mrs6005gb.0.u cf card operation

OPERATOR’S MANUAL

CF-CARD OPERATION

Upon receipt of this product and prior to

initial operation, read these instructions

thoroughly, and retain for future refer-

ence.

Document No: MRS6005GB.0.U

Revised: 04-10-13 NX_framsida eng.fm

Reference list

This manual is a revised version of the YEC document:RE-CSO-A031

Revision

041013First release of this document.

CF-card operation

1. External memory devices 5Compact flash memory card .......................................................................5File management ...........................................................................................7

Data that can be saved and save destination file names .............................8Saving data ...............................................................................................11Loading data .............................................................................................25Verifying data...........................................................................................38Deleting data.............................................................................................42Job selection mode ...................................................................................46Select folder..............................................................................................48

MRS6005GB.0.UTOC.fm Revised: 04-10-13

CF-card operation

Revised: 04-10-13 MRS6005GB.0.UTOC.fm

CF-card operationCompact flash memory card

CF-card operation

1. External memory devices

1.1 Compact flash memory cardInsert a compact flash memory card (ATA Flash) in the compact flash slot on the program-ming pendant in advance.

The following compact flashes are recommended for the programming pendant. (These are to be sold on the open market and also by MOTOMAN.)

"CFI-***MBA" made by HAGIWARA sys-com. "SDCFBI-**-****" made by SUN DISK.

The following illustration shows the appearance of the compact flash.

Note: Compact Flash is a registered trademark of SUN DISK.

PrecautionsObserve the following precautions when using the compact flash.

Handle the compact flash with care to protect the stored data. Do not use or keep the compact flash in places where strong static electricity or

electronic noise may occur. Do not drop or exert any shock or strong force to the compact flash. Do not remove the compact flash or turn OFF the power when accessing the compact

flash (writing-in or reading-out the compact flash data). The data in the compact flash may be lost.

Back up the data from the compact flash to other media such as floppy disks or hard disks.

Inserting a compact flashTo insert a compact flash into the programming pendant, open the cover on the rear of the programming pendant. Insert the compact flash so that the product label is on the front side. The card cannot be inserted in any other position. Do not forcibly insert the card. After inser-ting the card, be sure to close the cover before starting operation.

64M

BCompact Flash

Mrs6005GB.0.U-ch1.fm Revised: 04-10-13

CF-card operationCompact flash memory card

Fig.1 Inserting the Compact Flash

HOLDSTARTPLAYTEACHREMOTE

TZ

TZ

BY

RX

BY

RX

HIGHSPEED

FAST

SLOW

MANUAL SPEED

U

ZU

Z

L

Y

S

X

L

Y

S

XSERVO ON

M O T O M A N

SELECTSERVOON

READY

MAINMENU

SHORTCUT

GO BACK

PAGE AREA

LAYOUT

Multi

CANCEL

ASSIST

!?

DIRECTOPEN

INFORMLIST

BACKSPACE

SHIFTINTERLOCK

ROBOT

EX.AXIS

MOTIONTYPE

TESTSTART

BWD

INSERT

MODIFY ENTER

FWD

DELETE

SHIFT7

4

2 3

. −

5 6

0

8

1

9

COORD

Revised: 04-10-13 Mrs6005GB.0.U-ch1.fm

CF-card operationFile management

1.2 File managementThe flowchart below shows file transfer and file management. The operations are performed with the progamming pendant.

Fig.2 Operating method

<Main Menu>{FD/CF}

Sub Menu

{LOAD}] {SAVE} {VERIFY} {DELETE} {FORMAT} {DEVICE}

Select Data Group Select Floppy Type Select Device

Select Data Select Format Size

Select "EXECUTE"

END

*1 {FOLDER}

Folder Management

*1 For future use. (Can not be used with the NX100 of the current version.)



1.2.1 Data that can be saved and save destination file namesThe FLOPPY DISK/PC CARD window is shown below. Data that can be saved are classified into eight groups. The following table lists the data of the eight groups. The table also shows different file names provided for saving different types of data.

Data saved at an external memory unit can be reloaded into the memory of the NX100.

The numbers through in the above window correspond to the numbers through in the following table.

If the operator selects “BATCH USER MEMORY,” all data belonging to groups and are saved as one file.

When “BATCH USER MEMORY,” “BATCH CMOS,” or “ALL CMOS AREA” is selected, jobs are also saved, but the indication of “TO SAVE TO FD” in the JOB HEADER window of the saved jobs does not become “DONE.” This becomes “DONE” only when “JOB” is selected to save the data.

DATA UTILITYEDIT DISPLAY

Main Menu ShortCut

JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0

FLOPPY DISK/Compact FlashCF(SAVE) UN-USED MEMORY 14.63 MB



Data that can be savedFile name(Saved data)

Save Load

EDIT MAN EDIT MAN

ALL CMOS AREA ALCMSxx.HEX

BATCH CMOS CMOSxx.HEX

BATCH USER MEMORY JOBxx.HEX

JOBSingle job JOBNAME.JBI

Related job (Job+Condition) JOBNAME.JBR

FILE/GENERALDATA

Tool data TOOL.CND

Weaving data WEAV.CND

User coordinate data UFRAME.CND

Variable data VAR.DAT

Arc start condition data ARCSRT.CND

Arc end condition data ARCEND.CND

Welding condition auxiliary data ARCSUP.DAT

Power Source condition assist data ARCSUP.DAT

Power Source characteristic data WELDER.DAT

Power Source characteristic difini-tion data

WELDUDEF.DAT

Shock detection level data SHOCKLVL.CND

Motor gun pressure power data SPRESS.CND

Motor gun dry spot pressure data

SPRESSCL.CND

Spot gun characteristic data SGUN.DAT

Spot gun condition auxiliary data SGUNSUP.DAT

Spot welding Power Source char-acteristic data

SWELDER.DAT

Spot I/O allocation data SPOTIO.DAT

Spot welding condition data SPOTWELD.DAT

Short/Full open position data STROKE.DAT

Paint color condition data PAINTSPE.DAT

Painting condition data PAINTCND.DAT

Paint filling amount data PLUGVOL.DAT

EVB gun condition data EVBGUN.DAT

EVB turbine condition data EVBTRBIN.DAT

EVB painting condition data EVBPAINT.DAT



EDIT : Edit mode,

MAN : Management mode

( ): Can be done,

( ) : Cannot be done (not allowed in this security mode)

PARAMETER BATCH ALL.PRM

PARAME-TER

Robot matching parameter RC.PRM

System definition parameter SD.PRM

Coordinate home position parame-ter

RO.PRM

System matching parameter SC.PRM

ClO parameter CIO.PRM

Function definition parameter FD.PRM

Application parameter AP.PRM

Transmission(general) parameter RS.PRM

Sensor parameter SE.PRM

Servo parameter SV.PRM

Servomotor parameter SVM.PRM

Operation control parameter AMC.PRM

Servo power block parameter

SVP.PRM

Motion function parameter MF.PRM

SERVOPACK parameter SVS.PRM

Converter parameter SVC.PRM

I/O DATA

Concurrent I/O program CIOPRG.LST

I/O name data IONAME.DAT

Pseudo input signals PSEUDOIN.DAT

SYSTEMDATA

User word registration UWORD.DAT

SV monitor signals SVMON.DAT

Variable name VARNAME.DAT

Second home position HOME2.DAT

Alarm history data ALMHIST.DAT

Home position calibrating data ABSO.DAT

System information SYSTEM.SYS

Work home position data OPEORG.DAT

I/O message history data IOMSGHST.DAT

Function key allocation data KEYALLOC.DAT

Painting system setting data PAINTSYS.DAT

Painting device condition data PAINTDEV.DAT

CCV paint color data CCVPAINT.DAT

Data that can be savedFile name(Saved data)

Save Load

EDIT MAN EDIT MAN



1.2.2 Saving dataTo download data from the memory of the NX100 to the external memory device, perform the following procedure.

Saving a job

Operation Explanation

1Select {FD/CF} under the main menu.

2 Select {SAVE}.

The following window appears.

3 Select {JOB}.

The JOB LIST window appears.

4 Select a job to be saved.

The selected job is marked with “ .”Select job using individual selection batch selection. See “Job selection mode” on page 46.To select single or related job, press {PAGE}. Use the cursor to move up or down.

5 Press [ENTER].

The confirmation dialog box appears.



JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)

FLOPPY DISK/Compact FlashCF(SAVE) SINGLE NO. 21


Main Menu ShortCut

AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)

FLOPPY DISK/Compact FlashCF(SAVE) SINGLE NO.21

PAGE

RELATEDSINGLE

YES

Save?

NO



6 Select “YES.”

Saving the job starts.

To cancel saving, select “STOP.”Once saving is completed or cancelled, the JOB LIST window appears.




Saving a condition file or general data


1Select {FD/CF CARD} under the main menu.

2 Select {SAVE}.


3 Select {FILE/GENERAL DATA}.

The selection window appears.

4Select condition files or general data to be saved.

The selected files are maked with “ .”Select file using individual selection batch selection. See “Job selection mode” on page 46.


Main Menu ShortCut

JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0

!Turn on servo power



Main Menu ShortCut

TOOL DATA

WEAVING DATA

USER COORDINATE DATA

VARIABLE DATA

ARC START COND DATA

ARC END COND DATA

ARC AUXILIARY COND DATA

POWER SOURCE COND DATA

POWER SOURCE USR DEF DAT

SHOCK DETECTION LEVEL

TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND




Main Menu ShortCut

TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND



TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA







5 Press [ENTER].


6 Select “YES.”

Saving the data starts.

To cancel saving, select “STOP.”Once saving is completed or cancelled, the selection window for condition files or general data appears.


YES

Save?

NO


Main Menu ShortCut !Turn on servo power

TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND


STOP

TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA







Saving a parameter


1Select {FD/CF CARD} under the main menu.

2 Select {SAVE}.


3 Select {PARAMETER}.

The selection window for parameters appears.

4 Select parameters to be saved.

The selected parameters are marked with “ .”Select parameter using individual selection batch selection. See “Job selection mode” on page 46.


Main Menu ShortCut

JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0




Main Menu ShortCut

BATCH PARAMETER

ROBOT MATCH PRMTR

SYS DEF PRMTR

COORD ORG PRMTR

SYS MATCH PRMTR

CIO PRMTR

FCTN DEF PRMTR

APPLI PRMTR

TRANSMISSION (UNIV)

SENSOR PRMTR

SERVO PRMTR

ALL

RC

SD

RO

SC

CIO

FD

AP

RS

SE

SV

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN




Main Menu ShortCut

BATCH PARAMETER

ROBOT MATCH PRMTR

SYS DEF PRMTR

COORD ORG PRMTR

SYS MATCH PRMTR

CIO PRMTR

FCTN DEF PRMTR

APPLI PRMTR

TRANSMISSION (UNIV)

SENSOR PRMTR

SERVO PRMTR

ALL

RC

SD

RO

SC

CIO

FD

AP

RS

SE

SV

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN





5 Press [ENTER].


6 Select “YES.”

Saving the file starts.

To cancel saving, select “STOP.” Once saving is completed or cancelled, the selection window for parameters appears.


YES

Save?

NO



BATCH PARAMETER

ROBOT MATCH PRMTR

SYS DEF PRMTR

COORD ORG PRMTR

SYS MATCH PRMTR

CIO PRMTR

FCTN DEF PRMTR

APPLI PRMTR

TRANSMISSION (UNIV)

SENSOR PRMTR

SERVO PRMTR

ALL

RC

SD

RO

SC

CIO

FD

AP

RS

SE

SV

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN


STOP



Saving I/O data



2 Select {SAVE}.


3 Select {I/O DATA}.

The selection window for I/O data appears.

4 Select I/O data to be saved.

The selected I/O data are marked with “ .”Select I/O data using individual selection batch selection. See “Job selection mode” on page 46.

5 Press [ENTER].



JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



C.IO PRGM

IO NAME DATA

PSEUDO INPUT SIGNAL

CIOPRG

IONAME

PSEUDOIN

.LIST

.DAT

.DAT



C.IO PRGM

IO NAME DATA

PSEUDO INPUT SIGNAL

CIOPRG

IONAME

PSEUDOIN

.LIST

.DAT

.DAT


YES

Save?

NO



6 Select “YES.”


To cancel saving, select “STOP.” Once saving is completed or cancelled, the selection window for I/O data appears.



Main Menu ShortCut

C.IO PRGM

IO NAME DATA

PSEUDO INPUT SIGNAL

CIOPRG

IONAME

PSEUDOIN

.LIST

.DAT

.DAT



STOP



Saving system data



2 Select {SAVE}.


3 Select {SYSTEM DATA}.

The selection window for system data appears.

4 Select system data to be saved.

The selected system data are marked with “ .“Select system data using individual selection batch selection. See “Job selection mode” on page 46.


Main Menu ShortCut

JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0




Main Menu ShortCut

USER WORD

SV MONITOR SIGNAL

VARIABLE NAME

SECOND HOME POSITION

ALARM HISTORY DATA

HOME POS CALIB DATA

SYSTEM INFORMATION

WORK HOME POS DATA

I/O MESSAGE HISTORY DATA

KEY ALLOCATION DATA

UWORD

SVMON

VARNAME

HOME2

ALMHIST

ABSO

SYSTEM

OPEORG

IOMSGHST

KEYALLOC

.DAT

.DAT

.DAT

.DAT

.DAT

.DAT

.SYS

.DAT

.DAT

.DAT




Main Menu ShortCut

USER WORD

SV MONITOR SIGNAL

VARIABLE NAME


ALARM HISTORY DATA

HOME POS CALIB DATA

SYSTEM INFORMATION

WORK HOME POS DATA


KEY ALLOCATION DATA

UWORD

SVMON

VARNAME

HOME2

ALMHIST

ABSO

SYSTEM

OPEORG

IOMSGHST

KEYALLOC

.DAT

.DAT

.DAT

.DAT

.DAT

.DAT

.SYS

.DAT

.DAT

.DAT


FLOPPY DISK/Compact FlashCFl(SAVE) UN-USED MEMORY 14.63 MB



5 Press [ENTER].


6 Select “YES.”


To cancel saving, select “STOP.” Once saving is completed or cancelled, the selection window for system data appears.


YES

Save?

NO




USER WORD

SV MONITOR SIGNAL

VARIABLE NAME


ALARM HISTORY DATA

HOME POS CALIB DATA

SYSTEM INFORMATION

WORK HOME POS DATA


KEY ALLOCATION DATA

UWORD

SVMON

VARNAME

HOME2

ALMHIST

ABSO

SYSTEM

OPEORG

IOMSGHST

KEYALLOC

.DAT

.DAT

.DAT

.DAT

.DAT

.DAT

.SYS

.DAT

.DAT

.DAT

STOP



Saving batch user memory



2 Select {SAVE}.


3 Select {BATCH USER MEMORY}.

4 Select “EXECUTE.”



Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



Main Menu ShortCut

FLOPPY DISK/Compact Flash

INSERT FLOPPY or Compact Flash

USABLE MEMORY 100 %


EXECUTE

YES

Save?

NO



5 Select “YES.”

Saving all user’s programs starts.

To cancel saving, select “STOP.” Once saving is completed or cancelled, the job selection window appears.



Main Menu ShortCut


TRANSMITTED FILE

RESTJOB1E .HEX

480200 BYTES

STOP



Saving batch CMOS



2 Select {SAVE}.


3 Select {BATCH CMOS}.



5 Select “YES.”

Saving all CMOS data starts.



Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


YES

Save?

NO


Main Menu ShortCut


TRANSMITTED FILE

RESTJOB1E .HEX

480200 BYTES

STOP



Saving all CMOS area



2 Select {SAVE}.


3 Select {ALL CMOS AREA}.



5 Select “YES.”

Saving all data in CMOS area starts.



Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


YES

Save?

NO


Main Menu ShortCut


ALCMSIE .HEX

480200 BYTES

STOP

TRANSMITTED FILE

REST



1.2.3 Loading dataTo upload data from the external memory device to the memory of the NX100, follow the pro-cedure in the following.

Loading a job



2 Select {LOAD}.


3 Select {JOB}.

The job selection window appears.

4 Select a job to be loaded.

The selected job is marked with “ .”Select job using individual selection batch selection. See “Job selection mode” on page 46.To select single or related job, press {PAGE}. Use the cursor to move up or down


Main Menu ShortCut

FLOPPY DISK/Compact FlashCF(LOAD) UN-USED MEMORY 14.63 MB

JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



FLOPPY DISK/Compact FlashCF(LOAD) SINGLE NO.21

AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


Main Menu ShortCut


AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


PAGE

RELATEDSINGLE



5 Press [ENTER].


6 Select “YES.”

Loading the job starts.

To cancel loading, select “STOP.”Once loading is completed or cancelled, the job selection window appears.


YES

Load?

NO


Main Menu ShortCut


AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


STOP



Loading a condition file or general data



2 Select {LOAD}.


3 Select {FILE/GENERAL DATA}.

The selection window for condition file or general data appears.

4Select a condition file or general data to be loaded.

The selected files are maked with “ .”Select files using individual selection batch selection. See “Job selection mode” on page 46.


Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



Main Menu ShortCut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA





TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND



Main Menu ShortCut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA





TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND




5 Press [ENTER].


6 Select “YES.”

Loading the file starts.

To cancel loading, select “STOP.”Once loading is completed or cancelled, the selection window for condition file or general data appears.


YES

Load?

NO


Main Menu ShortCut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA





TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND


STOP



Loading a parameter



2 Select {LOAD}.


3 Select {PARAMETER}.

The selection window for parameters appears.

4 Select parameters to be loaded.

The selected parameters are maked with “ .”Select parameter using individual selection batch selection. See “Job selection mode” on page 46.


Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

SYSTEM DATA

I/O DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



Main Menu ShortCut


BATCH PARAMETER

ROBOT MATCH PRMTR

SYS DEF PRMTR

COORD ORG PRMTR

SYS MATCH PRMTR

CIO PRMTR

FCTN DEF PRMTR

APPLI PRMTR

TRANSMISSION (USER)

SENSOR PRMTR

SERVO PRMTR

ALL

RC

SD

RO

SC

CIO

FD

AP

RS

SE

SV

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN



Main Menu ShortCut


BATCH PARAMETER

ROBOT MATCH PRMTR

SYS DEF PRMTR

COORD ORG PRMTR

SYS MATCH PRMTR

CIO PRMTR

FCTN DEF PRMTR

APPLI PRMTR

TRANSMISSION (USER)

SENSOR PRMTR

SERVO PRMTR

ALL

RC

SD

RO

SC

CIO

FD

AP

RS

SE

SV

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN




5 Press [ENTER].


6 Select “YES.”


To cancel loading, select “STOP.”Once loading is completed or cancelled, the selection window for parameters appears.


YES

Load?

NO


Main Menu ShortCut


BATCH PARAMETER

ROBOT MATCH PRMTR

SYS DEF PRMTR

COORD ORG PRMTR

SYS MATCH PRMTR

CIO PRMTR

FCTN DEF PRMTR

APPLI PRMTR

TRANSMISSION (USER)

SENSOR PRMTR

SERVO PRMTR

ALL

RC

SD

RO

SC

CIO

FD

AP

RS

SE

SV

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN

.PRN


STOP



Loading I/O data



2 Select {LOAD}.


3 Select {I/O DATA}.

The selection window for I/O data appears.

4 Select I/O data to be loaded.

The selected I/O data are maked with “ .”Select I/O data using individual selection batch selection. See “Job selection mode” on page 46.

5 Press [ENTER].




JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



C.IO PRGM

IO NAME DATA

PSEUDO INPUT SIGNAL

CIOPRG

IONAME

PSEUDOIN

.LIST

.DAT

.DAT



C.IO PRGM

IO NAME DATA

PSEUDO INPUT SIGNAL

CIOPRG

IONAME

PSEUDOIN

.LIST

.DAT

.DAT

YES

Load?

NO



6 Select “YES.”


To cancel loading, select “STOP.”Once loading is completed or cancelled, the selection window for I/O data appears.



Main Menu ShortCut


C.IO PRGM

IO NAME DATA

PSEUDO INPUT SIGNAL

CIOPRG

IONAME

PSEUDOIN

.LIST

.DAT

.DAT


STOP



Loading system data



2 Select {LOAD}.


3 Select {SYSTEM DATA}.

The selection window for system data appears.

4 Select system data to be loaded.

The selected system data are maked with “ .”Select system data using individual selection batch selection. See “Job selection mode” on page 46.


Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



Main Menu ShortCut


USER WORD

SV MONITOR SIGNAL

VARIABLE NAME


ALARM HISTORY DATA

HOME POS CALIB DATA

SYSTEM INFORMATION

WORK HOME POS DATA


KEY ALLOCATION DATA

UWORD

SVMON

VARNAME

HOME2

ALMHIST

ABSO

SYSTEM

OPEORG

IOMSGHST

KEYALLOC

.DAT

.DAT

.DAT

.DAT

.DAT

.DAT

.SYS

.DAT

.DAT

.DAT



Main Menu ShortCut


USER WORD

SV MONITOR SIGNAL

VARIABLE NAME


ALARM HISTORY DATA

HOME POS CALIB DATA

SYSTEM INFORMATION

WORK HOME POS DATA


KEY ALLOCATION DATA

UWORD

SVMON

VARNAME

HOME2

ALMHIST

ABSO

SYSTEM

OPEORG

IOMSGHST

KEYALLOC

.DAT

.DAT

.DAT

.DAT

.DAT

.DAT

.SYS

.DAT

.DAT

.DAT




5 Press [ENTER].


6 Select “YES.”


To cancel loading, select “STOP.” Once loading is completed or cancelled, the selection window for system data appears.


YES

Load?

NO


Main Menu ShortCut


USER WORD

SV MONITOR SIGNAL

VARIABLE NAME


ALARM HISTORY DATA

HOME POS CALIB DATA

SYSTEM INFORMATION

WORK HOME POS DATA


KEY ALLOCATION DATA

UWORD

SVMON

VARNAME

HOME2

ALMHIST

ABSO

SYSTEM

OPEORG

IOMSGHST

KEYALLOC

.DAT

.DAT

.DAT

.DAT

.DAT

.DAT

.SYS

.DAT

.DAT

.DAT


STOP



Loading batch user memory



2 Select {LOAD}.


3 Select {BATCH USER MEMORY}.



5 Select “YES.”

Loading all user’s programs starts.

To cancel loading, select “STOP.” Once loading is completed or cancelled, the job selection window appears.


Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


YES

Load?

NO


Main Menu ShortCut


TRANSMITTED FILE

RESTJOB1E .HEX

480200 BYTES

STOP



Loading batch CMOS



2 Select {LOAD}.


3 Select {BATCH CMOS}.



5 Select “YES.”

Loading all CMOS data starts.



Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


YES

Load?

NO


Main Menu ShortCut


TRANSMITTED FILE

RESTJOB1E .HEX

480200 BYTES

STOP



Loading all CMOS area



2 Select {LOAD}.


3 Select {ALL CMOS AREA}.



5 Select “YES.”

Loading all system data starts.



Main Menu ShortCut


JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


YES

Load?

NO


Main Menu ShortCut


TRANSMITTED FILE

RESTALCMSIE. HEX

480200 BYTES

STOP



1.2.4 Verifying dataFollow the procedure below to verify data in the memory of the NX100 with data saved in the external memory device.

Note!This function cannot be executed with “BATCH USER MEMORY,“ “BATCH CMOS,” or “ALL CMOS AREA” specified.

Verifying a job



2 Select {VERIFY}.


3 Select {JOB}.



Main Menu ShortCut

FLOPPY DISK/Compact FlashCF(VERIF) UN-USED MEMORY 14.63 MB

JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

I/O DATA

SYSTEM DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0



Main Menu ShortCut

FLOPPY DISK/Compact FlashCF(VERIF) SINGLE NO.21

AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


PAGE



4 Select a job to be verified.

The selected jobs are marked with “ .“Select job using individual selection batch selection. See “Job selection mode” on page 46.

5 Press [ENTER].


6 Select “YES.”

Verifying the job starts.

To cancel verifying, select “STOP.”Once verifying is completed or cancelled, the job selection window appears.



Main Menu ShortCut


AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


PAGE

YES

Verify?

NO


Main Menu ShortCut


AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


STOP



Verifying a file



2 Select {VERIFY}.


3Select the group of the file to be verified.

4 Select a file to be verified.

The selected files are marked with “ .“Select job using individual selection batch selection. See “Job selection mode” on page 46.

5 Press [ENTER].




JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

SYSTEM DATA

I/O DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


Main Menu ShortCut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA





TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND

YES

Verify?

NO



6 Select “YES.”

Verifying the data starts.

To cancel verifying, select “STOP.”Once verifying is completed or cancelled, the job selection window appears.



Main Menu ShortCut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA



POWER SOURCE DEF DATA


TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND


STOP



1.2.5 Deleting dataFollow the procedure below to delete a file or files on an external memory device.

Deleting a job



2 Select {DELETE}.


3 Select {JOB}.


4 Select a job to be deleted.

The selected jobs are marked with “ .“Select job using individual selection batch selection. See “Job selection mode” on page 46.

5 Press [ENTER].



FLOPPY DISK/Compact FlashCF(DELET) UN-USED MEMORY 14.63 MB

JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

SYSTEM DATA

I/O DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


FLOPPY DISK/Compact FlashCF(DELET) SINGLE NO.21

AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)



AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)

YES

Delete?

NO



6 Select “YES.”

Deleting the data starts.

To cancel deleting, select “STOP.”Once deleting is completed or cancelled, the job selection window appears.



Main Menu ShortCut


AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


STOP



Deleting a file



2 Select {DELETE}.


3Select the group of the file to be deleted.

4 Select a file to be deleted.

The selected files are marked with “ .“Select file using individual selection batch selection. See “Job selection mode” on page 46.

5 Press [ENTER].




JOB

FILE/GENERAL DATA

BATCH USER MEMORY

PARAMETER

SYSTEM DATA

I/O DATA

BATCH CMOS

ALL CMOS AREA

57

0

0

0

0

0

0

0


Main Menu ShortCut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA





TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND


Main Menu Short Cut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA





TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND


YES

Delete?

NO



6 Select “YES.”

Deleting the data starts.

To cancel deleting, select “STOP.”Once deleting is completed or cancelled, the DELETE (JOB) win-dow appears.



Main Menu ShortCut


TOOL DATA

WEAVING DATA


VARIABLE DATA

ARC START COND DATA

ARC END COND DATA





TOOL

WEAV

UFRAME

VAR

ARCSRT

ARCEND

ARCSUP

WELDER

WELDUDEF

SHOCKLVL

.CND

.CND

.CND

.DAT

.CND

.CND

.DAT

.DAT

.DAT

.CND


STOP



1.2.6 Job selection modeThe method of selecting a job and various data files when loading, saving, verifying, and dele-ting are described in the following:

Individual SelectionJobs and data files are selected individually one at a time.

Batch SelectionJobs and data files are selected all at one time.

Using individual selection


1

In either the external memory JOB LIST window or the file selection window, move the cursor to a job or a file to be selected.

2 Press [SELECT].

The selected jobs are marked with “´.“


Main Menu ShortCut


AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--

AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)


Main Menu ShortCut


AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)

AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--




Using batch selection


1

In either the external memory JOB LIST window or the file selection window, select {EDIT} under the menu.

The pull-down menu appears.

2 Select {SELECT ALL}.

All jobs are selected.

To cancel the selected items, select {EDIT} and then {CANCEL SELECT}.

FOLDER UTILITYEDIT DISPLAY

FLOPPY DISK/PC CARDCF(LOAD ) UN-USED MEMORY 14.63 MBCANCEL SELECT

SELECT ALL


Main Menu ShortCut


AA37

AA6

AA9

TEST

TEST3A

TEST3A-(

TEST3A-1

AA35

AA4

AA7

N

TEST2

TEST3A-!

TEST3A-)

AA36

AA5

AA8

N1

TEST3

TEST3A-'

TEST3A--


PAGE



1.2.7 Select folderFollow the procedure below to set the target folder on an external memory device.

Select folder

Create new folderIt is possible to create a new folder on the CF-card from the P-pendant. This function is only valid in Managment mode or higher mode.



2 Select {FOLDER}.


3Select the target folder of the external device.

The folders of the external device is shown. By [..] means one level up. Move the marker by means of the cursor.

4 Select target folder. Press {SELECT} to enter the target folder.



2 Select {FOLDER}.

3Select {DATA} and {CREATE NEW FOLDER}.


4 Input new name.The display for alfa numerical input is displayed (max. 8 cha-raters).The folder is created in the active folder.


FOLDER LIST TARGET FOLDER FOLDER NUM. 0003

WELD JOB HANDLING[..]BACKUP


ROBOT 2TEST

[..]BACKUP

ROBOT 1ORIGINAL

FOLDER LIST TARGET FOLDER WELD JOB FOLDER NUM. 0005


FLOPPY DISK/PC CARDCF(LOAD ) UN-USED MEMORY 14.63 MB

DELETE FOLDER

CREATE NEW FOLDER



Delete folderIt is possible to delete a folder on the CF-card from the P-pendant. This function is only valid in Managment mode or higher mode. The folder must be empty. If the folder contains any files, it can’t be deleted.

Root folderThis function is only valid in Managment mode or higher mode. The folder slected by this function will automatically be the target folder in save operation in Edit mode.



2 Select {FOLDER}.

3Select {DATA} and {DELETE FOLDER}.

The active folder is deleted.



2 Select {FOLDER}. Open the folder which is ment to be the target folder (root folder).

3Select {DISPLAY} and {ROOT FOLDER}.


4Set AUTO CHANGE mode to “ON”.

Toggle ON/OFF mode by using the [SELECT] button.Auto change ON; selected folder is target folder.Auto change OFF; any folder can be set as target folder.


FLOPPY DISK/PC CARDCF(LOAD ) UN-USED MEMORY 14.63 MB

ROOT FOLDER


Main Menu ShortCut

AUTO CHANGE


ON

ROOT ENTRY

ROOT FOLDER

CURRENT FOLDERC:/ROBOT/ROBOT 1



Note!If the folder selected as “root folder” does not exist on the CF-card, an alarm is displayed when the save function is used.

5Select folder by {SETUP FOLDER}.

6Current folder becomes root folder.

The active folder will be selected as the target folder when files are saved on the CF-card.When running the save function, files are automatically saved in the root folder.



Main Menu ShortCut

AUTO CHANGE


ON

ROOT ENTRY

ROOT FOLDER


SETUP FOLDER


Main Menu ShortCut

AUTO CHANGE


ON

ROOT ENTRY

ROOT FOLDER


C:/ROBOT/ROBOT 1


CF-card operationIndex

A

alarm history data .....................................................10ALL CMOS AREA ....................................................9application parameter ................................................10arc end condition data .................................................9arc start condition data ................................................9

B

BATCH CMOS ..........................................................9batch selection ..........................................................46BATCH USER MEMORY .........................................9

C

ClO parameter ...........................................................10compact flash ..............................................................5concurrent I/O program ............................................10Converter parameter .................................................10coordinate home position parameter .........................10

D

DELETE .....................................................................7deleting a file ............................................................44deleting a job ...................................................... 42, 48DEVICE ......................................................................7

E

external memory devices ............................................5

F

file management ..........................................................7FILE/ GENERAL DATA ...........................................9Folder ........................................................................48FORMAT ....................................................................7function definition parameter ...................................10

H

home position calibrating data ..................................10

I

I/O DATA .................................................................10I/O name data ............................................................10individual selection ...................................................46

J

JOB .............................................................................9

L

LOAD .........................................................................7loading a condition file or generel data ....................27loading a job .............................................................25

loading a parameter ..................................................29loading all CMOS data .............................................36loading all data in CMOS area .................................37loading all user’s programs ......................................35loading I/O data ........................................................31loading system data ..................................................33

M

motion function parameter .......................................10motor gun dry spot pressure data ................................9motor gun pressure power data ...................................9

O

operation control parameter ......................................10

P

PARAMETER ..........................................................10PARAMETER BATCH ...........................................10Power Source characteristic data ................................9Power Source characteristic difinition data ................9Power Source condition assist data ............................9

R

related job (job+condition) .........................................9robot matching parameter .........................................10

S

SAVE ..........................................................................7saving a condition file or general data ......................13saving a job ............................................................... 11saving a parameter ....................................................15saving all CMOS data ...............................................23saving all data in CMOS area ...................................24saving all user’s programs ........................................21saving I/O data ..........................................................17saving system data ....................................................19second home position ...............................................10sensor parameter .......................................................10servo parameter ........................................................10servo power block parameter ....................................10servomotor parameter ...............................................10SERVOPACK parameter .........................................10shock detection level data ...........................................9short/full open position data .......................................9single job ....................................................................9spot gun characteristic data ........................................9spot welding Power Source characteristic data ..........9SV monitor signals ...................................................10SYSTEM DATA ......................................................10system definition parameter .....................................10system information ...................................................10system matching parameter ......................................10

MRS6005GB.0.UIX.fm Revised: 04-10-13

CF-card operationIndex

T

tool data ...................................................................... 9transmission(general) parameter .............................. 10

U

user coordinate data .................................................... 9user word registration ............................................... 10

V

variable data ............................................................... 9variable name ........................................................... 10VERIFY ..................................................................... 7verifying a file .......................................................... 40verifying a job .......................................................... 38verifying data ............................................................ 38

W

weaving data ............................................................... 9

Revised: 04-10-13 MRS6005GB.0.UIX.fm

Headquarters:Sweden MOTOMAN Robotics Europe AB

Box 4004, SE-390 04 Kalmar, SwedenTel: +46-480-417800, Fax: +46-480-417999

Group companies:Denmark MOTOMAN Robotics Europe AB

Anelystparken 47A, DK-8381 Tilst, DenmarkTel: +45-7022-2477, Fax: +45-7022-2478

Finland MOTOMAN Robotics Finland OYMessinkikatu 2, FI-20380 Turku, FinlandTel: +358-403000600, Fax: +358-403000660

France MOTOMAN Robotics SARLRue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-de-Grand-Lieu, FranceTel: +33-2-40131919, Fax: +33-40754147

Germany MOTOMAN Robotec GmbHKammerfeldstraße 1, DE-85391 Allershausen, GermanyTel: +49-8166-90-0, Fax: +49-8166-90-103

Germany MOTOMAN Robotec GmbHIm Katzenforst 2, DE-61476 Kronberg/Taunus, GermanyTel: +49-6173-60-77-30, Fax: +49-6173-60-77-39

Great Britain MOTOMAN Robotics UK (Ltd)Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great BritainTel: +44-1295-272755, Fax: +44-1295-267127

Italy MOTOMAN Robotics Italia SRLVia Emilia 1420/16, IT-41100 Modena, ItalyTel: +39-059-280496, Fax: +39-059-280602

Netherlands MOTOMAN benelux B.VZinkstraat 70, NL-4823 AC Breda, NetherlandsTel: +31-76-5424278, Fax: +31-76-5429246

Portugal MOTOMAN Robotics Iberica S.L. - Sucursal em PortugalZ. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, PortugalTel: +351-234 943 900, Fax: +351-234 943 108

Slovenia RISTRO d.o.o.Lepovce 23, SI-1310 Ribnica, SloveniaTel: +386-61-861113, Fax: +386-61-861227

Spain MOTOMAN Robotics Iberica S.L.Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), SpainTel: +34-93-6303478, Fax: +34-93-6543459

Sweden MOTOMAN Robotics Europe ABBox 504, SE-385 25 Torsås, SwedenTel: +46-480-417800, +46-486-41410

Distributors:Czech Republic Hadyna Internation Ltd

Kravarska 571/2, CZ-70900 Ostrava, Czech RepublicBoki robotizované systémy s.r.o.Knezeves 178, CZ-252 68 Stredokluky, Czech Republic

Greece Kouvalias Industrial Robots25, El. Venizelou Ave., GR-17671 Kallithea, GreeceTel: +30-1-9589243-6, Fax: +30-1-9567289

Hungary REHM Hegesztéstechnika Kft.Tápiószele, Jászberényi út 4., H-2766, HungaryTel: +36-30-9510065, Fax: +36-1-2562012

Israel KNT Engineering Ltd.9 Hapalmach Street, IL-Kfar Azar 55905, IsraelTel: +972-3 9231944, Fax: +972-3 9231933

Norway ROBIA ASAIndustriveien 1, NO-3300 Hokksund, NorwayTel: +47-32252820, Fax: +47-32252840

Polen Roboprojekt Boc Sp.z.o.oul Kielecka 30, PL-42-470 Siewierz, PolenTel:+48 (0-32) 672 89 16, Fax: +48 (0-32) 672 88 08

South Africa Robotic Systems S.A. PTY LtdP.O. Box 90741, Bertsham 2013, Johannesburg, South AfricaTel: +27-11-4943604, Fax: +27-11-4942320

Switzerland Messer SAGLangweisenstrasse 12, CH-8108 Dällikon, SwitzerlandTel: +41-18471717, Fax: +41-18442432

Turkey Teknodrom Robotics & Otomation LtdKordonboyu Mah, Akdeniz Cad. No.18/1 Kartar, Istanbul, TurkeyTel: +90 216 389 16 66, Fax: +90 216 479 59 76

www.motoman.se [email protected]

a subsidiary of YASKAWA Electric Corporation

mrs6005gb.0.u cf card operation

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