Motoman NX100 Controller

ServoFloat
Function Manual

Part Number: 149648-10CD

Revision: 1

Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
 COMPLETE OUR ONLINE SURVEY
Motoman is committed to total customer satisfaction! Please give us your feedback on the technical manuals you
received with your Motoman robotic solution.
To participate, go to the following website:
http://www.motoman.com/forms/techpubs.asp

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

©2007 by MOTOMAN
All Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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This manual provides system information for the ServoFloat Control Function and contains
the following sections:
5'%6+10+0641&7%6+10
Provides general information about the structure of this manual, a list of reference documents,
and customer service information.
5'%6+105#('6;
This section provides information regarding the safe use and operation of Motoman products.
5'%6+105'481(.1#6+05647%6+105
Provides detailed information about the ServoFloat Control Function.

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For additional information refer to the following:
• NX100 Controller Manual (P/N 149201-1)
• Concurrent I/O Manual (P/N 149230-1)
• Operator’s Manual for your application
• Vendor manuals for system components not manufactured by Motoman

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If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200.
Please have the following information ready before you call:
• Robot Type (ServoFloat)
• Application Type (arcwelding, spot welding, handling)
• Robot Serial Number (located on back side of robot arm)
• Robot Sales Order Number (located on back of controller)

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 YASKAWA

NX100 OPTIONS
INSTRUCTIONS
FOR SERVOFLOAT 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.

YASKAWA MANUAL NO. HW0482018

 HW0482018

MANDATORY
• This manual explains the servofloat function of the NX100 system and
general operations. Read this manual carefully and be sure to under-
stand its contents before handling the NX100.

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

NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instruction 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.

ii
HW0482018

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”.

iii
 HW0482018

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 working 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 person is 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 is a problem.
The emergency stop buttons are located on the right of the front door of the NX100 and
the programming pendant.

iv
HW0482018

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 manipulator’s work area, 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

Cable between the manipulator and the controller Manipulator Cable

v
 HW0482018

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.

vi
HW0482018

1 Servofloat Function
1.1 Link Servofloat Function . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Linear Servofloat Function . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.3 Using the Link Servofloat Function and the Linear
Servofloat Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2

2 The Servofloat Function

2.1 Moving with the Move Instruction . . . . . . . . . . . . . . . . . . .2-2
2.2 Moving with the TIMER and WAIT Instructions . . . . . .2-3
2.3 Operation Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.4 When an Alarm Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.5 Display during Servofloat Operation . . . . . . . . . . . . . . . .2-4
2.6 Turning Servo ON Again During Servofloat
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-4

3 Servofloat Condition Files

3.1 Link Servofloat Condition File . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Linear Servofloat Condition File . . . . . . . . . . . . . . . . . . . . .3-3

4 Instructions for the Servofloat Function

4.1 FLOATON Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.2 FLOATOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.3 SPDL Tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

5 Registration of Instruction
5.1 FLOATON Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 FLOATOF Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.3 Addition of SPDL Tag to a Move Instruction . . . . . . . . .5-3

vii
 HW0482018

6 Application Example of the Servofloat Function

6.1 Movement Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Job Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.3 A Setting Example in the Linear Servofloat
Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.4 A Setting Example for the Link Servofloat
Condition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

viii
HW0482018
1.1 Link Servofloat Function

1 Servofloat Function

The servofloat function of the NX100 consists of the link servofloat function and the linear ser-
vofloat function. The link servofloat function controls the torque independently for each axis;
and the linear servofloat function controls the torque on the Cartesian coordinates. Select
these two functions by setting the servofloat instructions accordingly.

1.1 Link Servofloat Function

The link servofloat function works in combination with the position control and the torque con-
trol, whereas an ordinary control is a position control that generates torque to keep the taught
position regardless of the applied external force. “Torque control” keeps the taught position
only by using the torque against the gravitational and frictional forces. Therefore, a manipula-
tor moved by an external force will not return to its original position.

With the servofloat function, external force moves the manipulator since the torque control has
priority over the position control.

For example, when removing a workpiece from the die-casting machine, a large external force
is applied to the manipulator by the extruding cylinder when a workpiece is grasped and pulled
out. The servofloat function is used to protect the manipulator from excessive external force,
and the manipulator moves according to the force applied from the die-casting machine.

Note that the manipulator does not move exactly to the taught position or along the taught
path, because complete position control is not performed during execution of the servofloat
function.

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 HW0482018

1.2 Linear Servofloat Function

1.2 Linear Servofloat Function

When a manipulator pushes a workpiece or visa-versa, a movement to one predetermined

direction may be desirable. With the link servofloat function, a servofloat motion in one direc-
tion is not possible since torque control is performed independently for each axis.
This function can specify the control of force in one direction within a space.*1
When unloading a die-casting machine, this function is useful for considerably long ejection
distances or when polishing or grinding.

*1 When external force is applied, the R, B, and T-axes move the same as in the link
servo-float function.
Only the end of the U-axis moves in a linear motion.

1.3 Using the Link Servofloat Function and the Linear

Servofloat Function

Use the link servofloat function when high-ferquency noise, motor vibration, or unsteady
manipulator motion occur depending on the manipulator posture, speed, and movement direc-
tion.

• Tool load information setting

NOTE The servofloat function compensates for gravity in real-time in order to prevent the arms
from dropping due to gravity even when the generated torque is limited. For this purpose,
the tool load information used for gravity compensation must be set correctly. Otherwise,
the servofloat function cannot be performed properly and the arms may drop down or rise
up.
For the tool load infomation, refer to Section “9.11.3 Tool Load Information Setting” in the
NX100 INSTRUCTIONS (manual number: RE-CTO-A211) to correctly set the tool load
information.

1-2
HW0482018

2 The Servofloat Function

Enable the servofloat function with the servofloat function start instruction FLOATON. It
remains enabled until one of the following conditions is established.

• Performing the a servofloat function end instruction FLOATOF

• Performing the FWD/BWD key operation, jogging, or a job startup after the cursor is
moved
• Performing the FWD/BWD key operation, jogging, or a job startup after a job call, job
selection, or job editing
• Turning the servo ON again after an emergency stop

When the function is enabled, the manipulator generates only the torque that is less that the
value set to the servofloat condition file. The manipulator uses the torque to operate and keep
the position. If a large external force is applied, the manipulator moves according to this force.

2-1
 HW0482018

2.1 Moving with the Move Instruction

2.1 Moving with the Move Instruction

If an external force prevents manipulator operation, the manipulator does not reach the taught
position when the servofloat function is enabled. Even though the manipulator does not actu-
ally reach the taught position, the instruction that would be activated at that position are none-
theless enabled, so the move instruction terminated.
Therefore, when the manipulator cannot reach the taught position because of an external
force, the manipulator performs the next instruction.

The following figure shows an example where the operation time is 5 seconds from STEP 1 to
STEP 2. If the manipulator hits an obstruction 3 seconds after STEP 1 and stops there, it
remains stopped at the position for the remaining 2 seconds, and then moves to STEP 3 with-
out moving to STEP 2 when moving with the torque control.

5 seconds
STEP 1 MOVL V=100.0
3 seconds FLOATON FL#(1)
Obstruction STEP 2 MOVL V=100.0
STEP 3 MOVL V=100.0
FLOATOF
STEP 2
STEP 1

The manipulator hits an obstruction and stops for

2 seconds until the MOVE instruction to STEP 2
is completed. After completion of discharging, it
moves to STEP 3 in torque controlled status.

STEP 3

2-2
HW0482018
2.2 Moving with the TIMER and WAIT Instructions

2.2 Moving with the TIMER and WAIT Instructions

When the servofloat function is enabled, torque control can be performed even during the
TIMER and WAIT instructions. These instructions end when time is up or when a condition
described in page 2-1 is established.

For example, in the following figure, the manipulator reaches STEP 1, and the FLOATON
instruction enables the servofloat function. Then the manipulator waits for the input of IN#1 by
the WAIT instruction. In this state, if an external force is applied to the manipulator, the manip-
ulator moves to the point P and stops. If the FLOATOF instruction is performed at this point,
the servofloat function is disabled and the manipulator moves from point P to STEP 2.

Application of
external force STEP 1 MOVL V=100.0
FLOATON FL#(1)
STEP 1 Taught path
STEP 2 WAIT IN#(1)=ON
FLOATOF
Movement by
STEP 2 MOVL V=100.0
external force
Actual path

Point P

2.3 Operation Check

When the servofloat function is enabled, the soft limit, cube interference, and the S-axis inter-
ference are checked at the actual position of the manipulator even though external force
moved the manipulator.

2.4 When an Alarm Occurs

If an alarm occurs when the servofloat function is enabled, the servofloat function may remain
effective depending on the type of alarm. To disable the servofloat during an alarm, enter
“external emergency stop” or “servo OFF signal” during the “alarm occurrence” signal output.
This turns OFF the servo power supply and applies the brakes.

2-3
 HW0482018

2.5 Display during Servofloat Operation

2.5 Display during Servofloat Operation

When the servofloat function is enabled, the message “Servo float activated” appears at the
bottom of the programming pendant display, and the specific output 50274 “SERVOFLOAT
ON R1” is output.

2.6 Turning Servo ON Again During Servofloat

Operation

When the servo power has been turned OFF due to an emergency stop during servofloat
operation and turns ON again, press the [SERVO ON READY] on the playback panel until
this servo recognizes that the power supply is turned ON. If the button is not pressed for a
long enough time, the message “depress servo power ON” appears and the servo power can-
not be turned ON.

2-4
HW0482018

3 Servofloat Condition Files

CAUTION
• If the values for the maximum force and maximum torque are set too
low, gravity may cause an arm to drop.

The arm drop may cause an accident or damage to the devices.

There are two kinds of servofloat condition files: the link servofloat condition file specified for
the link servofloat function, and the linear servofloat condition file specified for the linear ser-
vofloat function.

3-1
 HW0482018

3.1 Link Servofloat Condition File

3.1 Link Servofloat Condition File

Operation Explanation

1 Select {ROBOT} from the

main menu
2 Select The link servofloat window appears.
{LINK SERVOFLOAT}
DATA EDIT DISPLAY UTILITY

LINK SERVOFLOAT
COND NO. : 1 / 8
FUNC +MAX.TORQUE(%) -MAX.TORQUE(%)

R1 : S 30 -30
L 40 -40
50
c U
R 100
-50
-100
B 100 -100
T 100 -100

MRESET PAGE

Main Menu Short Cut Turn on servo power

cFUNC
Enables/Disables the link servofloat function for each axis.
“z” indicates that the function is enabled; “{” indicates that the
function is disabled.
Pressing [SELECT] switches between “z” and “{”.
d(+) MAX. TORQUE / (-) MAX. TORQUE
Limits the amount of torque generated for keeping control of the
position of each axis.
Set the value for each axis using the ratios (%) of the positive and
negative sides of the motor to the motor rated torque. The
smaller the value is set, the more easily the manipulator can be
moved by an external force.

3 Select an item to be set, The display enters the number input status. Enter a value for
and set the value “MAX. TORQUE” by pressing the numeric keys. Then, press
[ENTER].

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HW0482018
3.2 Linear Servofloat Condition File

3.2 Linear Servofloat Condition File

Operation Explanation

1 Select {ROBOT} from the

main menu
2 Select The linear servofloat window appears.
{LNR. SERVOFLOAT}
DATA EDIT DISPLAY UTILITY

LINEAR SERVOFLOAT
COND NO. : 1 / 8

c COORDINATE ROBOT
TOOL ORIENT'N OFF
FUNC +MAX.FORCE -MAX.FORCE
R1 : X 30 kgf -30 kgf

d Y
Z
40 kgf
50 kgf
-40 kgf
-50 kgf
e
FUNC +MAX.TORQUE -MAX.TORQUE
R1 : R 30 % -30 %
B 40 % -40 %
T 50 % -50 %

f
MRESET PAGE

Main Menu Short Cut Turn on servo power

cCOORDINATE
Sets a coordinate system for the linear servofloat function.
Select the ROBOT coordinates, BASE coordinates, USER coordi-
nates or TOOL coordinates.
The selection dialog box appears by pressing [SELECT]. Select
a coordinate system to be set.
dFUNC
Enables/Disables the linear servofloat function for each axis.
“z” indicates that the function is enabled; “{” indicates that the
function is disabled.
Pressing [SELECT] switches between “z” and “{”.
e(+) MAX. FORCE / (-) MAX. FORCE
Limits the amount of force generated for keeping control of the
position of each axis.
When the linear servofloat is enabled, a force bigger than this set
value is not generated. The smaller the value is set, the more
easily a set coordinate axis can be moved by an external force.
However, if the set value is less than the manipulator friction, the
manipulator may not move.
f(+) MAX. TORQUE / (-) MAX. TORQUE
Limits the amount of torque generated for keeping control of the
position of R-, B-, and T-axes.
Set the value for each axis using the ratios (%) of the positive and
negative sides of the motor to the motor rated torque. The
smaller the value is set, the more easily an axis can be moved by
an external force.

3 Select an item to be set, The display enters the number input status. Enter a value for
and set the value “MAX. TORQUE” by pressing the numeric keys. Then, press
[ENTER].

3-3
HW0482018
4.1 FLOATON Instruction

4 Instructions for the Servofloat Function

4.1 FLOATON Instruction

FLOATON is an instruction to enable and start the link servofloat function or the linear servof-
loat function.
Additional items for the FLOATON instruction are as follows:

FLOATON

c FL#(1 to 8)

d LFL#(1 to 8)

cFL# ( ) (Setting range: 1 to 8)

Sets the link servofloat condition file number.

dLFL# ( ) (Setting range: 1 to 8)

Sets the linear servofloat condition file number.

4.2 FLOATOF Instruction

FLOATOF is an instruction to disable and end the link servofloat function or the linear servof-
loat function. The servofloat function can be also disabled by performing servo OFF.

4.3 SPDL Tag

The SPDL tag is a stop confirmation tag with which a motion is completed when the number of
speed feedback pulses of all the axes becomes less than a constant value.
Use an SPDL tag to confirm the end of a motion caused by an external force. Add it to the
move instruction immediately before the FLOATOF instruction.
If the move instruction is completed with a SPDL tag added, the next instruction will not be
performed as long as the manipulator is being moved by an external force.

Only “0” can be set for the SPDL tag.

An example of an SPDL tag added to a move instruction is shown as follows:

MOVJ VJ=50.00 SPDL=0

4-1
HW0482018
5.1 FLOATON Instruction

5 Registration of Instruction

When in the job content display in teach mode, register an instruction with the cursor in the
address area.

Operation Explanation

1 Select {JOB} from the main

menu
2 Select {JOB CONTENT} The job content window appears.
JOB EDIT DISPLAY UTILITY

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

=> MOVJ VJ=100.00

Main Menu Short Cut ! Turn on servo power

3 Move the cursor to the

address area

5.1 FLOATON Instruction

Operation Explanation

1 Move the cursor to the line

where “FLOATON” is to be
registered
2 Press [INFORM LIST] The instruction dialog box appears.
IN/OUT

CONTROL

DEVICE

MOTION

ARITH

SHIFT

FLOATON OTHER

FLOATOF SAME

PRIOR

5-1
 HW0482018

5.1 FLOATON Instruction

Operation Explanation

3 Select “FLOATON” The “FLOATON” instruction appears in the input buffer line.

=> FLOATON

4 Change any additional < To register without change>

items and numerical values To register the instruction displayed in the input buffer line without
any changes, go to step 5.

< To edit the additional items>

To add an additional item, with the cursor on the instruction in the
input buffer line, press [SELECT] to call the detail edit display.

JOB EDIT DISPLAY UTILITY

DETAIL EDIT
FLOATON
SV FLOAT FILE UNUSED

=> FLOATON

Main Menu Short Cut Turn on servo power

With the cursor on “UNUSED” for the “SV FLOAT FILE”, press
[SELECT]. The selection dialog box appears with the choices
“FL# ( )” or “LFL# ( )”. Select one.

JOB EDIT DISPLAY UTILITY

DETAIL EDIT
FLOATON
SV FLOAT FILE FL#( ) 1

=> FLOATON FL#(1)

Main Menu Short Cut Turn on servo power

After adding an additional item, press [ENTER]. The detail edit

display closes, and the job content display reappears.

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

5-2
HW0482018
5.2 FLOATOF Instruction

5.2 FLOATOF Instruction

Operation Explanation

1 Move the cursor to the line

where “FLOATOF” is to be
registered
2 Press [INFORM LIST] The instruction dialog box appears.
IN/OUT

CONTROL

DEVICE

MOTION

ARITH

SHIFT

FLOATON OTHER

FLOATOF SAME

PRIOR

3 Select “FLOATOF” The “FLOATOF” instruction appears in the input buffer line.

=> FLOATOF

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

5.3 Addition of SPDL Tag to a Move Instruction

When in the job content display in teach mode, add an SPDL tag to a move instruction, with
the cursor in the instruction area.

Operation Explanation

1 Select the line of the move The move instruction appears in the input buffer line.
instruction where the SPDL
tag is to be added => MOVJ VJ=50.00

5-3
 HW0482018

5.3 Addition of SPDL Tag to a Move Instruction

Operation Explanation

2 Press [SELECT] The detail edit window appears.

JOB EDIT DISPLAY UTILITY

DETAIL EDIT
MOVJ
JOINT SPEED VJ= 50.00
POS LEVEL UNUSED
NWAIT UNUSED

=> MOVJ VJ=50.00

Main Menu Short Cut Turn on servo power

With the cursor on “UNUSED” for the “POS LEVEL”, press

[SELECT]. The selection dialog box appears with the choice,
“SPDL=”.

JOB EDIT DISPLAY UTILITY

DETAIL EDIT
MOVJ
JOINT SPEED VJ= 50.00
POS LEVEL SPDL= 0
NWAIT UNUSED

=> MOVJ VJ=50.00 SPDL=0

Main Menu Short Cut Turn on servo power

After adding “SPDL=” to the move instruction, press [ENTER].

The detail edit window closes, and the job content window reap-
pears.

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

5-4
HW0482018
6.1 Movement Example

6 Application Example of the Servofloat

Function

When removing a workpiece from a die-casting machine, a large external force is applied to
the manipulator during extraction after grasping it. In such a case, the following example is
applicable using the servofloat function.

6.1 Movement Example

1. Moves to the waiting point.

Robot coordinate Y-axis

Biscuit

Robot coordinate X-axis

Tool

6-1
 HW0482018

6.1 Movement Example

2. Moves to the grasping starting point and performs the TIMER instruction, and then
starts the servofloat function.
3. When function enabled, the manipulator grasps a “biscuit”.

4. After having grasped a workpiece, the “start extraction instruction” signal is output, and
the manipulator performs an extracting motion.
5. The “start extraction instruction” signal starts the extraction operation of the die-casting
machine. Thereby, the manipulator performs an extracting motion.
6. The die-casting machine outputs the “end extraction instruction” signal when the
manipulator reaches the completion position. The manipulator ends the servofloat
function.

Extruding

6-2
HW0482018
6.1 Movement Example

7. The manipulator returns to its normal motion and performs an extraction motion with
the workpiece. Then, it returns to the home position.

6-3
 HW0482018

6.2 Job Example

6.2 Job Example

No.*1 Explanation Instruction

1 Moves to the waiting point. MOVJ VJ=50.0

Moves to the workpiece grasping point. MOVL V=300.0

2 Stops and waits for 0.5 seconds. TIMER T=0.50

Starts the linear servofloat function. FLOATON LFL#(1)

Turns ON the “grasping instruction” signal. DOUT OT#(10)=1

(general output No. 10)
3
Waits for the “grasping answer” signal. WAIT IN#(10)=1
(general input No. 10)

Turns ON the “start extraction instruction” signal. DOUT OT#(11)=1

4
(general output No. 11).

Performs the extraction motion. Ends the motion MOVL V=50.0 UNTIL IN#(11)
when the “end extraction instruction” signal (gen-
5 eral input No. 11) is input during the motion.

Stops and waits for 0.5 seconds. TIMER T=0.50

6 Completes the servofloat function. FLOATOF

Starts the extracting. MOVL V=300.0

7
Returns to the waiting point. MOVJ VJ=50.0

*1 The numbers represent the procedure numbers in “6.1 Movement Example”.

6-4
HW0482018
6.3 A Setting Example in the Linear Servofloat Condition File

6.3 A Setting Example in the Linear Servofloat

Condition File

For the example described in “6.1 Movement Example”, set the servofloat condition file as fol-
lows.
In the example, the extracting direction corresponds to that of the Y-axis of the robot coordi-
nates. If the direction does not correspond to the robot coordinates, define the extracting
direction with the user coordinates and set “COORDINATE” to “USER#01”.

DATA EDIT DISPLAY UTILITY

LINEAR SERVOFLOAT
COND NO. : 1 / 8
COORDINATE USER#01
TOOL ORIENT'N OFF
FUNC +MAX.FORCE -MAX.FORCE
R1 : X 100 kgf -100 kgf
Y 0 kgf -0 kgf
Z 100 kgf -100 kgf
FUNC +MAX.TORQUE -MAX.TORQUE
R1 : R 100 % -100 %
B 100 % -100 %
T 100 % -100 %

MRESET PAGE

Main Menu Short Cut Turn on servo power

6-5
 HW0482018

6.4 A Setting Example for the Link Servofloat Condition File

6.4 A Setting Example for the Link Servofloat

Condition File

For the example described in “6.1 Movement Example”, specify the link servofloat condition
file by specifying LF# as the FLOATON instruction file. In this case, a setting example is as
follows.

Since the S-axis moves according to the force applied by the extruding cylinder of the die-
casting machine, set the “MAX. TORQUEs” of the S-axis to “0”. Set the “MAX. TORQUEs” of
the L- and U-axes to “30” to prevent the arms from dropping or rising up due to the load varia-
tion. To orientate the tool posture, set the “MAX. TORQUEs” of the R-, B-, and T-axes to
“100”.
Using the above settings as a guide, adjust the ratio of each set value according to the circum-
stances.

DATA EDIT DISPLAY UTILITY

LINK SERVOFLOAT
COND NO. : 1 / 8
FUNC +MAX.TORQUE(%) -MAX.TORQUE(%)

R1 : S 0 0
L 30 -30
U 30 -30
R 100 -100
B 100 -100
T 100 -100

MRESET PAGE

Main Menu Short Cut Turn on servo power

6-6
NX100 OPTIONS
INSTRUCTIONS
FOR SERVOFLOAT FUNCTION

HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745 Fax 81-93-645-7746
MOTOMAN INC. HEADQUARTERS
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Phone 1-937-847-6200 Fax 1-937-847-6277
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Phone 1-905-813-5900 Fax 1-905-813-5911
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Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany
Phone 49-6196-569-300 Fax 49-6196-888-301
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Box 504 S38525 Torsas, Sweden
Phone 46-486-48800 Fax 46-486-41410
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Kammerfeldstr.1,D-85391 Allershausen, Germany
Phone 49-8166-90100 Fax 49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
KFPA Bldg #1201, 35-4 Yeoido-dong, Youngdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD. MALAYSIA REPRESENTATIVE OFFICE
B615, 6th Floor, East Wing, Wisma Tractors, No.7, Jalan SS 16/1, Subang Jaya, 47500 Petaling Jaya, Selangor D.E. Malaysia
Phone 60-3-5031-5311 Fax 60-3-5031-5312
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
4F No Aona Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai 200131, China
Phone 86-21-5866-3470 Fax 86-21-5866-3869
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9F, 16, Nanking E. RD., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, Beijing P.R. China Post Code: 100083, China
Phone 86-10-6234-5003 Fax 86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice MANUAL NO. HW0482018

for ongoing product modifications and improvements. C Printed in Japan February 2004 04-02