVJ DOUT OT#(2)=OFF TSYNC 3 SNUM=3
PSTART JOB:TSE11-R3 SUB3 (R3+S1) END MOVJ+MOVJ DOUT OT#(3)=OFF
PWAIT SUB1 END MOVJ+MOVJ
PWAIT SUB2 END
PWAIT SUB3
*E

' WORK 2
JUMP *F IF IG#(3)<>2
PSTART JOB:TES12-R1 SUB1 SYNC SUB3 (R1+S1)
PSTART JOB:TES12-R2 SUB2 SYNC SUB3 (R2+S1)
PSTART JOB:TES12-R3 SUB3 (R3+S1)
PWAIT SUB1
PWAIT SUB2
PWAIT SUB3
*C

DOUT OG#(4) 15
JUMP *C
END

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 5.7 JOB CONTENT Window

5.7 JOB CONTENT Window

The contents of coordinated job are displayed as shown below.

 Synchronized/Single
 Group axis being handled

JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: TEST STEP NO: 005
CONTROL GROUP: R1+S1:S1 TOOL: 00+
0005 SMOVL V=138
 Instructions +MOVL
0006 MOVL V=138
+MOVJ

 Coordinated interpolation/ MOVL V=138

Individual interpolation +MOVJ

Main Menu Short Cut

Instructions
For coordinated jobs, the move instruction is displayed in two lines. The first line is the
instruction to the slave side; the second line is the instruction to the master side.

SMOVL V=138 Slave, a manipulator

+MOVJ Master, a station

Synchronized/Single
Synchronized/single are the types of movement available for the manipulator during axis
operation. This mark appears when synchronized movement is selected.
Switch between movements by pressing [SYNCRO/SINGLE].

Group axis being handled

Displays the group axis being handled.
Pressing [ROBOT] selects the manipulator.
Pressing [EX. AXIS] selects the station.

Coordinated interpolation/Individual interpolation

Switch between coordinated interpolation and individual interpolation by pressing [SMOV].

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5.8 Synchronized/Single

5.8 Synchronized/Single

5.8.1 Synchronized/Single Movement Between Station and

Manipulator
There are two ways to handle axes when teaching: “Synchronized” and “Single.”
Change between movements by pressing [SYNCRO/SINGLE].

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

 Synchronized
If the axes are handled in the “Synchronized” mode, the slave (manipulator) follows the mas-
ter (station) when the master moves. This feature is used to keep the position of the manipu-
lator relative to the station.
However, the master does not move when the slave is moved.

• A master axis is moved:

The slave follows

the motion of
the master.

Moves Moves

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 5.8 Synchronized/Single

 Single
If an axis is handled in “Single” mode, the manipulator or the station whose axis has been
handled, moves.
This feature is used where a manipulator and a station each executes an individual job.

• A slave side axis is moved:

Does not move Moves

• A master side axis is moved:

Moves Does not move

• The selected mode, Synchronized or Single, is maintained until the next selection is
NOTE made.
• When an edit job is changed, “Single” is automatically selected.

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5.8 Synchronized/Single

5.8.2 Job Synchronized Mode for Subtask 1, 2, and 3

When moving only the leader manipulator in FWD/BWD operation, the follower manipulator in
stop status may interfere with a workpiece. To prevent this, using “job synchronized mode”
can move the follower synchronizing the motion of the leader. The follower manipulator
moves, keeping the relative position to the station.
Follower
Follower

Leader
Leader

Leader in FWD operation. Leader in FWD operation,

using job synchronized mode.

Pressing [SHIFT] + [SYNCRO/SINGLE] changes the job synchronized mode.

Main Menu Short Cut Twin coordinated mode ON

Main Menu Short Cut Twin coordinated mode OFF

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 5.8 Synchronized/Single

Also in the TEACHING CONDITION window, the job synchronized mode can be set and con-
firmed.

Operation Explanation

1 Select {SETUP} under the

main menu.

2 Select {TEACHING COND}. The TEACHING CONDITION window appears.

DATA EDIT DISPLAY UTILITY

TEACHING CONDITION
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
INSTRUCTION INPUT LEARNING VALID
MOVE INSTRUCTION SET STEP
STEP ONLY CHANGING PROHIBIT
STEP/TEST RUN OPERATION MODE SINGLE
BWD OPERATION NO GROUP AXIS PERMIT
BWD OPERATION CONCURRENT JOB PROHIBIT
TWIN COORDINATED MODE INVALID

Main Menu Short Cut

3 Select “TWIN COORDINATED Each time [SELECT] is pressed, “VALID” and “INVALID” is
MODE.” selected alternately.
DATA EDIT DISPLAY UTILITY

TEACHING CONDITION
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
INSTRUCTION INPUT LEARNING VALID
MOVE INSTRUCTION SET STEP
STEP ONLY CHANGING PROHIBIT
STEP/TEST RUN OPERATION MODE SINGLE
BWD OPERATION NO GROUP AXIS PERMIT
BWD OPERATION CONCURRENT JOB PROHIBIT
TWIN COORDINATED MODE INVALID

Main Menu Short Cut Twin coordinated mode OFF

NOTE The job synchronized mode is enabled only when “SINGLE” is selected in “STEP/TEST
RUN OPERATION MODE” for the follower manipulator.

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5.9 Selecting Axis to be Handled

5.9 Selecting Axis to be Handled

In a coordinated system with multiple numbers of group axes, select a group axis to be han-
dled in the following manner.

5.9.1 When There is an Edit Job

When the edit job is displayed, the group axes registered in the displayed job is the one to be
handled.

Pressing [ROBOT] selects a manipulator for axis handling.

UTILITY

Pressing [EX. AXIS] selects a station for axis handling.

UTILITY

5.9.2 When There is No Edit Job

When there is no edit job, move a manipulator in the following manner.

1. Press [SHIFT] + [ROBOT] to change the manipulator for axis handling. The LED of
[ROBOT] flashes.
Press [SHIFT] + [EX. AXIS] to change the station for axis handling. The LED of [EX.
AXIS] flashes.

2. Select the group axes to be moved, and then move it by pressing the axis key.

3. Press [ROBOT] or [EX. AXIS] to return to the original window.

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 5.10 Registering Job

5.10 Registering Job

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.

JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1+S1:S1
JOB TYPE ROBOT JOB

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Select “JOB NAME,” and then enter a job name by entering the
characters. Refer to “1.2.7 Character Input” of the Operator’s
Manual.

4 Press [ENTER].

5 Select “GROUP SET.”

6 Select a group combination.

7 Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB
CONTENT window appears.

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5.11 Registering Move Instruction (S)MOV+MOVJ

5.11 Registering Move Instruction (S)MOV+MOVJ

Register a move instruction in the following manner.

5.11.1 Operating Master Side (Station)

Operation Explanation

1 Call the JOB CONTENT win-

dow in teach mode.
2 Press [EX. AXIS]. The master side (station) is selected for axis handling.

TILITY

3 Select either “synchronized” or Press [SYNCRO/SINGLE] to select either “synchronized” or “sin-

“single.” gle.”
When “synchronized” is selected, the mark in the window below
appears.
When the slave side is supposed to follow the master side
motion, select “synchronized.”

UTILITY

UTILITY

When "Single" is selected, nothing appears here.

4 Press the axis key to move to

the desired position.

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 5.11 Registering Move Instruction (S)MOV+MOVJ

5.11.2 Operating Slave Side (Manipulator)

Operation Explanation

1 Press [EX. AXIS]. The slave side (manipulator) is selected for axis handling.

UTILITY

2 Press the axis key to move to

the desired position.

3 Select either a coordinated Press [SMOV] to select either interpolation.

interpolation or an indepen-
dent interpolation. SMOVL V=138
+MOVJ

Main Menu Short Cut

4 Select an interpolation type. Press [MOTION TYPE] to select an interpolation type.

SMOVC V=138
+MOVJ

Main Menu Short Cut

5 Confirm the speed.

6 Press [ENTER]. The registration is completed as follows.

0003 SMOVC V=138
+MOVJ

• When joint interpolation is set for the slave side (manipulator), teaching cannot be done
NOTE during a coordinated interpolation.
• When “JOINT” is selected, the operation will not change to a coordinated interpolation,
even if [SMOV] is pressed.
• When “JOINT” is selected during coordinated interpolation, a coordinated move instruc-
tion such as “SMOVL” in the input buffer line changes to “MOVJ,” and the operation
becomes individual interpolation.

Initial
Parameter Contents and Set Value
Value
S2C164 Specifies whether the speed inputting for move instructions of the
0
master side robot in a coordinated job is permitted or not.
<Example> 0: Not Provided 1: Provided
SMOVL V=100 SMOVL V=100
+MOVJ  Master +MOVJ VJ=10.00  Master
side side

Speed speci- Speed spec-

fication not ification
provided provided

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5.12 Registering Reference Point Instruction (SREFP)

5.12 Registering Reference Point Instruction (SREFP)

Register a reference point instruction (SPEFP) for a coordinated interpolation in the following
manner.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select JOB}.
{

3 Move the cursor. Move the cursor to the line immediately before the position where
the reference point is to be registered.
Immediately before 0003 SMOVL V=558
the line where the 0004 +MOVJ
registration point 0005 CALL JOB:TEST
0006 SMOVL V=138
instruction is to be 0007 +MOVJ
registered

4 Grasp the Enable switch. Turn ON the servo power with the Enable switch.

5 Press the axis key. Move the manipulator to the position which will be a reference
point.

6 Select the coordinated interpo- Press [SMOV] to select a coordinated interpolation.

lation.

7 Press [REF PNT]. The reference point instruction appears in the input buffer line.

SREFP 1

8 Change the reference point Move the cursor to the reference point number, and press
number. [SHIFT] + the cursor key to change the reference point number.

SREFP 2

If you use the Numeric keys to change the reference point num-
ber, press [SELECT] when the cursor is on the reference point
number. Input the number and press [ENTER].
Ref-point no.=
SREFP

9 Press [INSERT]. The [INSERT] key lamp lights up.

When registering immediately before the END instruction, press-
ing [INSERT] is not needed.
10 Press [ENTER]. The REFP instruction is registered.
0003 SMOVL V=558
0004 +MOVJ
The reference 0005 CALL JOB:TEST
point instruction 0006 SREFP1
is registered. 0007 SMOVL V=138
0008 +MOVJ

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 5.13 Changing Tasks

5.13 Changing Tasks

To call the JOB CONTENT window for master task, subtask 1 or subtask 2, proceed the fol-
lowing operation.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}.

3 GO BACK GO BACK

Press the page key PAGE . Each time the page key PAGEis pressed, the contents of the JOB
CONTENT window change in order of master task, subtask 1,
and subtask 2.
When there is no job in a task, the JOB CONTENT window for
this task is not displayed.

5.14 Creating a Job in a Subtask - Method 1 and 2

Subtasks 1, 2, and 3 are robot jobs.

Subtask 1: Job of the first manipulator + the station
Subtask 2: Job of the second manipulator + the station
Subtask 3: Job of the third manipulator + the station

There are two methods to create a robot job for a subtask.

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5.14 Creating a Job in a Subtask - Method 1 and 2

Method 1: Copy one subtask job to create two other subtasks.

 

Teaching

Mirror shift

This method is useful when movement paths are symmetrical. Use the mirror shift function to
convert a job path and copy it. The same teaching operation does not have to be repeated.

Method 2: Perform teaching for each manipulator.

 

Teaching Teaching Teaching

(Leader) (Follower) (Follower)

Where there are not many similarities in the paths and movements of the three manipulators,
create jobs in Method 2.

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 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

5.15 Method 1: Copy One Subtask Job and Create

Other Two Jobs

5.15.1 Procedure
When movement paths are symmetrical, two subtask jobs can be created by using the job
taught by another manipulator.
Perform teaching for either R1 + S1, R2 + S1, or R3+S1. Use the mirror shift to create a job
for the other two manipulators.
 

Teaching

Mirror shift

Correct positional dislocation as necessary.

The mirror shift is a function for copying jobs, which creates a job by reversing the signs of the
position data for the S-axis, R-axis, and T-axis.

Original job New job created by mirror shift

Mirror shift

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5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

5.15.2 Teaching and Mirror Shift

Teach the job for one manipulator + the station, and confirm the movement.
After having completed the teaching, perform mirror shift the job.

Teaching and
confirming
movements.

 Converting
Call the JOB CONTENT window for the job to be converted.

For the job currently selected

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select JOB}.
{

To call another job

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {SELECT JOB}. The JOB LIST window appears.

3 Select a job to be displayed.

Execute conversion

Operation Explanation

1 Display the JOB CONTENT

window of the job to be con-
verted.

2 Select {UTILITY} under the

menu.

3 Select {MIRROR SHIFT}. The MIRROR SHIFT window appears.

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 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

Operation Explanation

4 Set items as required.

DATA EDIT DISPLAY UTILITY

 MIRROR SHIFT
 SOURCE JOB
 SOURCE CTRL GROUP
 STEP SECTION
DESTINATION JOB
 DEST CTRL GROUP
 COORDINATES
 USER COORD NO.
 TARGET

 EXECUTE CANCEL

Main Menu Short Cut

SOURCE JOB
Selects the conversion source job.
To select another job to be converted, move the cursor
to the name and press [SELECT] to call up the list of
jobs. Select the desired job and press [SELECT].

SOURCE CTRL GROUP

Displays the control group of the conversion source job.

STEP SELECTION
Specifies the steps to be converted. From the first step
to the last step of the selected job are specified as initial
value.

DESTINATION JOB
Specifies the converted job name. To enter the name,
move the cursor to the name and press [SELECT]. The
name of the conversion source job is displayed in the
input line as initial value. When "***" is displayed, the
name for the converted job is to be the same as that of
the conversion source job.
DEST CTRL GROUP
Selects the control group for the converted job. When
the destination job name is entered, the same control
group as the conversion source job is automatically set.
To change it, move the cursor to the control group and
press [SELECT] to call up the selection dialog box.

COORDINATES
Specifies the coordinates used for conversion. "PULSE,"
"ROBOT," or "USER" can be selected. The initial value
is "PULSE."
"PULSE": Executes the pulse mirror-shift conversion.
"ROBOT": Executes the mirror-shift conversion on the
basis of the cartesian coordinates.
"USER": Executes the mirror-shift conversion on the
basis of the specified user coordinates.

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5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

Operation Explanation

4 (cont’d) USER COORD NO.

Specifies the user coordinates number when "USER" is
selected in . "01" is automatically set as initial value
when the "USER" is selected in .
This item cannot be set when "PULSE" or "ROBOT" is
selected in .

TARGET
Specifies the coordinate where conversion is to be done
when "ROBOT" or "USER" is selected in . "XY," "XZ,"
or "YZ" can be selected. The "XZ" is automatically set as
initial value when "ROBOT" or "USER" is selected in .
Always specify "XZ" for "ROBOT."

EXECUTE
Executes the conversion. When the conversion destina-
tion job name is entered, the converted job is created
with that name as a new job. When the conversion desti-
nation job name is not entered, the conversion source
job is converted and overwritten.

5 Select "EXECUTE."

 Jobs Not to be Converted

The jobs and relative jobs without group axes cannot be converted.

 Group Axes for Conversion

When the group axes for the SOURCE JOB in the multiple group axes system, the axis con-
figuration, etc. of each group axes for SOURCE JOB and DESTINATION JOB must be the
same.
• Robot axis: Same type
• Base axis: Same axis configuration
• Station axis: Same axis configuration

 Position Type Variables

The position type variables are not for mirror-shift.

 Parameter
Which axis is to be shifted (reverse the sign) is specified by the following parameter.
S1CG065: Mirror shift sign reversed axis specification
T B R U L S
1st axis (0: Not reversed, 1: Reversed)

6th axis

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 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

5.15.3 Correcting Positional Dislocation

In the job after mirror shift, a position may be dislocated due to the installation error. In this
case, all steps should be corrected by the same shift amount. For this operation, the parallel
shift job conversion function is used.

 Setting the Items for Conversion

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}. The JOB CONTENT window appears.

3 Select {UTILITY} under the

pull-down menu.
4 Select {PARALLEL SHIFT The PARALLEL SHIFT JOB window appears.
JOB}.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

 SOURCE JOB
 STEP SECTION
 DESTINATION JOB
 COORDINATES
BASE POINT
<SHIFT VALUE> R1:S 0
L 0
U 0
R 0
B 0
T 0

EXECUTE CANCEL

Main Menu Short Cut

5 Specify the conversion items. Specify the following items.

SOURCE JOB
Selects the job before conversion. The job which is shown in
the JOB CONTENT window is set initially. To change the job,
perform the following procedure.
Move the cursor to the job name and press [SELECT]. The
JOB LIST window appears. Select the desired job.

STEP SECTION (Start Step  End Step)

Specifies the step section of the source job. All the steps are
set initially. If there is no steps in the source job, “***” is dis-
played. To change the section, perform the following proce-
dure.
Move the cursor to the step section indication and press
[SELECT]. The input buffer line appears. Input the step number
and press [ENTER].

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5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

Operation Explanation

5 (cont’d) DESTINATION JOB

Specifies the converted job. If this is not specified( “********” is
displayed), the source job is specified. To change the job, per-
form the following procedure.
Move the cursor to the converted job name indication and
press [SELECT]. The character input line appears. The source
job name is displayed in the input line. To enter job name with-
out using the source job name, press [CANCEL] and then input
a job name.

COORDINATES
Selects the conversion coordinates. Move the cursor to the
coordinates name and press [SELECT]. The selection dialog
box appears. Select the desired coordinates.
When the user coordinates are selected, the input buffer line
appears. Input the desired user coordinate number and press
[ENTER].

 Setting the Shift Value

There are two methods for specifying the shift value.
• Directly input the shift value by numerical value.
• Calculate the shift value by teaching the original base point and converted base point.

Numerical Value Input

Operation Explanation

1 Display the PARALLEL SHIFT

JOB window.

2 Select the shift value to be set. The number can now be entered.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X 0.000
Y 0.000
Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

3 Type the shift value using the

Numeric keys.

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 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

Operation Explanation

4 Press [ENTER]. The shift value is set.

DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X 200.000
Y 0.000
Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

Calculation by Teaching
Operation Explanation

1 Display the PARALLEL SHIFT

JOB window.

2 Select “TEACH SETTING” in

the item of “BASE POINT.” DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

R1:X 0.000 R1:X 0.000

Y 0.000 Y 0.000
Z 0.000 Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

3 Select “BASE POINT(SRC).”

4 Move the manipulator to the

original base point by the axis
keys.

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5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

Operation Explanation

5 Press [MODIFY] and The original base point is set.

[ENTER].
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

R1:X 230.000 R1:X 0.000

Y 40.000 Y 0.000
Z 40.000 Z 0.000

EXECUTE CANCEL

Main Menu Short Cut

6 Select “BASE POINT(DEST).”

7 Move the manipulator to the

converted base point by the
axis keys.

8 Press [MODIFY] and The conversion base point is set.

[ENTER].
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

R1:X 230.000 R1:X 460.000

Y 40.000 Y 60.000
Z 20.000 Z 100.000

EXECUTE CANCEL

Main Menu Short Cut

9 Select “EXECUTE.” The difference is calculated by the two teaching points and set as
a shift value.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X 230.000
Y 20.000
Z 80.000

EXECUTE CANCEL

Main Menu Short Cut

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 5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs

 Executing Conversion
Operation Explanation

1 Display the PARALLEL SHIFT

JOB window.

2 Select “EXECUTE.” The confirmation dialog box appears when the converted job is
not specified. Select “YES” then the conversion is executed. The
JOB CONTENT window appears when the conversion is com-
pleted.
DATA EDIT DISPLAY UTILITY

PARALLEL SHIFT JOB

SOURCE JOB
STEP SECTION
DESTINATION JOB
COORDINATES
BASE POINT
<SHIFT VALUE> R1:X Overwrite?
200.000
Y 0.000
Z 0.000

YES NO

EXECUTE CANCEL

Main Menu Short Cut

SUPPLE-
If an alarm occurs during conversion, conversion is
MENT suspended.

JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: TEST STEP NO: 000
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 ’TEST JOB
0002 JUMP JOB:JOB-01
0003 MOVJ VJ=50.00
0004 MOVJ /0V VJ=50.00 At step outside the
0005 MOVJ VJ=50.00 P-point maximum
envelope, "/OV"is
displayed after the
move instruction.

MOVJ VJ=100.0

Main Menu Short Cut Step exceeding operation range is made

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5.16 Method 2: Perform Teaching for Each Manipulator

5.16 Method 2: Perform Teaching for Each Manipulator

5.16.1 Procedure
First, perform teaching a job for the combination of leader manipulator and station.
Next, perform teaching a job for the combination of follower manipulator and station. For this
operation, perform teaching so that the follower manipulator follows the motion of station by
FWD operation of the leader job.
 

Teaching Teaching Teaching

(Leader) (Follower) (Follower)

For Method 2, there are two ways of teaching depending on whether the master task is used
or not.

5.16.2 Teaching using Master Task

Using the master task can omit the operation to register a job name in the SUPERVISORY
window.

Leader Follower
Call master task
New job Follower
Teaching and FWD
registration teaching
completed operation

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 5.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

1 Teach the coordinated job of Teach all the steps of coordinated job for one manipulator + the
leader subtask. station.

Teaching and
confirming
movements.

2 New job registration for the Register as a new job the coordinated job for other respective
coordinated job of follower manipulators + the station.
subtask. For new job registration, refer to “5.10 Registering Job.”

3 New job registration of master Register the master task as concurrent job.
task. For concurent job, refer to “7.5.2 Concurrent Job.”

4 Register PSTART instruction. Register a PSTART instruction to start the job that was registered
at Operation 2. To specify this subtask as the follower, add a tag
SYNC and the leader subtask.
Then, register a PSTART instruction to start the job that was
taught at Operation 1.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL:
0000 NOP
0001 ’JOB FOR MASTER TASK
0002 PSTART JOB:JOB-R1 SUB1 SYNC SUB3 Follower
0003 PSTART JOB:JOB-R1 SUB2 SYNC SUB3 Follower
0004 PSTART JOB:JOB-R2 SUB3 Leader
0005 END

Main Menu Short Cut

5 Set to “Single job operation Set the operation mode at FWD operation to “Single job operation
mode.” mode.”
Pressing [SHIFT] + [SMOV] changes the operation mode.

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5.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

6 Move the cursor to the first

PSTART instruction.

7 Press [INTERLOCK] + [FWD]. Starts the follower subtask.

8 Move the cursor to the second

PSTART instruction.

9 Press [INTERLOCK] + [FWD]. Starts the leader subtask.

10 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

change to the leader subtask. CONTENT window change in order of master task, subtask 1,
subtask 2, and subtask 3.

11 Move the cursor to the step 1.

12 Press [FWD].

13 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

change to the follower sub- CONTENT window change in order of master task, subtask 1,
task. subtask 2, and subtask 3.

14 Register the step 1 of the fol- After the FWD operation of step 1 of leader, change to the fol-
lower subtask. lower and register the position of the follower manipulator relative
to the station current position.
0000 NOP
0001 SMOVL V=276
+MOVJ

15 Register the step 2 and  Change to the leader’s JOB CONTENT window, and perform a
onward of the follower sub- FWD operation to the next step.
task. To maintain the follower manipulator position relative to the
station, press [SHIFT] + [SYNCRO/SINGLE] to set the job
synchronized mode.

 Change to the follower’s JOB CONTENT window, and register

the follower manipulator position relative to the station current
position.
0000 NOP
0001 SMOVL V=276
+MOVJ
0002 SMOVL V=276
+MOVJ

Teach the follower job by repeating the above operations  and

.

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 5.16 Method 2: Perform Teaching for Each Manipulator

5.16.3 Teaching using SUPERVISORY Window

When teaching without master task, it is necessary to register the startup job (ROOT JOB) in
the SUPERVISORY window.
Leader Follower
Register a startup
New job (root) job in the Follower
Teaching
registration SUPERVISORY teaching
completed
window

Operation Explanation

1 Teach a coordinated job of Teach all the steps of the coordinated job of one manipulator +
leader subtask. the station.

Teaching and
confirming
movements.

2 New job registration of a coor- Register as a new job the coordinated job of other respective
dinated job of follower sub- manipulators + the station.
task. For new job registration, refer to “5.10 Registering Job.”

3 Select {JOB} under the main

menu.

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5.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

4 Select {CTRL MASTER}. The SUPERVISORY window appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB M-TASK
ROOT JOB M-TASK
EDIT JOB M-TASK
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP
SYNC TASK

Main Menu Short Cut

5 Select the root job of master

task.

6 Select “CANCEL ROOT JOB.” The root jobs of master task, subtask 1, subtask 2, and subtask 3
are cancelled.
MASTER SUB1 SUB2 SUB3

ROOT JOB

7 Select the root job of subtask

1.

8 Select “REGISTER ROOT

JOB.”

9 Select a job to be registered The root job for subtask 1 is registered.

as root job. MASTER SUB1 SUB2 SUB3

ROOT JOB JOB-R1

10 Select the root job of subtask

2.
11 Select “REGISTER ROOT
JOB.”

12 Select a job to be registered The root job for subtask 2 is registered.

as root job. MASTER SUB1 SUB2 SUB3

ROOT JOB JOB-R1 JOB-R2

13 Select the root job of subtask

3.

14 Select “REGISTER ROOT

JOB.”
15 Select a job to be registered The root job for subtask 3 is registered.
as root job. MASTER SUB1 SUB2 SUB3

ROOT JOB JOB-R1 JOB-R2 JOB-R3

16 Select the synchronous task of

subtask 1 (2).

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 5.16 Method 2: Perform Teaching for Each Manipulator

Operation Explanation

17 Select “SUB3.” Specify SUB3 of leader task to synchronize the synchronous task
of subtask 1 (2).
MASTER SUB1 SUB2 SUB3
SYNC TASK SUB3 SUB3

18 Select “Single job operation Set “Single job operation mode” for the operation mode at FWD
mode.” operation.
Pressing [SHIFT] + [SMOV] changes the operation mode.

19 Select {JOB} under the main

menu.

20 Select {JOB}.
21 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

change to the leader subtask. CONTENT window change in order of master task, subtask 1,
subtask 2, and subtask 3.

22 Move the cursor to the step 1.

23 Press [FWD].

24 GO BACK GO BACK

Press the page key to

PAGE Each time the page key is pressed, the contents of the JOB
PAGE

change to the follower sub- CONTENT window change in order of master task, subtask 1,
task. subtask 2, and subtask 3.

25 Register the step 1 of the fol- After the FWD operation of step 1 of leader, change to follower
lower subtask. and register the position of the follower manipulator relative to
the station current position.
0000 NOP
0001 SMOVL V=276
+MOVJ

26 Register the step 2 and  Change to the leader’s JOB CONTENT window and perform
onward of the follower sub- FWD operation to the next step.
task. To maintain the follower manipulator position relative to the
station, press [SHIFT] + [SYNCRO/SINGLE] to set the job syn-
chronized mode.

 Change to the follower’s JOB CONTENT window, and register

the follower manipulator position relative to the station current
position.
0000 NOP
0001 SMOVL V=276
+MOVJ
0002 SMOVL V=276
+MOVJ

Teach the follower job by repeating the above operations  and

.

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5.17 Job in Master Task

5.17 Job in Master Task

The job of master task is a concurrent job or a robot job without control groups.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.
JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1
JOB TYPE ROBOT JOB

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Move the cursor to JOB NAME and press [SELECT], and enter a
job name by entering the characters.

4 Set “GROUP SET.” Selecting “R1” of “GROUP SET” displays the selection dialog
box. Select “NON GROUP.”

5 Set “CONCURRENT JOB.” Select “ROBOT JOB” of “JOB TYPE.”

Each time [SELECT] is pressed, “ROBOT JOB” or “CONCUR-
RENT JOB” is selected alternately.

6 Press [ENTER].

7 Select “EXECUTE.” The job is registered in the memory of NX100, and the JOB CON-
TENT window appears. NOP and END instructions are regis-
tered automatically.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL:
0000 NOP
0001 END

Main Menu Short Cut

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 5.17 Job in Master Task

Operation Explanation

8 Register a PSTART instruc- Register PSTART instructions to start the subtask 1, 2, and 3.
tion. Since the first PSTART instruction is for starting the follower sub-
task, add a tag SYNC and the leader subtask.
Then, register a PSTART instruction to start the leader subtask.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL:
0000 NOP
0001 ’JOB FOR MASTER
0002 PSTART JOB:JOB-R1 SUB1 SYNC SUB3
0003 PSTART JOB:JOB-R1 SUB2 SYNC SUB3
0004 PSTART JOB:JOB-R2 SUB3
0005 PWAIT SUB1
0006 PWAIT SUB2

Main Menu Short Cut

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5.18 Confirming Operation

5.18 Confirming Operation

5.18.1 Procedure
• For confirming operation, set to “Multi-job operation mode.”
NOTE In the multi-job operation mode, the jobs in all the tasks operate. (The operation proce-
dures are explained below.)
If the follower subtask is operated individually, only the follower manipulator moves but
not the station. As the follower manipulator moves following to the station current posi-
tion, an alarm may occur and the manipulator may interfere the station as a result.
To verify the individual operation of the follower manipulator itself, call the job by job
selection operation and confirm the individual operation of the job, but not in the triple
synchronization.

Operation Explanation

1 Create a concurrent job. For procedure, refer to “5.17 Job in Master Task.”

2 Select {JOB} under the main

menu.
3 Select {CTRL MASTER}. The SUPERVISORY window appears. Each time the page key
GO BACK

PAGEis pressed, the contents of the window changes. When the

four columns show information for the master task, subtask 1,
GO BACK

subtask 2, and subtask 3 press the page key and the infor- PAGE

mation for subtasks 4 to 7 appears instead. Press the page key

GO BACK

again, and the information for the master task, subtask 1,

PAGE

subtask 2, and subtask 3 reappears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
ROOT JOB M-TASK
EDIT JOB M-TASK
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP
SYNC TASK

Main Menu Short Cut

4 Move the cursor to the task

where the master job is to be
registered.

5 Press [SELECT].

6 Select “SETTING MASTER

JOB.”

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 5.18 Confirming Operation

Operation Explanation

7 Select a job to be the master

job.

8 Press [SHIFT] + [SYNCRO/ Set to “Multi-job operation mode.”

SINGLE]. Each time [SHIFT] + [SYNCRO/SINGLE] are pressed, the opera-
tion mode changes between “Multi-job operation mode” and “Sin-
gle job operation mode.”

Main Menu Short Cut Multi-job operation mode available

9 Press [TEST START] or When a PSTART instruction is executed, the manipulator and the
[FWD]. station move.

Parameter Contents and Set Value Initial Value

S4C152 Specifies the user output number to externally output the 0

“Multi-job operation mode” status at teaching.
0: Not output
1 to 1024: User output number

5.18.2 Precautions for Confirming Operation

In the following operations, the steps of three manipulators will not coincide.

 Stops during Operation

<Example>
• When the manipulator stops during operation, move the cursor position to another step of
the job in one of the subtasks.
• Call the master job only by one of the subtasks.

When restarting the operation in the states as explained above, an interference with jig, etc.
may be caused. Restart three subtask jobs from the same position (step).

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5.18 Confirming Operation

 When “Multi-job operation mode” is Set in the TEACHING CONDI-

TION Window
<Example>
If the manipulator stops after operating to a certain step, and the step position of the follower
R1 is changed and performs FWD operation again, the leader R3 and the follower R2 proceed
to the next step but the R1 does not move. As a result, the R3 and R2 go forward by one step.
 R3 R1 R2  Change the step of
 Repeat FWD
(leader) (follower) (follower) one follower
1 1 1 1 1 1 1 1 1

2 2 2 2 2 2 2 2 2

3 3

 FWD  FWD

1 1 1 1 1 1

2 2 2 2 2 2

3 3 3 3 3 3

4 4 4 4 4
(The numbers in the figure are step
5 5 numbers.)

This is because, in the FWD operation after position change, the step after the change is usu-
ally re-executed.
In the above figure, at the FWD operation after the position change, the leader R3 and the fol-
lower R2, whose steps have not been changed, move to step 3. However, since the position
of the follower R1 is changed, the step after the change is executed again. As a result, oper-
ation is performed at the same position and does not proceed to the next step. In this way, the
steps of the three manipulators do not correspond to each other.
To make the steps of the three manipulators correspond with each other in the FWD operation
after the position change in the above case, move the cursor to the next step for the job where
a change has been made, then perform the FWD operation, TEST run, and playback.

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 5.19 Playback

5.19 Playback

5.19.1 Start
Call the master job in the following operation and perform a playback. A job in the subtask is
started by a PSTART instruction.

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CTRL MASTER}. The SUPERVISORY window appears.

3 Move the cursor to MASTER

JOB of MASTER.

4 Press [SELECT].

5 Select “CALL MASTER JOB.”

6 Press [START]. The called master job is executed from the beginning and the
subtask is executed by a PSTART instruction.

Performing the Operation 6 clears the job of subtask.

NOTE Therefore, if the master task is called while the subtask is interrupted in the middle of its
execution, the information relating to the state of subtasks that are halted is lost.

Master task
Call master NOP
job 

PSTART SUB1
PSTART SUB2
PSTART SUB3



Starts Starts Starts

Subtask 1 Subtask 2 Subtask 3

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5.19 Playback

5.19.2 Automatic Correction of Shift Value

During playback operation, as the station is controlled by the leader job, the follower job con-
trols only the follower manipulator.
If there is a shift between the teaching position of the leader job station and the station current
position (controlled by the leader job), the follower manipulator moves correcting automatically
the shift value in order to keep the position on the station at teaching.

Correc
shift tin
Position at teaching

Position at playback

Station

The shift between the teaching position and the station current position is always monitored.
If the shift value exceeds the set value of parameter, the following message is displayed.

Main Menu Short Cut PULSE LIMIT (TWIN COORDINATED)

Parameter Contents and Set Value Initial Value

S3C809 Maximum shift angle of station axis in twin Differs depending on system
(triple) synchronous system (in units of 0.1)

The control method of manipulator posture during correction is set by the following parameter.

Parameter Contents and Set Value Initial Value

S2C322 Control method of follower manipulator 0

posture in twin (triple) synchronous sys-
tem
0: Follow the motion of station
1: Constant to the earth

0: Follow the motion of station

1: Constant to the earth

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 6.1 Outline

6 Coordinated Control

6.1 Outline

The coordinated control is the function of controlling multiple manipulators and stations at the
same time.

Jigless system
Coordinated positioner system

Twin synchronous system

A job to implement the coordinated control is a coordinated job. A coordinated job controls
two group axes at the same time.

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6.2 Group Combination

6.2 Group Combination

The group combination in a coordinated job is to specify two group axes to be coordinated.
The master-slave relationship must be assigned between two group axes.
When executing a coordinated instruction, the slave side executes relative interpolation on the
tool coordinate system of the master side. A group combination is set at the registration of
new job name.
JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET

EXECUTE CANCEL

Main Menu Short Cut

When a coordinated job is taught, as shown below, a move instruction is normally displayed in
two lines: the first line is for slave side, and the second line marked with “+” is for master side.

Step Instruction

SMOVL Slave side

001
+MOVL Master side

MOVL Slave side

002
+MOVL Master side

6.3 Coordinated and Individual Interpolations

Two types of operation are available for a coordinated job.

6.3.1 Coordinated Interpolation

The coordinated interpolation is performed by two group axes in a master-slave relationship.
The slave executes a relative interpolation on the tool coordinate system of the master side.
This feature is used in works that require coordinating to the movement of workpiece.

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 6.4 Restriction

6.3.2 Individual Interpolation

The individual interpolation is performed with the master-slave relationship cancelled.

The master side and the slave side both perform their own individual movements, but the
starts and the ends of the movements taught to each are the same. This operation is used
when, after the master side and the slave side completed a job of the coordinated operation,
each side is to perform its own job.

<Example>
Example of play speed slowed down with individual interpolation
If an identical speed is given to two group axes, in order that they might finish works as far as
the step 2 simultaneously, the group axis 2 is given movement slower than V=276.

0002 MOVL V=276

+MOVL V=276

Step 2

Step 1

Group axis 1

Group axis 2
Step 1 Step 2

6.3.3 Changing Interpolation Mode

Each time [SMOV] is pressed, the instruction in the input buffer line changes between coordi-
nated interpolation and individual interpolation.

SMOVL V=138 SMOVL(Coordinated interpolation)

+MOVL +MOVL

MOVL V=138 MOVL(Individual interpolation)

+MOVL +MOVL

6.4 Restriction

Only MOVJ instruction can be used as move instructions for the station.

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7.1 Independent Control

7 Independent Control

7.1 Independent Control

The NX100 is configured to be able to decode and execute four jobs (with option, maximum
eight jobs) each independently. A multitask control performed by this mechanism is called
“independent control.”

Four mechanisms which execute jobs are called as follows:

• Master task
• Subtask 1
• Subtask 2
• Subtask 3
The subtask1, subtask 2, and subtask3 are the tasks to execute jobs that are started by the
master task.

A job which is able to use move instructions is called a robot job. A job which does not use a
move instruction is called a concurrent job.

Robot job A job which moves robot axes or station axes with move instructions.

Concurrent job This is used as a job to start robot jobs, or as specialized job to control cal-
culations and I/O.

The jobs of subtask 1, subtask 2, and subtask3 (hereinafter, referred to as “subtask1/2/3”) are
started by the PSTART instruction. To start a job always fixed, it is convenient to use the mas-
ter job.

NOTE Since a robot job without control groups can start another robot job, it can be used as a
master task job.

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 7.1 Independent Control

Job

Master task

Active job Master job

Indicates links
with related jobs.

Start Start Start

Subtask 1 Subtask 2 Subtask 3

e e
Mast r job Mast r job
e
Mast r job
Active job Active job Active job

<Example>
When executing two robot jobs, make the master task a concurrent job.

Master task

Concurrent job

Start Start

Subtask 1 Subtask 2

Robot job Robot job

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7.2 Startup Method

<Example>
When implementing control of calculations or I/O, make the subtask 1 a concurrent job.

Master task

Robot job

Start

Subtask 1

Concurrent job

7.2 Startup Method

7.2.1 Starting a Job always Fixed (Master Job)

To execute a job always fixed in each task, it is convenient to use a master job. One master
job (a series of jobs including related jobs) can be registered for each task.

Always register a master job for master tasks. If there is no master job registered, it cannot
function as a master task.
For subtasks, if a master job is registered, the job name which starts with a PSTART instruc-
tion can be omitted.

PSTART SUB1The master job of subtask 1 starts automatically.

PSTART SUB2The master job of subtask 2 starts automatically.

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 7.2 Startup Method

Master task

Active job

PSTART SUB1 PSTART SUB2

Start Start

Subtask 1 Subtask 2

Active job
Active job

JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL: 00
0000 NOP
0001 ’JOB FOR MASTER TASK
0002 PSTART JOB:JOB-R1 SUB1 SYNC SUB3 Starts the master job of subtask 1.
0003 PSTART JOB:JOB-R1 SUB2 SYNC SUB3 Starts the master job of subtask 2.

0017 PWAIT SUB1 Waits for the completion of subtask 1.

0018 PWAIT SUB2 Waits for the completion of subtask 2.

Even if a master job is registered, another unrelated job can be started. Refer to “7.2.2 Start-
ing Various Jobs.”

0002 PSTART JOB:WORK-A SUB1 Starts "WORK-A" in subtask 1.

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7.2 Startup Method

7.2.2 Starting Various Jobs

When a job executed in each task is not fixed, set each job name to be started with a PSTART
instruction.

PSTART JOB: job name SUB A specified job is started in a specified task.

Master task

Active job

PSTART JOB:WORK-A SUB1 PSTART JOB:WORK-D SUB 2

Start Start
WORK-A WORK-D

WORK-B WORK-E

WORK-C

Subtask 1 Subtask 2

Active job Active job

JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL: 00
0000 NOP
0001 ’JOB FOR MASTER TASK
0002 PSTART JOB:WORK-A SUB1 Starts "WORK-A" with subtask 1.
0003 PSTART JOB:WORK-D SUB2 Starts "WORK-D" with subtask 2.

0008 PWAIT SUB1 Waits for the completion of subtask 1.

0009 PWAIT SUB2 Waits for the completion of subtask 2.

0012 PSTART JOB:WORK-B SUB1 Starts "WORK-B" with subtask 1.

0013 PSTART JOB:WORK-E SUB2 Starts "WORK-E" with subtask 2.

0017 PWAIT SUB1 Waits for the completion of subtask 1.

0018 PWAIT SUB2 Waits for the completion of subtask 2.

0022 PSTART JOB:WORK-C SUB1 Starts "WORK-C" with subtask 1.

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 7.3 Switching Task Window

7.3 Switching Task Window

To call the JOB CONTENT window of the master task and subtask 1/2/3, take the following
procedure.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}.

3 Press the page key

GO BACK

. Each time the page key is pressed, the contents of the JOB CON-
PAGE
TENT window change in order of Master task, Subtask 1, Subtask
2, and Subtask 3.
The JOB CONTENT window of the task where no job is regis-
tered, is not shown.

7.4 Registering Instructions

Register an instruction when the cursor is in the address area in the JOB CONTENT window
in teach mode.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {JOB}.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: TEST STEP NO: 003
CONTROL GROUP: R1 TOOL: 00
0000 NOP
0001 ’TEST JOB
Address
0002 MOVJ VJ=50.00 Instruction
area 0003 MOVJ VJ=12.50 area
0004 MOVL V=276
0005 TIMER T=1.00
0006 DONT OT#(1)ON

MOVJ VJ=100.00

Main Menu Short Cut Turn on servo power

3 Move the cursor to the

address area.

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7.4 Registering Instructions

7.4.1 PSTART Instruction

Operation Explanation

1 Move the cursor to the line just

above the place where
PSTART instruction is to be
registered.
2 Press [INFORM LIST]. The instruction list appears.
IN/OUT
JUMP TSYNC CONTROL
CALL DEVICE
TIMER MOTION
LABEL ARITH
COMMENT SHIFT
RET OTHER
PSTART SAME
PWAIT PRIOR

3 Select “PSTART.” A PSTART instruction is displayed in the input buffer line.

PSTART JOB:WORK-A SUB1

4 Change additional items. <To register items as displayed in the input buffer line>
Proceed to Operation 5.

<To edit additional items>

• When the job name is to be changed, move the cursor to the job
name, then press [SELECT]. The window for job name selec-
tion appears. Select a job to be changed.

• To edit additional items, move the cursor to the instruction in the

input buffer line, then press [SELECT]. The DETAIL EDIT win-
dow appears.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PSTART
TARGET JOB JOB: WORK-A
STARTUP TASK SUB1
SYNC SET UNUSED This is displayed for the
CONDITION UNUSED twin synchronous system.

PSTART JOB: WORK-A SUB1

Main Menu Short Cut

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 7.4 Registering Instructions

Operation Explanation

4 (cont’d) To change the target task, move the cursor to “JOB:,” then press
[SELECT]. The selection dialog box appears. Select a target job
to be changed with.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PSTART
TARGET JOB IG#( ) 1
STARTUP TASK SUB1
SYNC SET UNUSED
CONDITION UNUSED

PSTART IG#(1) SUB1

Main Menu Short Cut

To change the startup task, select “SUB1” of “STARTUP TASK.”

The selection dialog box appears. Select the startup task to be
changed with.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PSTART
TARGET JOB IG#( ) 1
STARTUP TASK SUB2
SYNC SET UNUSED
CONDITION UNUSED

PSTART IG#(1) SUB2

Main Menu Short Cut

To specify the synchronization, select “UNUSED” of “SYNC SET.”

The selection dialog box appears. Select “SYNC.”
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PSTART
TARGET JOB IG#( ) 1
STARTUP TASK SUB2
SYNC SET SYNC
SYNC TASK UNUSED
CONDITION UNUSED

PSTART IG#(1) SUB2 SYNC

Main Menu Short Cut

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7.4 Registering Instructions

Operation Explanation

4 (cont’d) To change the master side task to synchronize, select “UNUSED”

of “SYNC TASK.”
The selection dialog box appears. Select a synchronous task to
be changed.

If the synchronous task is set to “UNUSED,” SUB1

NOTE performs the same motion as the synchronous task
SUB2 where SUB1 is a startup task, SUB2 per-
forms the same motion as the synchronous task
SUB1 where SUB2 is a startup task.

JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PSTART
TARGET JOB IG#( ) 1
STARTUP TASK SUB2
SYNC SET SYNC
SYNC TASK SUB1
CONDITION UNUSED

PSTART IG#(1) SUB2 SYNC SUB1

Main Menu Short Cut

To add a condition, select “UNUSED” of “CONDITION.” The

selection dialog box appears. Select “IF.”
“IF” is shown in the DETAIL EDIT window. Press [ENTER] to add
“IF.”
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PSTART
TARGET JOB IG#( ) 1
STARTUP TASK SUB2
SYNC SET SYNC
SYNC TASK SUB1
CONDITION IF

PSTART IG#(1) SUB2 SYNC SUB1 IF IN#(1)=ON

Main Menu Short Cut

After changed or added the additional items, press [ENTER]. The

DETAIL EDIT window is closed and the JOB CONTENT window
appears.

5 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

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 7.4 Registering Instructions

7.4.2 PWAIT Instruction

Operation Explanation

1 Move the cursor to the line just

above the place where PWAIT
instruction is to be registered.
2 Press [INFORM LIST]. The instruction list appears.

IN/OUT
JUMP TSYNC CONTROL
CALL DEVICE
TIMER MOTION
LABEL ARITH
COMMENT SHIFT
RET OTHER
PSTART SAME
PWAIT PRIOR

3 Select “PWAIT.” A PWAIT instruction is displayed in the input buffer line.

PWAIT SUB1

4 Change additional items. <To register items as displayed in the input buffer line>
Proceed to Operation 5.

<To edit additional items>

To edit additional items, move the cursor to the instruction in the
input buffer line, then press [SELECT]. The DETAIL EDIT win-
dow appears.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PWAIT
STARTUP TASK SUB1
CONDITION UNUSED

PWAIT SUB1

Main Menu Short Cut

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7.4 Registering Instructions

Operation Explanation

4 (cont’d) To change the target task, select “SUB1” of “TARGET TASK.”

The selection dialog box appears. Select a target task to be
changed with.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PWAIT
STARTUP TASK SUB2
CONDITION UNUSED

PWAIT SUB2

Main Menu Short Cut

To add a condition, select “UNUSED” of “CONDITION.” The

selection dialog box appears. Select “IF.” “IF” is shown in the
DETAIL EDIT window. Press [ENTER] to add “IF.”
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
PWAIT
STARTUP TASK SUB2
CONDITION IF

PWAIT SUB2 IF IN#(1)=ON

Main Menu Short Cut

After changed or added the additional items, press [ENTER]. The

DETAIL EDIT window is closed, and the JOB CONTENT window
appears.
5 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

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 7.4 Registering Instructions

7.4.3 TSYNC Instruction

Operation Explanation

1 Move the cursor to the line just

above the place where
TSYNC instruction is to be
registered.
2 Press [INFORM LIST]. The instruction list appears.

IN/OUT
JUMP TSYNC CONTROL
CALL DEVICE
TIMER MOTION
LABEL ARITH
COMMENT SHIFT
RET OTHER
PSTART SAME
PWAIT PRIOR

3 Select “TSYNC.” A TSYNC instruction is displayed in the input buffer line.

TSYNC 1

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7.4 Registering Instructions

Operation Explanation

4 Change the numerical data. <To register items as displayed in the input buffer line>
Proceed to Operation 5.

<To change the numerical data>

Move the cursor to the numerical data. Press [SHIFT] and the
cursor key simultaneously to increment or decrement the number.

TSYNC 2

To enter a number by pressing the Numeric keys, press

[SELECT] to display the input buffer line.
Synchronization_no.=
TSYNC

Enter a number, then press [ENTER]. The number displayed in

the input buffer line is changed.

After changed the numerical data, press [ENTER]. The DETAIL

EDIT window is closed, and the JOB CONTENT window appears.

<To edit additional items>

• To edit additional items, move the cursor to the instruction in the
input buffer line, then press [SELECT]. The DETAIL EDIT win-
dow appears.
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 1
SYNCHRO NUM UNUSED

TSYNC 1

Main Menu Short Cut

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 7.4 Registering Instructions

Operation Explanation

4 (cont’d) To change the synchronization number, select “1” of “SYNCHRO

NO.” When the number input status enters, enter the synchroni-
zation number, “SYNCHRO NO.” by pressing the Numeric keys,
and press [ENTER].
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 2
SYNCHRO NUM UNUSED

TSYNC 2

Main Menu Short Cut

To add the number of synchronized tasks, select “UNUSED” of

“SYNCHRO NUM.” The selection dialog box appears. Select
“SNUM=.”
JOB EDIT DISPLAY UTILITY

DETAIL EDIT
TSYNC
SYNCHRO NO. 2
SYNCHRO NUM SNUM= 3

TSYNC 2 SNUM=3

Main Menu Short Cut

After changed or added the additional items, press [ENTER]. The

DETAIL EDIT window is closed, and the JOB CONTENT window
appears.
5 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.

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7.5 Registering Job

7.5 Registering Job

7.5.1 Robot Job

Register a job in the subtasks.The robot jobs in subtasks are registered task by task.

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.
JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1
JOB TYPE ROBOT JOB

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Move the cursor to the job name, then press [SELECT]. Enter a
job name by character input operation.

4 Set “GROUP SET.” Select “R1” of “GROUP SET.” The selection dialog box appears.
Select a group combination or “NON GROUP.”

5 Set “ROBOT JOB.” Set “ROBOT JOB” for “JOB TYPE.”

6 Press [ENTER].

7 Select “EXECUTE.” The job name is registered in the memory of NX100, then the
JOB CONTENT window appears. NOP and END instructions are
automatically registered.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: SUB1

JOB NAME: TEST STEP NO: 000
CONTROL GROUP: R1 TOOL:
0000 NOP
0001 END

MOVJ VJ=100.00

Main Menu Short Cut

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 7.5 Registering Job

7.5.2 Concurrent Job

Register a job in the master task.

Operation Explanation

1 Select {JOB} under the main

menu.
2 Select {CREATE NEW JOB}. The NEW JOB CREATE window appears.
JOB EDIT DISPLAY UTILITY

NEW JOB CREATE

JOB NAME
COMM.
GROUP SET R1
JOB TYPE ROBOT JOB

EXECUTE CANCEL

Main Menu Short Cut

3 Enter a job name. Move the cursor to the job name, then press [SELECT]. Enter a
job name by character input operation.

4 Set “GROUP SET.” Select “R1” of “GROUP SET.” The selection dialog box appears.
Select “NON GROUP.”

5 Set “CONCURRENT JOB.” Move the cursor to “ROBOT JOB” of “JOB TYPE,” then press
[SELECT]. Each time [SELECT] is pressed, “ROBOT JOB” and
“CONCURRENT JOB” is shown alternately.

6 Press [ENTER].
7 Select “EXECUTE.” The job name is registered in the memory of NX100, and the JOB
CONTENT window appears. NOP and END instructions are
automatically registered.
JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: TEST STEP NO: 000
CONTROL GROUP: R1 TOOL:
0000 NOP
0001 END

Main Menu Short Cut

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7.6 Job Examples

7.6 Job Examples

7.6.1 Non-Synchronous Operation

The example below is a job configuration for the manipulators 1 and 2 to perform entirely sep-
arate operations in non-synchronous mode.

Set a concurrent job as the master task, and start the R1 job in subtask 1, and the R2 job in
subtask 2 from the master task.
Whether each subtask has completed or not can be confirmed in the master task.

Master task Subtask 1

Job name: MASTER Job name: R1JOB
(concurrent job) (R1: robot job)
NOP NOP
* Initial start
PSTART JOB:R1JOB SUB1 JUMP JOB:R1ABC
PSTART JOB:R2JOB SUB2 END

* Waiting for completion

PWAIT SUB1
PWAIT SUB2 Job name: R1ABC
(R1: robot job)
END NOP

MOVJ VJ=50.0
MOVJ VJ=50.0
MOVL V=100.0
Subtask 1 ARCON V=100.0
completed
END

Subtask 2
Job name: R2JOB
(R2: robot job)
NOP

JUMP JOB:R2ABC
END

Job name: R2ABC

(R2: robot job)
NOP

MOVJ VJ=50.0
MOVJ VJ=50.0
MOVL V=100.0
Subtask 2 ARCON V=100.0
completed
END

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 7.6 Job Examples

7.6.2 Synchronous Operation

The example below is a job configuration for the manipulators 1 and 2 to achieve detailed syn-
chronization mode. This is used when an interference area exists between manipulators.

Set a concurrent job as the master task, and start the R1 job in subtask 1, and the R2 job in
subtask 2.
The synchronization of each subtask is executed by TSYNC instruction.

Master task Subtask 1

Job name: MASTER Job name: R1JOB
(concurrent job) (R1: robot job)
NOP NOP
* Initial start
PSTART JOB:R1JOB SUB1 JUMP JOB:R1ABC
PSTART JOB:R2JOB SUB2 END

* Waiting for completion

PWAIT SUB1
PWAIT SUB2 Job name: R1ABC
(R1: robot job)
END NOP

MOVJ VJ=50.0
MOVJ VJ=50.0
MOVL V=100.0
ARCON V=100.0

Subtask 1 TSYNC 1
completed
END

Subtask 2
Job name: R2JOB
(R2: robot job)
NOP

JUMP JOB:R2ABC
END

Job name: R2ABC

(R2: robot job)
NOP

MOVJ VJ=50.0
MOVJ VJ=50.0
MOVL V=100.0
ARCON V=100.0

Subtask 2 TSYNC 1
completed
END

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7.7 Confirming Operation

7.7 Confirming Operation

7.7.1 FWD/BWD Operation and Test Run

 Confirming the Operation of the Task being Displayed
When confirming operation in FWD/BWD operation or a test run, usually only the job of the
task currently being displayed is targeted.
Operation can be confirmed with [FWD], [BWD], and [TEST START].

 Confirming the Operation of All Tasks

To operate all tasks at the same time, perform the following operations  to .
Switch the operating method to independent control.
Register a concurrent job as the master job.
Perform FWD operation on the concurrent job, and execute PSTART instruction.
Continue performing FWD operation so that all the tasks simultaneously perfom FWD
operation.

NOTE Sometimes operation is performed at a different speed from the playback speed. Exercise
full caution to any interference between manipulators.

7.7.2 Switching Operating Method

There are two operating methods during FWD/BWD operation and a test run:
• Operate only the task currently being displayed
• Operate all tasks
These two operating methods can be switched on the TEACHING CONDITION window.
For arc coordinated system and jigless system, simply pressing [SHIFT]+[SMOV] can switch
the operating method.

 Switching by [SHIFT]+[SMOV]
(For arc coordinated system and jigless system)

Main Menu Short Cut Multi-job operation mode available

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 7.7 Confirming Operation

 Switching on TEACHING CONDITION Window

Operation Explanation

1 Select {SETUP} under the

main menu.

2 Select {TEACHING COND}. The TEACHING CONDITION window appears.

DATA EDIT DISPLAY UTILITY

TEACHING CONDITION
RECT/CYLINDRICAL RECT
LANGUAGE LEVEL SUBSET
INSTRUCTION INPUT LEARNING VALID
MOVE INSTRUCTION SET STEP
STEP ONLY CHANGING PROHIBIT
STEP/TEST RUN OPERATION MODE SINGLE
BWD OPERATION NO GROUP AXIS PERMIT
BWD OPERATION CONCURRENT JOB PROHIBIT
TWIN COORDINATED MODE INVALID

Main Menu Short Cut

3 Select “STEP/TEST RUN Each time [SELECT] is pressed, the setting changes between
OPERATION MODE.” “ALL” and “SINGLE.”

Parameter Contents and Set Value Initial Value

S4C152 Specifies the user output number to externally output the 0

“Multi-job operation mode” status at teaching.
0: Not output
1 to 1024: User output number

7.7.3 BWD Operation of Concurrent Job

During BWD operation, a concurrent job and a job without control groups can be set so that
they do not back, on the TEACHING CONDITION window. For the operation procedures,
refer to “7.7.2 Switching Operating Method.”

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7.8 Playback

7.8 Playback

7.8.1 Procedure
A playback is performed in the manner described in the following diagram.
Executing PSTART instruction in master task, starts the job in subtasks. The operation status
of each task can be checked on the SUPERVISORY window.

Master job registration for master task

Calling the master job of the master task

Start

Subtask started with PSTART

SUPPLE-
For information about playback, refer to the NX100 Operator’s Manual.
MENT This manual explains the independent control characteristic operations.

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 7.8 Playback

7.8.2 Registering Master Job

 Registering
Register a master job in teach mode.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {CTRL MASTER}. The SUPERVISORY window appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
EDIT JOB
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

3 Move the cursor to the task

where a master job is to be
registered.

4 Press [SELECT]. The selection dialog box appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
CALL MASTER JOB
EDIT JOB SETTING MASTER JOB
LINE NO. 0000 0000
CANCEL MASTER 0000
JOB 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

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7.8 Playback

Operation Explanation

5 Select “SETTING MASTER The JOB NAME window appears.

JOB.”
DATA EDIT DISPLAY UTILITY

JOB NAME
TEST-1 TEST JOB WELDJOB
ABC MJOB JOB-1
JOB2 JOB3 JOB4
1234

Main Menu Short Cut

6 Select a job to be registered The selected job is registered as a master job.

as a master job.
JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB MASTER-1
EDIT JOB
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

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 7.8 Playback

 Cancelling Registration

Operation Explanation

1 Move the cursor to the task

whose registration is to be
cancelled.

2 Press [SELECT]. The selection dialog box appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB MASTER-1
CALL MASTER JOB
EDIT JOB 0000
SETTING MASTER JOB
LINE NO. 000 0000
CANCEL MASTER 0000
JOB 0000
STEP NO. STOP 000 000 000
STATUS

Main Menu Short Cut

3 Select “CANCEL MASTER The master job registration is cancelled.

JOB.”
JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
EDIT JOB
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

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7.8 Playback

7.8.3 Calling Master Job

Operation Explanation

1 Move the cursor to the master

job whose task is to be called.
2 Press [SELECT]. The selection dialog box appears.
JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB MASTER-1
CALL MASTER JOB
EDIT JOB MASTER TASKMASTER JOB
SETTING
LINE NO. 0000
CANCEL MASTER JOB
STEP NO. 000 0000 0000 0000
STATUS STOP 000 000 000

Main Menu Short Cut

3 Select “CALL MASTER JOB.” The master job is called.

JOB EDIT DISPLAY UTILITY

JOB CONTENT: MASTER

JOB NAME: M-TASK STEP NO: 000
CONTROL GROUP: NON GROUP TOOL:
0000 NOP
0001 INITIAL START
0002 PSTART JOB:R1JOB SUB1
0003 PSTART JOB:R2JOB SUB2
0004 WAITS FOR COMPLETION
0005 PWAIT SUB1
0006 PWAIT SUB2

Main Menu Short Cut

 When the Master Job in the Master Task is Called

The master job of the master task is called, and the jobs of the subtasks are cleared.

Master task
Call master NOP
job
PSTART SUB1
PSTART SUB2
PSTART SUB3

Subtask 1 Subtask 2 Subtask 3

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 7.8 Playback

 When the Master Job in a Subtask 1/2/3 is Called

Only the master job in a specified subtask is called. The jobs in other tasks are as they were
before calling.
Master task
NOP

PWAIT SUB1
PWAIT SUB2
PWAIT SUB3

Subtask 1 Subtask 2 Subtask 3

Call master
job NOP NOP NOP

MOVJ MOVJ

NOTE For the subtask 1/2/3, it can be selected whether the master job is to be called or the root
job (job started by PSTART) is to be called.

Parameter Contents and Set Value Initial Value

S2C184 Call the master job: 0

0
Call the root job: 1

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7.8 Playback

7.8.4 Registration of Root (startup) Job

The root job is a job executed at starting up each task. As the root job is determined automat-
ically according to the job configuration, normally it is not necessary to be registered.
However, when the currently active job is to be changed forcibly, register a desired root job to
start the task. The task is executed from the registered root job.

<Example>

During execution of a series of jobs in the subtask 1 as shown in the figure below, the task is
stopped in the middle of “Work-P.” To restart the task from “Work-Q” without executing the
remaining of “Work-P,” register “Work-Q” for “ROOT JOB” in the SUPERVISORY window.

Subtask 1

Work-P
Stop

Work-Q

Work-R

Change this to "WORK-Q."

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB JOB-0 JOB-1 JOB-2 JOB-3
ROOT JOB JOB-0 WORK-P JOB-2 JOB-3
EDIT JOB
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP STOP STOP STOP

Main Menu Short Cut

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 7.8 Playback

 Registrering
Register a root job in teach mode.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {CTRL MASTER}. The SUPERVISORY window appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
ROOT JOB
EDIT JOB
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

3 Move the cursor to the task

where a root job is to be regis-
tered.
4 Press [SELECT]. The selection dialog box appears.
JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
ROOT JOB
CALL ROOT JOB
EDIT JOB SETTING ROOT JOB
LINE NO. CANCEL ROOT
0000 0000 JOB0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

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7.8 Playback

Operation Explanation

5 Select “REGISTER ROOT The JOB NAME window appears.

JOB.”
DATA EDIT DISPLAY UTILITY

JOB NAME
MASTER-1 TEST JOB WELDJOB
ABC MJOB JOB-1
JOB2 JOB3 JOB4
1234

Main Menu Short Cut

6 Select a job to be registered The selected job is registered as a root job.

as a root job.
JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
ROOT JOB MASTER-1
EDIT JOB
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

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 7.8 Playback

 Cancelling Registration

Operation Explanation

1 Move the cursor to the task

whose registration is to be
cancelled.

2 Press [SELECT]. The selection dialog box appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
ROOT JOB CALL ROOT JOB
EDIT JOB SETTING ROOT JOB
LINE NO. CANCEL ROOT
0000 0000 JOB0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

3 Select “CANCEL ROOT JOB.” The root job registration is cancelled.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3
MASTER JOB
ROOT JOB
EDIT JOB
LINE NO. 0000 0000 0000 0000
STEP NO. 000 000 000 000
STATUS STOP

Main Menu Short Cut

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7.8 Playback

7.8.5 Confirming Operating Status (SUPERVISORY

Window)
The operating status of each task can be confirmed on the SUPERVISORY window.

Operation Explanation

1 Select {JOB} under the main

menu.

2 Select {CTRL MASTER}. The SUPERVISORY window appears.

JOB EDIT DISPLAY UTILITY

SUPERVISORY
MASTER SUB1 SUB2 SUB3

 MASTER JOB JOB-0 JOB-1 JOB-2 JOB-3

 ROOT JOB JOB-0 WORK-P JOB-2 JOB-3
 EDIT JOB
LINE NO. 0010 0020 0007 0010
STEP NO. 008 006 004 007
 STATUS PWAIT1 START ALARM START

Main Menu Short Cut

 MASTER JOB
Displays the master job of each task.

ROOT JOB
Displays a job at starting each task.
It is displayed when “1” (call a root job) is set to the
parameter S2C184.

EXEC JOB/EDIT JOB

In play mode, displays the currently active job.
In teach mode, displays the currently editing job.
The line number and step number of the current cursor
position of the EXEC JOB/EDIT JOB are displayed in
“LINE NO.” and “STEP NO.” respectively.

 STATUS
Displays the status of execution of the task.
START: Displays during playback or during a test run.
RUN: Displays while executing FWD/BWD operation.
STOP: Displays while stopped.
ALARM: Displays while an alarm is occurring.
HOLD: Displays while holding.
E.STOP: Displays during emergency stop.
PWAIT1: Displays while waiting completion of subtask 1.
PWAIT2: Displays while waiting completion of subtask 2.
PWAIT3: Displays while waiting completion of subtask 3.

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 7.8 Playback

7.8.6 Precautions
 Stopping
If a hold or an emergency stop procedure is performed, all currently executing jobs are
stopped.

 Restarting
The following methods are available for restarting after a hold or an emergency stop.

To continue operation
If operation is restarted from the stopped position, the master task and subtasks1/2/3/4/5/6/7
all continue their execution from the line (step) number at the time of the stop.
However, if a job selection is made and the message “SUB task restart impossible” is dis-
played, subtasks 1/2/3/4/5/6/7 cannot continue their execution. Only the master task is
restarted.

To execute only one of the subtasks from the beginning

Before conducting start procedures, first turn ON the system input signal “Sub  Master job
call” (40031 to 40037) of the subtask to be executed from the beginning, and press the start
button. The job of the subtask for which this signal is ON, is executed from the beginning.
The jobs of other tasks continue execution from the line (step) number at the time of the stop.

To execute jobs of both subtasks from the beginning

First turn ON the system input signal “Master job call” (40030), then press the start button.
When the master job of the master task is called, subtasks 1/2/3/4/5/6/7 which were stopped
in the middle are canceled. When PSTART instruction is executed in the job of the master
task, the jobs of both subtasks start and are executed from the beginning.

 Stopping and Restarting a Subtask Alone

During operation of subtasks 1/2/3/4/5/6/7, with an I/O alarm or a PAUSE instruction, only a
specified subtask can be stopped. Refer to the system inputs 40021 to 40027, and the sys-
tem outputs 50041 to 50045, for I/O alarm.
When subtask 1/2/3/4/5/6/7 is halted, the system output signal 50031 to 50037 “HELD” is out-
put. The system output signal 50070 “RUN” stays ON, but the start lamp on the programming
pendant flashes when a subtask is halted.
To restart the halted subtask 1/2/3/4/5/6/7, reset the alarm and press the external start or the
start botton on the programming pendant.

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8.1 Outline

8 Servo Power Supply Individual Control

Function

8.1 Outline

The servo power supply individual control function is to turn ON/OFF the servo power supply
in units of specified control group freely in the robot system with multiple control group config-
uration.
Using this function, without stopping whole the system operation, the servo power supply only
for the control group selected by an operator can be turned OFF. Therefore, the safe opera-
tion for removing a workpice with the system running and maintenance for robot tool, is
secured, moreover, the operating effeciency is increased.

• The servo power supply individual control function is available with the NX100 only.
NOTE • The servo power supply individual control function is to control the servo power supply in
units of contactor unit. To use this function, use the contactor unit originally designed for
separation in units of control group.

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 8.2 Connection of Signals for Servo Power Supply Individual Control

8.2 Connection of Signals for Servo Power Supply

Individual Control

The servo power supply individual control function turns ON/OFF the servo power supply in
units of contactor unit. “ON_EN” signal of power supply contactor unit is used.
“ON_EN” signals of each power supply contactor unit is connected to the following terminals.
• Power supply contactor unit (JZRCR-NTU-): CN06-1 and -2
CN06-3 and -4

For safety reasons, dual circuits are used for the Servo-ON Enable input signals. Connect
NOTE the signal so that both input signals are turned ON or OFF at the same time. If only one
signal is turned ON, an alarm occurs.

Connect the servo power supply individual control signals in the following manner.
1. Remove the jumpers connected to the above mentioned contactor unit terminals.
2. Connect an output contact such as area sensor to “ON_EN” terminal as shown in the
figure below.
NX100

Power supply contactor unit

JZRCR-NTU Remove the jumper cable

CN06
-1 Servo-ON enable input signal
+24V2

-2
ONEN1
Turn ON/OFF
-3 at the same time
ONEN2

-4
024V

For the wiring termination and connecting method, refer to “WAGO Connector” in “12.3.2
SUPPLE-
MENT Units and Circuit Boards in the CPU Unit” of NX100 Instructions.
Short-circuited between the above terminals as a standard.

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8.3 Confirming Connection

8.3 Confirming Connection

The status of “ON_EN” signals connected to each contactor unit and the servo power supply
status can be confirmed on the SERVO POWER STATUS window.

Operation Explanation

1 Select {IN/OUT} under the

main menu.

2 Select {SV POWER STATUS}. The SERVO POWER STATUS window appears.
DATA EDIT DISPLAY UTILITY

SERVO POWER STATUS

ON-EN SIGNAL SERVO ON
R1
R2
S1
S2 
S3
S4


Main Menu Short Cut

 ON_EN SIGNAL
Displays the status of “ON_EN” signal of contactor unit
connected to each control group.
: Open (OFF) status
Turns OFF the servo power supply.
: Closed (ON) status
Turns ON the servo power supply when the servo ON
lamp is lit.

 SERVO ON
Displays the status of servo power supplied to each con-
trol group.
: Servo power OFF status
: Servo power supply ON completed status

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 8.4 Application Examples

8.4 Application Examples

8.4.1 Turning ON Only the Servo Power Supply for the

Selected Control Group at Teaching
At turning the servo ON, only the servo power supply for the selected control group can be
turned ON.

As shown below, when the servo power supply is turned ON with only the “ON_EN” signal of
contactor unit connected to R1 set to “ON,” the servo power is supplied only to R1.
DATA EDIT DISPLAY UTILITY

SERVO POWER STATUS

ON-EN SIGNAL SERVO ON
R1
R2
S1
S2
S3
S4

Main Menu Short Cut

8.4.2 Turning OFF Only the Servo Power Supply for the
Selected Control Group at Playback
When an operator touches the positioner in such a case as replacement of workpiece, only
the servo power supply for the positioner to be touched can be turned OFF for security.

During operation
(Servo power ON)
Workpiece replacing work
(Servo power OFF)

S1 R1 S2

Contactor Contactor Contactor

unit #2 unit #1 unit #3

NX100

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8.4 Application Examples

As shown below, with the “ON_EN” signal of contactor unit connected to S1 set to “OFF,” only
the servo power supply to S1 can be turned OFF even during playback operation.
DATA EDIT DISPLAY UTILITY

SERVO POWER STATUS

ON-EN SIGNAL SERVO ON
R1
S1
S2

Main Menu Short Cut

While the servo ON lamp is lit, if “ON_EN” signal is turned ON, the servo power supply for the
corresponding control group is turned ON.

To control individually the servo power supply for a selected control group without stopping
NOTE whole the system during playback, it is necessary to prepare an application job, using the
independent control function.

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 8.5 System Output Signals

8.5 System Output Signals

8.5.1 Servo Power ON Status Signal for Each Control

Group
The servo power ON status of each control group is output to the following system output sig-
nal.
In the standard concurrent I/O ladder, these system output signals are not output externally.
When installing an interlock operated by PLC, etc., modify the concurrent I/O ladder so that
the system output signals are output externally.

Servo power ON status Servo power ON status

50180 50190
Robot 1 Station 5

Servo power ON status Servo power ON status

50181 50191
Robot 2 Station 6

Servo power ON status Servo power ON status

50182 50192
Robot 3 Station 7

Servo power ON status Servo power ON status

50183 50193
Robot 4 Station 8

Servo power ON status Servo power ON status

50184 50194
Station 1 Station 9

Servo power ON status Servo power ON status

50185 50195
Station 2 Station 10

Servo power ON status Servo power ON status

50186 50196
Station 3 Station 11

Servo power ON status Servo power ON status

50187 50197
Station 4 Station 12

8.5.2 “During Servo ON” Signal

The system output signal 50073 (during servo ON) is output in connection with the servo ON
lamp on the programming pendant.
After the servo power supply is turned ON, even if all the “ON_EN” signals connected to con-
tactor unit are set to “OFF,” the servo ON lamp remains lit and the system output signal “Dur-
ing Servo ON” does not turn “OFF.”

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8.6 Operation of Job Without Control Group Specification

8.6 Operation of Job Without Control Group

Specification

When the servo power supply is individually turned OFF where jobs in multiple number of
tasks are operated using the independent control function, the job execution of the control
group whose servo power supply is turned OFF is interrupted. The jobs of other control
groups continue their execution.
For the jobs without control group specification such as master job, the conditions for execu-
tion can be set by the parameter.

Initial
Parameter Contents and Set Value
Value

S2C549 0: Execution possible only when servo power supply

(Condition of execution of to all the axes have been turned ON
1
job without control group 1: Execution possible when servo power supply to any
specification) axis is turned ON.

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 9.1 Coordinated Motion Instructions

9 Robot Language (INFORM II) Instruc-

tions

9.1 Coordinated Motion Instructions

• < > indicates numerical or alphabetical data.

• If multiple items are shown in one section, select one of the items.

Function While coordinating the slave side with the master side, moves
to teaching position with linear interpolation. (Coordinated
move instruction to the slave side manipulator)

Addi- Position data, base axis position These data do not appear
tional data on the screen.
Item
V=<play speed> V: 0.1 to 1500.0 mm/s
VR=<play speed for posture> 0.6 to 9000.0 cm/min
VR: 0.1 to 180.0/s
SMOVL
PL=<position level> PL: 0 to 8

UNTIL statement

NWAIT

+MOVJ instruction,
+MOVL instruction

Example SMOVL V=150

+MOVL

Function While coordinating the slave side with the master side, moves
to teaching position with circular interpolation. (Coordinated
move instruction to the slave side manipulator)

Addi- Position data, base axis position These data do not appear
tional data on the screen.
Item
V=<play speed> V: 0.1 to 1500.0 mm/s
VR=<play speed for posture> 0.6 to 9000.0 cm/min
SMOVC VR: 0.1 to 180.0/s

PL=<position level> PL: 0 to 8

NWAIT

+MOVJ instruction,
+MOVL instruction

Example SMOVC V=150 NWAIT

+MOVJ

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9.1 Coordinated Motion Instructions

Function While coordinating the slave side with the master side, moves
by only the specified increments with linear interpolation.

Addi- P <variable No.>,

tional BP <variable No.>
Item
V=<play speed>, V: 0.1 to 1500.0 mm/s
VR=<play speed for posture>, 0.6 to 9000.0 cm/min
VS=<speed at reach point> VR: 0.1 to 180.0/s
VS: 0.1 to 1500.0 mm/s
0.6 to 9000.0 cm/min

SIMOV PL = <position level> PL: 0 to 8

UNTIL statement

NWAIT

+IMOV instruction

Example SIMOV P000 V=138 PL=1

+IMOV P001

SIMOV P001 BP002

+IMOV P000

Function During coordinated movement, specifies a reference point

such as wall point for weaving. (Reference point instruction to
the slave side manipulator)

Addi- Position data, base axis position These data do not appear
SREFP tional data on the screen.
Item
<Reference point No.> Wall point 1 for weaving: 1
Wall point 2 for weaving: 2

Example SREFP 1

Function The master side moves to the teach position with joint interpo-
lation. This instruction should always be placed after a coordi-
nated move instruction (individual interpolation). (Coordinated
move instruction to the master side manipulator)

Addi- Position data, These data do not appear

tional base axis position data, on the screen.
+MOVJ
Item station axis position data

VJ=<play speed (%)> Effective in parameter set-

ting

Example MOVL=138 PL=0

+MOVJ

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 9.1 Coordinated Motion Instructions

Function The master side moves to the teach position with linear inter-
polation. This instruction should always be placed after a coor-
dinated move instruction (coordinated interpolation, individual
interpolation). (Coordinated move instruction to the master side
manipulator)

Addi- Position data, base axis position data, station axis position data
tional
+MOVL V=<play speed> Effective in parameter set-
Item
ting

Example SMOVL V=276

+MOVL

MOVL V=276
+MOVL

Function The master side moves by only the specified increment with
linear interpolation.

Addi- P <variable No.>,

tional BP <variable No.>
Item
V=<play speed>, V: 0.1 to 1500.0 mm/s
VR=<play speed for posture>, 0.6 to 9000.0 cm/min
VE=<play speed of external VR: 0.1 to 180.0s
axes>, VE: 0.01 to 100.00 %
VS=<speed at reach point> VS: 0.1 to 1500.0 mm/s
+IMOV 0.6 to 9000.0 cm/min

BR, RF, TF, UF# BF: Base coordinate

(<User coordinate Nos.> ) RF: Robot coordinate
TF: Tool coordinate
UF: User coorcinate

Example IMOV P000 V=138 PL=1 RF

+IMOV P001

SIMOV P001 BP002

+IMOV P000

Function Starts coordinated shift movement.

Addi- <Robot axis position variable>

SSFTON tional
Item

Example SSFTON P000

Function Stops coordinated shift movement.

Addi- None
SSFTOF tional
Item

Example SSFTOF

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9.1 Coordinated Motion Instructions

Function Starts coordinated weaving.

Addi- WEV# 1 to 16
SWVON tional (<weaving condition file No.>)
Item

Example SWVON WEV#(3)

Function Stops coordinated weaving.

Addi- None
SWVOF tional
Item

Example SWVOF

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 9.2 Independent Control Instructions

9.2 Independent Control Instructions

• < > indicates numerical or alphabetical data.

• If multiple items are shown in one section, select one of the items.

Function Starts a job.

Addi- JOB: <Job name>

tional
Item SUB1, SUB2, SUB3 Subtask that is started
(SUB4, SUB5, SUB6, SUB7)

SYNC Added to follower task

SUB1, SUB2, SUB3 Leader subtask to be syn-

PSTART
(SUB4, SUB5, SUB6, SUB7) chronized

IF statement

Example PSTART SUB1

PSTART JOB:TEST-1 SUB1
PSTART JOB: TEST-1 SUB1 SYNC SUB2

Remarks If the job name is omitted, the master job registered in the
selected subtask is started.

Function Waits for completion of subtask.

Addi- SUB1, SUB2, SUB3 Subtask waiting for com-

PWAIT tional (SUB4, SUB5, SUB6, SUB7) pletion
Item

Example PWAIT SUB1

Function Synchronizes tasks.

Addi- <synchronization No.> 1 to 32

tional
TSYNC Item SNUM=<the number of synchro- 2 to 4 (8)
nized tasks>

Example TSYNC 1
TSYNC 1 SNUM=3

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10.1 Outline

10 CONVSFT Instruction ( Coordinate

System Conversion Instruction of the
Shift Value)

10.1 Outline

When making a parallel shift during the coordinated motion, the robot should shift by the shift
value of master tool coordinate system (the master robot or the station tool coordinate sys-
tems).
In this consequence, during the coordinated motion, the shift value on the base, robot or user
coordinate systems cannot make parallel shift unless
• converting the shift value from base coordinated system to master tool coordinated sys-
tem.
• converting the shift value from robot coordinated system to master tool coordinated sys-
tem.
• converting the shift value from user coordinated system to master tool coordinated sys-
tem.
After each above mentioned conversion instruction, the parallel shift can be made during the
coordinated motion.

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 10.2 CONVSFT Instruction

10.2 CONVSFT Instruction

CONVSFT P Variable P Variable PX Variable MTF

D. Coordinate System
to be Converted
C. Master Robot
(Station) Position
B. Base Point
Shift Value
A.Converted
Shift Value

10.2.1 Explanation of CONVSFT

Meaning: Coordinate system conversion instruction of the shift value

 Instructed Operation
A shift value out of three coordinate systems (base, robot or user coordinate system), which is
set to B. Base Point Shift Value, will be set to A. Converted Shift Value as a converted shift
value after being converted in accordance with the coordinate system at D. Coordinate Sys-
tem to be Converted.

 Converted Shift Value

The converted shift value is set to a specified P Variable.

 Base Point Shift Value

Set a shift value to be converted to P Variable.
Specify base, robot or user coordinate system, whose coordinate system is to be converted,
with the coordinate system of P Variable.

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10.2 CONVSFT Instruction

 Master Robot (Station) Position

When a shift value is converted to the master tool coordinate system shift value, it is specified
with a PX variable shown below.

PX Variable
The PX variable varies with the job control group that executes CONVSFT instruction. Please
refer to the following table (when setting PX000 to PX variable).

Relation between PX Variable and Control Group

Job Control Group Master Slave Side Variable Master Side Variable

R1+R2 R1 P000 (R2) P001 (R1)

R1+R2 R2 P000 (R1) P001 (R2)

R1+S1 S1 P000 (R1) EX000

R2+S1 S1 P000 (R2) EX000

 Coordinate System to be Converted

Specify a coordinate system whose shift value is to be converted.
MTF: Master tool coordinate system
BF: Base coordinate system (implementing function）
RF: Robot coordinate system (implementing function）
UF: User coordinate system (implementing function）

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 10.3 Example of Conversion

10.3 Example of Conversion

Example 1: Convert the shift value in the operation job

• When the shift value is given by the robot coordinate system and the shift is made during
the coordinated operation.
• The job control group is R1 + S1
• The robot coordinate system shift value is regarded to be set to P001.

Line Step
0 0 NOP
1 1 MOVJ VJ=50.00
+MOVJ VJ=50.0
2 GETS PX002 $PX000 Set the present position to P002
•••••••••• and EX002.
3 CONVSFT P000 P001 P002 Convert the shift value to master
MTF •••••••••• tool coordinate system at the
present station position.
4 SSFTON P000 •••••••••• Coordinated shift starts
5 2 SMOVL V=1000
+MOVJ
6 ARCON ASF#(1)
Register the move instruction
between SSFTON and SSFTOF
7 3 SMOVL V=100 with the coordinated instruction
+MOVJ (SMOVL/SMOVC)
8 4 SMOVL V=100
+MOVJ
9 ARCOF
10 SSFTOF •••••••••• Coordinated shift ends
11 5 SMOVL V=500
+MOVJ
12 6 MOVL VJ=50.00
+MOVL VJ=50.0
13 END

Create the shift value of the robot coordinate system with the same position as the step
NOTE position at which the shift value of the station axis position is made converted its coordinate
system by CONVSFT instruction.

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10.3 Example of Conversion

Example 2: Convert the master tool coordinate system in the job other than the operating job

Register the position of master robot (station) that has specified the robot coordinate system
shift value to SREFP1, then convert the shift value using the position data in SREFP1.

JOB: CONVSFT

Line Step
0 0 NOP
1 1 SREFP1
2 GETS PX005 $PX021
3 CONVSFT P000 P001 PX005 •••••••••• Execute the master tool
MTF coordinate system shift value
conversion at the master side
position of PX000.
4 END

Currently active job

Line Step
0 0 NOP
1 1 MOVJ J= 50.00 V
+MOVJ VJ=50.0
2 CALL CONVSFT •••••••••• Excute a job that converts a shift
value to the shift value of the
master tool coordinate system.
3 SSFTON P000 •••••••••• Coordinated shift starts
4 2 SMOVL V=1000
+MOVJ
5 ARCON ASF# (1) Register the move instruction
between SSFTON and SSFTOF
6 3 SMOVL V=100
with the coordinated instruction
+MOVJ (SMOVL/SMOVC)
7 4 SMOVL V=100
+MOVJ
8 ARCOF
9 SSFTOF •••••••••• Coordinated shift ends
10 5 SMOVL V=500
+MOVJ
11 6 MOVJ V J=50.00
+MOVJ VJ=50.0
12 END

Create the job for conversion with the coordinated job.

NOTE
If the job to be shifted is the coordinated job of the robot and the station, the job to be con-
verted should also be the coordinated job of the robot and the station.

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 10.4 Alarm

10.4 Alarm

 4499 UNDEFINED POSITION VARIABLE

Cause: The data is not set to the position variable.
Measure: Set the data to the position variable.

 4495 UNDEFINED ROBOT CARIBRATION

Cause: Between robots or robot and station is not calibrated yet.
Measure: Calibrate between robots or robot and station.

 4500 UNDEFINED USER FRAME

Cause: The user coordinate is not defined.
Measure: Define the user coordinate.

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10.5 Supplementary Note

10.5 Supplementary Note

 About the need to make parallel shift on the master tool coordinate
system.
Assume that a work moves10 mm in Z-axis direction on the base coordinate system when it is
at the station position shown in the following Figure A.

10mm
Z

Master tool
coordinate system

Base coordinate system

Figure A The Shift when the Station-Axis Rotates 0°

Even shifting the robot's position on the base coordinate system when the work is at the posi-
tion mentioned in figure B, the robot would not move to the desired position. However, on the
other hand, it will shift appropriately when the robot makes the shift on the master tool coordi-
nate system.

Base coordinate system

Z
m
m
10

X Y

Z 10mm

Master tool
coordinate system

Base coordinate system

X Station-axis
(rotates 45 )
Figure B The Shift when the Station-Axis Rotates 45°

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NX100 OPTIONS
INSTRUCTIONS
FOR INDEPENDENT/COORDINATED CONTROL FUNCTION

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO. RE-CKI-A443 4

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