Data Transmission Function Manual NX - 100

Motoman NX 100 Controller
Data Transmission
Function Manual
Part Number: 152388-1CD

Revision: 0
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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.
©2006 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.
Data Transmission
152388-1
Chapter 1
Introduction
1.1 About This Document

This manual provides information for the Data Transmission function and contains the following sections:
CHAPTER 1 - INTRODUCTION
Provides general information about the structure of this manual, a list of reference documents, and
customer service information.
CHAPTER 2 - SAFETY
This section provides information regarding the safe use and operation of Motoman products.
CHAPTER 3 - DATA TRANSMISSION INSTRUCTIONS
Provides detailed information for the Data Transmission function.
1.2 Reference to Other Documentation

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
1.3 Customer Service Information

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 (IA20)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on back side of robot arm)
• Robot Sales Order Number (located on back of controller)
Final page 1
Function Manual
Chapter 1 Introduction
Notes
page 2 Final
Data Transmission
152388-1
Chapter 2
Safety
2.1 Introduction
It is the purchaser’s responsibility to ensure that all local, county, state,

and national codes, regulations, rules, or laws relating to safety and safe
operating conditions for each installation are met and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for
Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries
Association by requesting ANSI/RIA R15.06-1999. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
INTERNET: www.roboticsonline.com
Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel
who are adequately trained to operate, program, and maintain the robot cell. The robot must not be
operated by personnel who have not been trained!
We recommend that all personnel who intend to operate, program, repair, or use the robot system be
trained in an approved Motoman training course and become familiar with the proper operation of the
system.
Final page 3
Function Manual
Chapter 2 Safety
This safety section addresses the following:

• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming, Operation, and Maintenance Safety (Section 2.6)
2.2 Standard Conventions
This manual includes the following alerts – in descending order of severity – that are essential to the
safety of personnel and equipment. As you read this manual, pay close attention to these alerts to
insure safety when installing, operating, programming, and maintaining this equipment.
DANGER!
Information appearing in a DANGER concerns the protection of personnel from the immediate
and imminent hazards that, if not avoided, will result in immediate, serious personal injury or
loss of life in addition to equipment damage.
WARNING!
Information appearing in a WARNING concerns the protection of personnel and equipment from
potential hazards that can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing in a CAUTION concerns the protection of personnel and equipment,
software, and data from hazards that can result in minor personal injury or equipment damage.
Note: Information appearing in a Note provides additional information which is helpful in understanding the item being
explained.
page 4 Final
Data Transmission
152388-1
2.3 General Safeguarding Tips
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. All
personnel involved with the operation of the equipment must understand potential dangers of
operation. General safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to the equipment. Only
trained personnel familiar with the operation of this robot, the operator's manuals, the system
equipment, and options and accessories should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers must have the
teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is not in use.
• In accordance with ANSI/RIA R15.06-1999, section 4.2.5, Sources of Energy, use
lockout/tagout procedures during equipment maintenance. Refer also to Section 1910.147
(29CFR, Part 1910), Occupational Safety and Health Standards for General Industry
(OSHA).
2.4 Mechanical Safety Devices
The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's
responsibility. The conditions under which the equipment will be operated safely should be reviewed
by the user. The user must be aware of the various national codes, ANSI/RIA R15.06-1999 safety
standards, and other local codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. The following safety equipment is provided as standard:
• Safety fences and barriers
• Light curtains and/or safety mats
• Door interlocks
• Emergency stop palm buttons located on operator station, robot controller, and
programming pendant
Check all safety equipment frequently for proper operation. Repair or replace any non-functioning
safety equipment immediately.
Final page 5
Function Manual
Chapter 2 Safety
2.5 Installation Safety
Safe installation is essential for protection of people and equipment. The following suggestions are
intended to supplement, but not replace, existing federal, local, and state laws and regulations.
Additional safety measures for personnel and equipment may be required depending on system
installation, operation, and/or location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local codes, and
ANSI/RIA R15.06-1999 safety standards are permitted to install the equipment.
• Identify the work envelope of each robot with floor markings, signs, and barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry into the work
envelope.
• Eliminate areas where personnel might get trapped between a moving robot and other
equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and maintenance
procedures.
2.6 Programming, Operation, and Maintenance Safety
All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and
anyone working near the robot must become familiar with the operation of this equipment. Improper
operation can result in personal injury and/or damage to the equipment. Only trained personnel
familiar with the operation, manuals, electrical design, and equipment interconnections of this robot
should be permitted to program, operate, and maintain the system. All personnel involved with the
operation of the equipment must understand potential dangers of operation.
• Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be
sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment for proper operation.
Repair or replace any non-functioning safety equipment immediately.
• Do not enter the robot cell while it is in automatic operation. Be sure that only the person
holding the programming pendant enters the workcell.
• Check the E-STOP button on the programming pendant for proper operation before
programming. The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• Back up all programs and jobs onto suitable media before program changes are made. To
avoid loss of information, programs, or jobs, a backup must always be made before any
service procedures are done and before any changes are made to options, accessories, or
equipment.
page 6 Final
Data Transmission
152388-1
• Any modifications to PART 1, System Section, of the robot controller concurrent I/O
program can cause severe personal injury or death, as well as damage to the robot! Do not
make any modifications to PART 1, System Section. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special passwords. Special
passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use
these special passwords.
• The robot controller allows modifications of PART 2, User Section, of the concurrent I/O
program and modifications to controller parameters for maximum robot performance. Great
care must be taken when making these modifications. All modifications made to the
controller will change the way the robot operates and can cause severe personal injury or
death, as well as damage the robot and other parts of the system. Double-check all
modifications under every mode of robot operation to ensure that you have not created
hazards or dangerous situations.
• Check and test any new or modified program at low speed for at least one full cycle.
• This equipment has multiple sources of electrical supply. Electrical interconnections are
made between the controller and other equipment. Disconnect and lockout/tagout all
electrical circuits before making any modifications or connections.
• Do not perform any maintenance procedures before reading and understanding the proper
procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the robot. All connections must be made within the
standard voltage and current ratings of the robot I/O (Inputs and Outputs).
Final page 7
Function Manual
Chapter 2 Safety
Notes
page 8 Final
YASKAWA
NX100 OPTIONS
INSTRUCTIONS
FOR DATA TRANSMISSION 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. RE-CKI-A445

MANDATORY
• This manual explains the data transmission function of the NX100 sys-
tem. Read this manual carefully and be sure to understand its contents
before handling the NX100.
• General items related to safety are listed in the Section 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.
ii
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
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 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
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 the 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
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
1 Outline
1.1 DCI Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.2 Stand-alone Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.3 Host Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
2 For Using Data Transmission Function

2.1 Remote Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.1 Remote Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1.2 Command Remote Valid/Invalid . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.1.3 Display in Command Remote Mode . . . . . . . . . . . . . . . . . . . . .2-3
2.2 Serial I/F Port Assignment . . . . . . . . . . . . . . . . . . . . . . . . . .2-4
2.3 Parallel Operation of NX100 . . . . . . . . . . . . . . . . . . . . . . . .2-6
2.3.1 No Multiple-operation of DCI, Stand-alone, and Host Control
Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
2.3.2 File Access and Editing for a Single Target. . . . . . . . . . . . . . . .2-6
2.4 Differences from MRC/XRC . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.4.1 Multiport Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.4.2 Group Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.4.3 Coordinated Operation and Independent Operation . . . . . . . . .2-7
2.4.4 Condition Data and System Data . . . . . . . . . . . . . . . . . . . . . . .2-7
2.5 Transmission Specifications . . . . . . . . . . . . . . . . . . . . . . . .2-8
2.5.1 Basic Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8
2.5.2 Transmission Control Characters . . . . . . . . . . . . . . . . . . . . . . .2-8
2.5.3 Transmission Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9
2.5.4 Error Control System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
2.5.5 Character Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
2.5.6 Data Link Establishment . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-10
2.5.7 Configuration of Heading and Text . . . . . . . . . . . . . . . . . . . . .2-11
2.5.8 Transmission Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11
" Transmission Control Monitoring Timer. . . . . . . . . . . . . . . .2-11
" Transmission Control Resending Sequence . . . . . . . . . . . .2-12
2.5.9 Connection of D-SUB Connector Pins. . . . . . . . . . . . . . . . . . .2-13
2.5.10 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-13
3 DCI Function
3.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.2 Commands for Job Transmission . . . . . . . . . . . . . . . . . . .3-1
3.2.1 LOADJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
" Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2.2 SAVEJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
vii
"
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
"
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.3 DELETEJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.2.4 SWAIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3 Commands for Variable Transmission . . . . . . . . . . . . . . 3-4
3.3.1 LOADV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.3.2 SAVEV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
" Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
" Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.4 Registering DCI Instruction . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.5 Concurrent Tasks from Multiple Jobs . . . . . . . . . . . . . . . 3-7
3.6 DCI Parallel Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
" Parallel Execution Using NWAIT . . . . . . . . . . . . . . . . . . . . . 3-8
" Parallel Execution Using PSTART (Optional). . . . . . . . . . . . 3-9
3.7 Transmission Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.7.1 Job Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
" Saving Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
" Loading Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.7.2 Variable Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
" Saving Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
" Loading Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.8 Axis Data Transmission Format . . . . . . . . . . . . . . . . . . . 3-14
3.9 Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
4 Stand-alone Function
4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Operation Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.1 Selecting External Memory Unit . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.2 Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
" Saving Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
" Saving File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3.3 Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
" Loading Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
" Loading File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.3.4 Job Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
" Single Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
" Related Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
viii
"
Switching Selection Mode . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
4.3.5 Selecting Job and Data File. . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
" EACH Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
" BATCH Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
4.4 Transmission Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . .4-12
5 Host Control Function

5.1 File Data Transmission Function . . . . . . . . . . . . . . . . . . . .5-1
5.1.1 Transmission Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
" Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
" Save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.1.2 Data Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.2 Robot Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.2.1 Command Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.2.2 List of Interlock for Commands of Host Control Function . . . . .5-5
5.2.3 Command that Handle Axis Data . . . . . . . . . . . . . . . . . . . . . . .5-7
5.2.4 Response to MOV-type Command . . . . . . . . . . . . . . . . . . . . . .5-7
5.2.5 Status Read Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8
" Read/Monitor Command . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-8
" Read/Data Access System Commands . . . . . . . . . . . . . . .5-13
5.2.6 System Control Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-17
" Operation System Commands . . . . . . . . . . . . . . . . . . . . . .5-17
" Start-up System Commands . . . . . . . . . . . . . . . . . . . . . . . .5-22
" Editing System Commands . . . . . . . . . . . . . . . . . . . . . . . .5-26
" Job Selection System Commands . . . . . . . . . . . . . . . . . . .5-30
5.2.7 I/O Read/Write Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-31
" Transmission Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . .5-32
" Read-out of I/O Signal Status . . . . . . . . . . . . . . . . . . . . . . .5-32
" Write-in of I/O Signal Status . . . . . . . . . . . . . . . . . . . . . . . .5-33
5.3 Commands for Multi-control Group and
Independent Control Functions . . . . . . . . . . . . . . . . . . . .5-35
5.3.1 Commands for Multi-control Group . . . . . . . . . . . . . . . . . . . . .5-35
5.3.2 Commands for Independent Control Function. . . . . . . . . . . . .5-36
5.4 Alarm Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-37
5.5 Interpreter Message List . . . . . . . . . . . . . . . . . . . . . . . . . . .5-38
6 Data List
6.1 Header Number List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.2 Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4
ix
7 Comparison of Data Transmission Functions
8 Remote Function Setting
x
1 Outline
The data transmission function is for communication with a host computer such as a personal
computer in BSC complying protocol.
The data transmission function adopts a serial transmission line and standard protocol, mak-
ing easy connection to a host computer.
The data transmission function is not only for transmission of job but also for controlling robot
system by a host computer using a set of commands.
The robot commands in the ASCII code command format are easy to use and helpful for a
quick development of necessary software to be run on the host computer.
The data transmission function is divided into the following three functions.
• DCI (Data Communication by Instruction)

• Stand-alone function
• Host control function
NX100
Host computer
(personal computer, etc.)
Data transmission
1-1
1.1 DCI Function
1.1 DCI Function
The DCI function executes instructions described in a job to perform data transmission with a
host computer. This function loads and saves jobs and variables.
NX100
Host computer
Job
Execute
DCI Function
Load Job can be transmitted in either mode.

• Single job
Job
Save • Related job
Transmission
Delete
• Byte type global variables

Load • Integer type global variables
Variable • Double precision type global variables
Transmission • Real number type global variables
Save • Position type global variables
(Robot axes, base axes, station axes)
1-2
1.2 Stand-alone Function
1.2 Stand-alone Function
The stand-alone function is for data transmission with host computer by operation on the pro-
gramming pendant. This function loads and saves jobs and condition data.
NX100
Host computer
Operation (personal computer, etc.)
Stand-alone Function
Load Job can be transmitted in either

mode.
Job Transmission Save • Single job
• Related job
Verify
• Tool data
Load • Weaving data
• User coordinate data
Condition Data/
• Welding data
General Data
Transmission Save • Variable data
Verify
System Information • System information

Save
Transmission • Alarm history
1-3
1.3 Host Control Function
The host control function is for loading and saving jobs, reading robot status, and controlling
the system by sending a command from a host computer.
NX100
Host computer
Operation
Host Control Function
Load Jobs can be transmitted in either

Job mode :
Transmission • Single job
Save
• Related job
• Tool data
File Data Load • Weaving data
Condition Data/
Transmission
General Data • User coordinate data
Function
Transmission • Welding data
Save
• Variable data
System • System information

Information Save • Alarm history
Transmission
1-4
Host Control Function
• Read of error and alarm codes

• Read of current position in a joint coordinate
system
• Read of current position in a specified Carte-
sian coordinate system
• Read of mode, cycle, motion, alarm error
and servo status
• Read of current job name, line No. and step
Status Reading
No.
• Read of all job names or related job names
• Monitoring completion of manipulator opera-
tion
• Read of specified user coordinate data
• Read of control group and task selected sta-
tus
• Read of variable data
• Start, hold
• Reset, cancel
• Job deletion
Robot Control
Function • Master job setup
• Job, line No. and step No. setup
• Mode and cycle selection
• Servo power supply ON/OFF
• Programming pendant interlock setup/
release
• Message display
• Joint motion and linear motion to a specified
System Control Cartesian coordinate system
• Linear motion by increments in a specified
coordinate system
• Joint motion and linear motion to a specified
joint coordinate system
• Conversion/reverse conversion of related
job of a specified job (Relative job function is
necessary)
• Write of specified user coordinate data
• Change of control group
• Change of task to be controlled
• Write of variable data
1-5
2.1 Remote Mode
2 For Using Data Transmission Function
2.1 Remote Mode
The data transmission function can be used with NX100 in remote mode.
2.1.1 Remote Mode

To use the data transmission function, set NX100 to remote mode.
In remote mode, the operation is ordered from a host computer ; whereas in local mode, teach
mode, and play mode, the programming pendant is used for operating the system.
To switch to the remote mode or the local mode, either
• Set the mode key on the programming pendant to [REMOTE] TEACH

.
REMOTE
PLAY
The remote mode has two sub-modes ; “I/O remote enable” and “Command remote enable”.
Which sub-mode takes effect in remote mode is set in the pseudo input display. Refer to Sec-
tion 8 “Remote Function Setting”.
de
l mo Teach mode
ca
Lo
Remote mode
Play mode !I/O remote enable
!Command remote enable
2-1
2.1 Remote Mode
Operation-site Mode Operation-site Condition to Enable the Operation
Local Mode Programming pendant The remote lamp is OFF, or “INHIBIT PP/
PANEL” in the pseudo input display is set to
invalid.
Remote Mode
I/O remote enable External I/O control board The remote lamp is ON, and “INHBIT IO” in
the pseudo input display is set invalid.
Command remote External computer The remote lamp is ON, and “CMD
enable REMOTE SEL” in the pseudo input display is
set valid.
In remote mode, usually operations of the programming pendant or the playback panel is
NOTE disabled, but they can be also enabled. To enable all operations, refer to Section 8
“Remote Function Setting”. To selectively enable some of the operations, set the parame-
ter S2C182. For details, refer to Section 6.2 “Parameter List”.
In remote mode, operations on the programming pendant are valid except the operation-
related entries. This holds true in “I/O remote enable” and “Command remote enable” sub-
modes. The concept is based on the conventional I/O control introduced to command control.
Note that the edit-related operations cannot be entered from more than one operating device.
In “Command remote enable” submode, to enable command remote controls only, issue the
HLOCK command. When the HLOCK command is ON, operations on the programming pen-
dant are valid only hold and emergency stop. Also the following I/O operations are disabled :
selection between remote mode and local mode, external start, external servo ON, cycle
selection, I/O prohibit, P.P/PANEL prohibit, and master job call. Other I/O operations are valid.
2-2
2.1 Remote Mode
2.1.2 Command Remote Valid/Invalid

Availability of each function of data transmission differs depending on the command remote
setting (Enabled / Disabled).
When the command remote is set invalid, the read/monitor system commands (hereinafter
called read-only function) in the host control function in addition to the DCI function and stand-
alone function can be used. For the details of read/monitor system commands, refer to Sec-
tion 5.2.2 “List of Interlock for Commands of Host Control Function”..
Command Remote Setting Function Availability
Invalid DCI function available

Stand-alone function available
Host control function (only read-only function) available
Valid Host control function (all commands) available
To validate the read-only function in the above host control function, set the parameter RS005
to “1”. When the command remote is validated by pressing [REMOTE] with the read-only
function valid, the command remote status is entered so that all commands can be used.
When the command remote is invalidated by pressing [REMOTE] again, the read-only func-
tion becomes validated again.
Initial
Parameter Contents and Set Value
Value
BSC port function specification when the command

RS005 remote is invalidated
0
0 : DCI or stand-alone function
1 : Read-only function in host control
2.1.3 Display in Command Remote Mode

Even in command remote enabled submode, it is not necessary to call the command remote
display because operations from NX100 is available. To call the command remote display,
select “REMOTE” from “I/O” under the top menu.
This display is used in common with the I/O remote mode display.
The message in the remote display changes according to the remote function selection.
(Refer to Chapter 8 “Remote Function Setting”.)
2-3
2.2 Serial I/F Port Assignment
DATA EDIT DISPLAY UTILITY
REMOTE
IO and Command mode A message shown in

CURR
the table below is displayed.
PREV
DISP
Main Menu ShortCut
Remote Select Status

Message Remarks
I/O Command
Remote Remote
× × “Remote mode not specified” Same when the remote lamp

is OFF.
# × “I/O mode” Only when the remote lamp

is ON.
× # “Command mode”
# # “I/O and Command mode”
Read-only Function “Remote mode not specified” “CURR” and “PREV” are dis-
Valid played.
# : Valid, × : Invalid
The NX100 has one serial interface port. The FC1 protocol and the BSC complying protocol
(for data transmission function : option) can be assigned to the port to communicate with
external devices.
A change in assignment can be made only in local mode.
Initial
Value
Standard port protocol specification

0 : NON
1 : System reserved
RS000 2
2 : BSC LIKE (Data transmission
function
3 : FC1
2-4
Major Axes Control

Robot I/F Unit Control Circuit Board Circuit Board Control Circuit Board
JZNC-NIF01 JANCD-NCP01 SGDR-AXA01A CPS-420F
CPU
TYPE JANCD-NCP01 POWERSUPPLY
DATE CPS-NX1
No.
REV DATE
FujiElectricCo.,Ltd.
JAPAN
01020304050607080910
LED SOURCE 11121314151617181920
21222324252627282930
0 1 +5VSB A B C D E F GH J K
L MN P Q R S T U V
PON
CNSP1
+5V
+24V
VIDEO
CNTU
OTHER
FAN
OHT
CNRI
CN05
(+24V1)
CNM
CNRO
CN04
(+24V2)
IDE
CNFAN
CN03
(TU)
ATX
USB1(L)
USB1(R) CN02 CN01
Cover
CNBAT
(REMOTE) (AC IN)
INPUT
PS2 200-240V AC
50/60Hz
3A
Front View (without the cover)

Front View
Serial port interface (with the cover supplied)
(RS-232C I/F)
(LAN2)
Ethernet function
(LAN1)
Programming Pendant
Bottom View
CPU Unit Configuration (JZNC-NRK 01!-!)
2-5
2.3 Parallel Operation of NX100
2.3 Parallel Operation of NX100
The NX100 is capable of parallel processing. For instance, it can check signals with program-
ming pendant while saving files to YASNAC FC2, or can edit files with the programming pen-
dant while monitoring operation status by the host control function.
The parallel operation has the following restrictions. When an operation against these restric-
tions is made, a warning message is displayed.
Operation Warning
YASNAC FC2 Error message for 3 seconds

Stand-alone
Programming pendant
DCI Alarm
Host control Interpreter message

(or error message)
2.3.1 No Multiple-operation of DCI, Stand-alone, and Host

Control Functions
All DCI, stand-alone, and host control use BSC LIKE protocol and the same port, therefore
these functions cannot be performed by parallel processing.
Warning message : Serial port not defined

Warning message : Serial port being used
Warning message : Protocol being used
2.3.2 File Access and Editing for a Single Target

Access to a single target file is available. Parallel processing of reads from two or more
sources is impossible.
During access to a file for other function, the HLOCK command of the host control function
cannot be issued.
Key operations are ignored while the HLOCK command is ON.
Warning message : Data accessed with other functions
2-6
2.4 Differences from MRC/XRC
2.4 Differences from MRC/XRC
The data transmission function in NX100 is intended to reuse basically the user applications
with succession to the data transmission of MRC/XRC.
There are some differences resulted from functional differences between the MRC/XRC and
the NX100.
2.4.1 Multiport Processing

The XRC is not applicable for multiport processing.
2.4.2 Group Axes

The control group information used for the CGROUP and RGROUP commands in the host
control function differs depending on the number of manipulators.
2.4.3 Coordinated Operation and Independent Operation

Up to 8 tasks (6 tasks for XRC) can be changed by the CTASK command. No command
related to coordinated operation is available.
2.4.4 Condition Data and System Data

Condition data and system data have different file name in option function, accordingly their
communication header differ.
2-7
2.5 Transmission Specifications
This section explains the transmission specifications for the data transmission.
2.5.1 Basic Specifications
Interface Complies to RS-232C (RS/CS method)
Transmission Speed 9600 bps
Half-duplex transmission system (point-to-

Transmission Mode
point)
Synchronization Asynchronous (stop bit 1 *1)

system
Protocol BSC LIKE
ASCII, shift JIS

8-bit data length *1
Transmission Code
Even parity *1
Nontransparent
Error Check BCC
Response Method ACK alternating response
*1 Can be changed by transmission parameter setting
2.5.2 Transmission Control Characters

The transmission control characters are shown in the table below.
Transmission Control Characters and Codes
Control Code
Meanings of Control Character
Character (hexadecimal)
DLE 10 Data Link Escape

SOH 01 Start of Heading
STX 02 Start of Text
ETX 03 End of Text
EOT 04 End of Transmission
ENQ 05 Enquiry
NAK 15 Negative Acknowledgment
ETB 17 End of Text Block
ACK0 10, 30 Even Affirmative Acknowledgment
ACK1 10, 31 Odd Affirmative Acknowledgment
2-8
2.5.3 Transmission Format

The transmission format is as follows.
S S E
O HEADING T TEXT T BCC
H X B
S S E
O HEADING T TEXT T BCC
H X X
S E
T TEXT T BCC
X B
S E
T TEXT T BCC
X X
E
N
Q
E
O
T
N
A
K
ACK0
ACK1
2-9
2.5.4 Error Control System

The error control is performed by a check sum of all the characters from SOH or STX to ETB
or ETX.
The check sum is calculated as shown below.
<Example>
S E
T TEXT T BCC
X X
0000 0101
0000 0000
0011 0110
1010 1100
1111 0001
+ 0000 0011
0000 0001 1101 1011
• Start of calculation : Calculation is started when SOH or STX used as the block start
sequence appears. These block start sequence are not included in
the sum. As for a STX led by a SOH, STX is included in the sum.
• End of calculation : Calculation is ended when ETB or ETX used as the block end
sequence appears, with the ETB or ETX included in the sum.
2.5.5 Character Configuration

The character configuration is as follows.
Start bit
Stop bit
b1 b2 b3 b4 b5 b6 b7 b8 bp
Parity bit
2.5.6 Data Link Establishment

A data link is established by responding ACK0 to ENQ.
2-10
2.5.7 Configuration of Heading and Text

The configuration of heading and text is as follows.
Heading 6 characters fixed Max. 256 characters
S S E
O T TEXT T BCC
H X B
Subcode No.
, (comma)
Header No.
2.5.8 Transmission Parameters

" Transmission Control Monitoring Timer
Two timers are provided for transmission control monitoring. Both are transmission parame-
ters so that their settings can be changed for each system.
Timer A : Sequence monitoring timer. Serves as protection against invalid or no response.

Recommended value is 3 sec.
Timer B : Text reception monitoring timer. Serves as protection against no response of text
end character. Recommended value is 20 sec.
NX100 Host NX100

computer
Host
computer
ENQ ENQ
ACK0 Timer A ACK0
Timer B
Data Data
ACK1 Timer A ACK1
Timer B
EOT EOT
2-11
" Transmission Control Resending Sequence

Two constants below are related to the transmission control resending sequence. Both are
transmission parameters like the transmission control monitoring timers, whose settings can
be changed for each system.
Retry 1 : Number of resendings of a sequence character at an invalid or no response

at all. Recommended value is 10 times.
Retry 2 : Number of resendings of a text at a block check error (reception of NAK).

Recommended value is 3 times.
Initial
Value
RS030 Number of data bits 7 : 7 (bit) 8

8 : 8 (bit)
RS031 Number of stop bits 0 : 1 (bit) 0

1 : 1.5
2:2
RS032 Parity specification 0 : No specification 2

1 : Odd parity
2 : Even parity
RS033 Transmission speed specification 1 : 150 (baud rate) 7

2 : 300
3 : 600
4 : 1200
5 : 2400
6 : 4800
7 : 9600
8 : 19200
RS034 Timer A Sequence monitoring timer 30

Serves as protection against invalid or no response
Unit : 0.1 sec. (Setting range : 0 to 100)
RS035 Timer B Text reception monitoring timer 200

Serves as protection against no response of text end character
RS036 Retry 1 Number of resendings of a sequence character at an invalid or 10

no response (Setting range : 0 to 30)
RS037 Retry 2 Number of resendings of a text at a block check error (reception 3

of NAK). (Setting range : 0 to 10)
RS038 Block check method 0 : Check sum 0
2-12
2.5.9 Connection of D-SUB Connector Pins

The connection of D-SUB connector pins is shown below.
NCP01 board (D-SUB9P)
NX100
CD 1 Carrier detect
RD 2 Data receive
SD 3 Data send
ER 4 Data terminal ready
SG 5 Grounding for signal
RS 7 Request to send
CS 8 Sending enabled
FG 9 Protective grounding
2.5.10 Connection
Since the system is “null-modem”, connect the pins as shown below.
XCP01 board
Host Computer NX100
SD 3 2 RD
RD 2 3 SD
RS 7 5 SG
CS 8 7 RS
SG 5 8 CS
9 FG
• Connect “RS” of the NX100 to “CS” of a host computer. This prevents data overrun when
reception processing speed of the NX100 cannot catch up with data sending from the
host computer. In other words, “RS” signal from the NX100 controls start-hold of data
transmission from the host computer. The sending interface controller must be capable of
coping with CS input displacement in units of a single byte.
• The NX100 sends data when the “CS” signal is ON.
2-13
3.1 Outline
3 DCI Function
3.1 Outline
The data communication by instruction (DCI) function loads, saves jobs and variables accord-
ing to an instruction that executes data transmission with a host computer. The DCI function
is classified as follows.
• Job load, save and delete functions

• Variable load and save functions
NX100
Host computer
Job
Execute
3.2 Commands for Job Transmission
3.2.1 LOADJ
" Function
Loads specified jobs as single or related jobs, from the external memory unit to the memory of
the NX100.
3-1
" Configuration
JOB:<Job name> Unit of

LOADJ IG#<Input group No.> loading
B<Variable No.> JBI, JBR
NWAIT IF statement
• If the NX100 memory already contains a job having the same name as the job to be
loaded, the existing job is deleted and the new job is loaded. However, if the job to be
loaded is as follows, an alarm occurs.
• Execution starting job
• Job under execution/halting
• Job registered in job call stack
• Specify input group numbers (BCD/BIN, parity specification), and variable numbers in the
same way as for the CALL command. If the pattern input value is 0, the operation is not
executed. A variable number 0 is valid.
• Unit of loading : Select either a single job (JBI) or related jobs (JBR)
• When the NWAIT is specified, the next instruction is executed without waiting completion
of job loading.
• While a job is being loaded by the LOADJ command for which NWAIT is specified, if an
access is attempted to a job called by the CALL command or JUMP command, an alarm
occurs. If a LOADJ or SAVEJ command has already been executed, a job is loaded after
completion of the execution.
3-2
3.2.2 SAVEJ
" Function
Saves a specified job as single or related jobs, from the memory of the NX100 to the external
memory unit.
" Configuration
JOB:<Job name>
Unit of saving
SAVEJ IG#<Input group No.>
JBI, JBR
B<Variable No.>
NWAIT IF statement
• Specify input group numbers (BCD/BIN, parity specification), and variable numbers in the
same way as for the CALL command. If the pattern input value is 0, the operation is not
executed. A variable number 0 is valid.
• Unit of saving : Select either a single job (JBI) or related jobs (JBR).
• When the NWAIT is specified, the next command is executed without waiting completion
of job saving. When a LOADJ or SAVEJ command has already been executed, a job is
saved after completion of the execution.
3.2.3 DELETEJ
" Function
Deletes all jobs except its own job or specified jobs as single or related jobs, from the memory
of the NX100.
" Configuration
DELETEJ
Unit of
JOB:<Job name> deleting IF
JBI, JBR statement
• Unit of deleting : Select either a single job (JBI) or related jobs (JBR).
• The following jobs cannot be deleted.

• Execution starting job
• Job under execution/halting
• Job registered in job call stack
3-3
3.3 Commands for Variable Transmission
3.2.4 SWAIT
" Function
Waits for completion of loading or saving jobs or variables.
Use this command to recognize a completion of LOADJ, SAVEJ, LOADV, and SAVEV com-
mands when a NWAIT is specified for these instructions.
" Configuration
SWAIT
3.3 Commands for Variable Transmission
3.3.1 LOADV
" Function
Loads the specified global variables from an external memory unit to the NX100 memory.
" Configuration
Byte type global variable

LOADV Integer type global variable
Double precision type global variable
Real number type global variable NWAIT
Position type (robot axis) global variable
Position type (base axis) global variable
Position type (station axis) global
variable
3.3.2 SAVEV
" Function
Saves the specified global variables from the NX100 memory to a external memory unit.
" Configuration
Byte type global variable

SAVEV Integer type global variable
Double precision type global variable
Real number type global variable
Position type (robot axis) global variable NWAIT
Position type (base axis) global variable
Position type (station axis) global
variable
3-4
3.4 Registering DCI Instruction
Operation Explanation
1 Move the cursor to the

address area.
2 Move the cursor to the line In the job content display in teach mode, move the cursor to the
where an instruction is to be line just above the place where an instruction is to be registered.
registered in the job content CONTROL GROUP R1 TOOL 00 CO O
display. 0019 MOVJ VJ=50.00
DEVICE
0020 MOVL V=138
Line just above 0021 MOVL V=138 LOADJ MOTION
0022 MOVJ VJ=100.00
the place where 0023 DOUT OT#(1) ON SAVEJ ARITH
an instruction is 0024 MOVJ VJ100.00 LOADV SHIFT
0025 MOVL V=138
to be registered 0026 MOVL V=138 SAVEV OTHER
0027 MOVL V=138
DELETEJ SAME
3 Press [INFORM LIST]. The instruction list dialog is displayed. The cursor moves to the
instruction list dialog while the cursor in the address area
changed to an underline.
JOB EDIT DISPLAY UTILITY
JOB CONTENT
IN/OUT
JOB NAME TEST STEP NO. 015
CONTROL GROUP R1 TOOL 00 CONTROL
0019 MOVJ VJ=50.00
DEVICE
0020 MOVL V=138
0021 MOVL V=138 LOADJ MOTION
0022 MOVJ VJ=100.00
0023 DOUT OT#(1) ON SAVEJ ARITH
0024 MOVJ VJ100.00 LOADV SHIFT
0025 MOVL V=138
0026 MOVL V=138 SAVEV OTHER
0027 MOVL V=138
DELETEJ SAME
SWAIT PRIOR
LOADJ JOB:JOB JBI
Main Menu ShortCut
4 Select an instruction to be reg- The instruction where the cursor is positioned is displayed with
istered. the previously registered additional items in the input buffer line.
JOB CONTENT
IN/OUT
0019 MOVJ VJ=50.00
0020 MOVL V=138
DEVICE
0021 MOVL V=138 LOADJ MOTION
0022 MOVJ VJ=100.00
0023 DOUT OT#(1) ON SAVEJ ARITH
0024 MOVJ VJ100.00 LOADV SHIFT
0025 MOVL V=138
0026 MOVL V=138 SAVEV OTHER
0027 MOVL V=138
DELETEJ SAME
SWAIT PRIOR
LOADV B000
3-5
5 Change the additional items <To register items as displayed in the input buffer>
and variable data. Perform operation described in the step 6 below.
<To edit any additional items>

With the cursor on the instruction to be registered, press
[SELECT]. The cursor moves to the input buffer line.
LOADV B000
• Changing a numerical value data of additional items

Move the cursor to the additional item whose numerical value is to be
changed. Pressing simultaneously [SHIFT] and the cursor key incre-
ments or decrements the value.
LOADV B000
To enter a value by pressing the number key, press [SELECT] to dis-

play the input line.
B=
LOADV
Enter a value, then press [ENTER]. The value displayed in the input
line is changed.
• Adding, changing, or deleting the additional items

To add, change or delete the additional items, select an instruction in
the input buffer line to display the detail edit display.
DETAIL EDIT
LOADV
VARIABLE B000
NWAIT UNUSED
LOADV B000
Main Menu ShortCut
To add an additional item, select “NOT USED” of an additional item

selection status, then display the selection dialog to select an additional
item to be added.
To delete an additional item, move the cursor to an additional item to be
deleted, then select “NOT USED” to delete.
DETAIL EDIT
LOADV
VARIABLE B000
NWAIT NWAIT
UNUSED
3-6
3.5 Concurrent Tasks from Multiple Jobs
5 (cont’d) • Changing the data type

To change the data type of additional item, move the cursor to the of
the additional item and press [SELECT] to select a data type.
DETAIL EDIT
LOADV
VARIABLE B000 B
NWAIT UNUSED
I
O
R
P
After having added, changed or deleted the addtional items, press

[ENTER]. The detail edit display is ended and the job content display
appears.
6 Press [INSERT] and [ENTER]. The instruction displayed in the input buffer line is registered.
To register an instruction just before an END instruction, it is not
necessary to press [INSERT].
JOB CONTENT
IN/OUT
0020 MOVL V=138
DEVICE
0021 MOVL V=138
0022 LOADV I000 MOTION
0023 MOVJ VJ=100.00
0024 DOUT OT#(1) ON ARITH
0025 MOVJ VJ100.00
SHIFT
0026 MOVL V=138
0027 MOVL V=138 OTHER
0028 MOVL V=138
SAME
PRIOR
3.5 Concurrent Tasks from Multiple Jobs
As an option, commands related to DCI function can be executed from more than one job
simultaneously. The operations are explained below.
• The DCI related commands can be executed in any job regardless of distinction among
the ordinary job, concurrent job (option), or job activated in series (option).
• Multiplexing of DCI transmission function is not supported. Therefore, it is impossible to

manipulate files on two or more external memory units (such as personal computer) con-
nected to the NX100.
• If two or more commands related to DCI function are issued concurrently, the execution
starts after completion of processing of the currently executing command. Therefore, if a
module issues a command request while another module is executing DCI function, the
request has to wait until the ongoing processing completes.
3-7
3.6 DCI Parallel Execution
3.6 DCI Parallel Execution
By using the function described below, the DCI instruction can be executed in parallel with
general instructions such as a move instruction and operating instruction. When this function
is used, the robot can be moved or the calculation is executed during data transmission ; this
function is effective for reduction of tact time, etc.
" Parallel Execution Using NWAIT
NOP
MOVJ VJ=50.00
MOVJ VJ=50.00
LOADJ JOB:ABC JBI NWAIT $
MOVJ VJ=50.00 %
MOVJ VJ=50.00 &
SWAIT '
CALL JOB:ABC (
) ) )
END
In the above job, when the command $ is executed, loading of the host computer and the job
are executed. Normally, when NWAIT is not specified, the commands of % and after are not
executed until the job loading is completed. However, when NWAIT is specified, the com-
mands % and & are executed sequentially during the job loading ; at execution of SWAIT
command ', the execution of command ( is waited for the job “ABC” loading is completed.
At the time of completion of job “ABC” loading, the command ( is executed to execute the
job “ABC”.
At this time, if SWAIT command is not specified before the command (, the command ( is
executed during the loading of job “ABC”, and an alarm occurs. Therefore, be sure to verify
that loading is completed before executing a job to be loaded, by using SWAIT command.
To load/save variables, be sure to input a SWAIT command before using variables to be
loaded/saved as shown below.
(Correct) (Wrong)
NOP NOP
) ) ) ) ) )
LOADV B000 NWAIT LOADV B000 NWAIT
) ) ) ) ) )
SWAIT SET B001 B000
SET B001 B000
3-8
3.7 Transmission Procedure
" Parallel Execution Using PSTART (Optional)

By using an independent control command (optional), DCI commands can be executed in par-
allel with general commands. For example, to execute the job “R1” for robot 1 is to be exe-
cuted in parallel with the job “S1” for station 1 during job loading, the following procedure is
taken :
Job “R1” : Job for robot 1

Job “S1” : Job for station 1
[JOB:R1] [JOB:S1]
NOP NOP
MOVJ VJ=50.00 MOVJ VJ=50.00
MOVJ VJ=50.00 MOVJ VJ=50.00
PSTART JOB:S1 SUB1 $ END
LOAD JOB:ABC %
PWAIT &
CALL JOB:ABC '
END
When PSTART command $ is executed, the job “S1” starts execution in parallel with the job
“R1”. The job “ABC” is loaded by the command % during execution of the job “S1” ; when
loading is completed, the NX100 waits for the job “S1” to be completed by the command &.
When the execution of job “S1” is completed, the job “ABC” is executed by the command '.
3.7.1 Job Transmission

" Saving Procedure
The transmission from the NX100 to a host computer proceeds as follows.
NX100 → Host computer

1. The ENQ code is sent out to establish a data link.
2. After the data link is established, data are sent out to the host computer.
3. After the transmission completes, the NX100 waits for a response from the host com-
puter to verify the completion of transmission. Therefore, the host computer should
return a response.
4. The transmission is terminated upon receipt of the response from the host computer.
3-9
The data type is distinguished by the header number and the subcode number. Refer to the
header number list.
ENQ
ACK0
*1
SOH 02, 001 STX File name ETB BCC
ACK1
STX Data ETB BCC
ACK0
Host computer
NX100
STX Data ETX BCC

*2
ACK
EOT
ENQ
ACK0
*3
SOH 90, 000 STX Data ETX BCC
ACK1
EOT
*1 File name : CR (File name does not include extension.)

*2 ACK0 or ACK1
*3 Normal completion : 0000CR (ASCII code)
Abnormal completion : Integer except 0000 CR (ASCII code)
" Loading Procedure

The transmission from a host computer to the NX100 proceeds as follows.
Host computer → NX100

1. The ENQ code is sent out to establish a data link.
2. After the data link is established, a request to send is sent out to the host computer.
3. When the request to send is accepted, the NX100 enters receiving status, waiting for
the ENQ code from the host computer. Therefore, the host computer should send data
after the data link is established.
4. The transmission is terminated at completion of data reception from the host com-
puter.
A request to send consists of a header number and a subcode number. Refer to the header
number list.
3-10
At transmission, memory capacity is checked and if received data cannot be stored, an alarm
occurs. If the transmission itself is normal, reception is continued and an alarm is displayed
after the transmission is terminated. If an error occurs during reception, the job data will not
be stored.
ENQ
ACK0
*1
SOH 02, 051 STX File name ETX BCC
ACK1
EOT
ENQ
Host computer
ACK0
*1
NX100
ACK1
STX Data ETB BCC
STX Data ETX BCC

*2
ACK
EOT
*1 File name : CR (File name does not include extension.)

*2 ACK0 or ACK1
3-11
3.7.2 Variable Transmission

The variable transmission is performed in the same way as for the data as shown below.
" Saving Procedure
ENQ
ACK0
*1
SOH 03,001 STX Data CR ETX BCC
ACK1
Host computer
EOT
NX100
ENQ
ACK0
*2
ACK1
EOT
" Loading Procedure
ENQ
ACK0
SOH 03,051 STX ETX BCC
ACK1
Host computer
EOT
NX100
ENQ
ACK0
*1
ACK1
EOT
For headers, refer to the header number list.
3-12
*1
Byte type global variable : +++ (0 to 255)
Integer type global variable : ± +++ (-32768 to +32767)
Double precision type glo- ± ++++++++++ (-2147483648 to 2137383647)

bal variable :
Real number type global 7 significant digits (-1.70141E+38 to +1.70141E+38)

variable :
Position type (robot axis) Pulse type or XYZ type depending on the internal setting status
global variable :
Pulse type
S, L, U, R, B, T (Unit : pulse)
(-999999999 to 999999999)
XYZ type
X, Y, Z, TX, TY, TZ, TYPE
d0 = 0 : Flip d0 = 1 : No flip
d2 = 0 : Up d2 = 1 : Back
Unit : degree (°), significant 2 decimal points

-9999.99 to 9999.99
Unit : mm, significant 3 decimal points

-999999.999 to 999999.999
Position type (base axis) Pulse type or XYZ type depending on the internal setting status
global variable :
Pulse type
1, 2, 3 (Unit : pulse)
(-999999999 to 999999999)
XYZ type
X, Y, Z (Unit : mm, significant 3 decimal points)
(-999999.999 to 999999.999)
Position type (station axis) Pulse type

global variable : 1, 2, 3, 4, 5, 6 (Unit : pulse)
(-999999999 to 999999999)
*2 0000 or error code
The response is as follows when an error occurs in response.

SOH 90,000 STX DATA CR ETX BCC
If a stop operation (hold and emergency stop) is done during data transmission (while
jobs or variables are loaded or saved), the robot stops but the data transmission contin-
ues. In this case, the start lamp goes OFF. The restart will not be accepted until com-
pletion of the data transmission.
3-13
3.8 Axis Data Transmission Format
3.8 Axis Data Transmission Format
The NX100 data transmission function has the following restrictions on transmission of the
NX100 internal data.
The robot axes are fixed to a 6-axis set.

A base axis and a station axis are recognized as an external axis. Up to three base axes are
available. With station axis data added after base axis data, up to six axes can be handled.
For example, SAVEV BP005 is read as SAVEV BP005 + EX005.
If the system lacks one of the variables, only the existing one is used. If the system has both
variables but not registered, an error occurs.
The definition of the robot, base, and station axes is used as it is, free of the predetermined
axis data R1, B1, and S1.
<Example>
Transmission data of SAVEV in different system configurations are shown below.
• In a system having two base axes (X and Z) and no station axis

If BP005 is pulse type and 1st axis is 100 and 2nd axis is 200, then
SAVEV BP005 → 03, 007 100, 200, 0, 0, 0, 0
If BP005 is XYZ type and X-axis is 123.456 and Z-axis is 234.567, then
SAVEV BP005 → 03, 008 123.456, 234.567, 0,0, 0, 0
• In a system having no base axis and three station axes

If EX005 is pulse type and 1st axis is 500, 2nd axis is 600, and 3rd axis is 700
SAVES EX005 → 03, 007 500, 600, 700, 0, 0, 0
• In a system having two base axes (X and Z) and three station axes
If BP005 is pulse type, 1st axis is 100 and 2nd axis is 200, and
EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is 700, then
SAVEV BP005 → 03, 007 100, 200, 500, 600, 700, 0
(Same as for SAVEV EX005)
If BP005 is XYZ type, X axis is 123.456, and Z axis is 234.567, and
EX005 is pulse type, 1st axis is 500, 2nd axis is 600, and 3rd axis is 700, then
SAVEV BP005 → 03, 008 123.456, 234.567, 500, 600, 700, 0
(same as for SAVEV EX005)
3-14
3.9 Alarm Codes
3.9 Alarm Codes
Code Message Data
WRONG EXECUTION OF Refer to the

4104
LOAD INST table below.
WRONG EXECUTION OF
4105
SAVE INST
WRONG EXECUTION OF
4106
DELETE INST
Data Contents
001 Insufficient memory capacity
002 Job editing prohibited
003 Attempted to load or delete a job being executed.
004 No specified job
012 Position data destroyed
013 Position variable not registered
017 Instruction destroyed
019 Invalid character in job name
020 Invalid character in label
023 Invalid character in this system
024 Syntax error
090 Control command sending/receiving error (Ethernet)
104 Error response from host computer
111 Syntax error
112 Error in position data
113 No NOP or END instruction
117 Format error
118 Invalid number of data
3-15
3.9 Alarm Codes
Data Contents
120 Data range exceeded
122 Destroyed file exists
125 No serial port setting
126 This serial port already used.
127 This protocol already used.
128 File accessing in other function
211 System block error (Receiving EOT while waiting ACK)
212 System block error (Receiving EOT at starting receiving)
213 System block error (Receiving EOT before receiving the last block)
214 System block error (Receiving codes other than EOT before receiving the last block)
221 Sending error (Retry for NAK exceeded)
222 Sending error (Timeup for timer A retry)
223 Sending error (ACK0/ACK1 order error after retry)
Receiving error (Timeup for timer A while waiting ACK after ENQ, timeup for timer A while
231
waiting ENQ response)
232 Receiving error (Timeup for timer B while receiving a text)
233 Receiving error (Heading length is shorter than 6 characters)
234 Receiving error (Heading length is longer than 6 characters)
235 Receiving error (Header number error)
236 Receiving error (Text length exceeds 256 bytes)
Receiving error (Receiving other than ENQ while waiting ENQ, receiving other than con-
237 trol code while waiting control code, receiving other than STX, SOH, ENQ, EOT while
waiting text)
240 Software error
241 Hardware error (Overrun)
242 Hardware error (Parity error)
243 Hardware error (Framing error)
244 Hardware error (Sending timeup (timer A))
245 Hardware error (Sending timeup (timer B))
3-16
4.1 Outline
4 Stand-alone Function
4.1 Outline
In stand-alone mode, the file data transmission function is available. By the operations on the
NX100 programming pendant, file data can be sent from the NX100 to a host computer such
as personal computer to be saved, and from a host computer to the NX100 memory to be
loaded.
Load : Transmits file data from a host computer to the NX100.
Save : Transmits file data from the NX100 to a host computer.
Verify : Verifies data between the NX100 and the host computer and informs if some parts are
not matched.
NX100
Host computer
Operation (personal computer, etc.)
The following data can be transmitted between the NX100 and a host computer. System
information can be saved but not loaded.
• Job data
• Condition data/General data
• System information
4-1
4.2 Operation Flow
4.2 Operation Flow
Transmission of file data is performed in the following manner.
<Top menu>
{EXT MEM}
Sub menu
{LOAD} {SAVE} {VERIFY} {DEVICE}
Select a
Select a data group
device
Select a data
Press "EXECUTE"
End
4-2
4.3 Operation
4.3 Operation
4.3.1 Selecting External Memory Unit

1 Select {FD/PC CARD} under

the main menu.
2 Select {DEVICE}. The device selection display is shown.

FLOPPY DISK/CompactFlash
DEVICE CompactFlash
Main Menu ShortCut
3 Select “DEVICE”. The selection dialog is shown.

DEVICE FC1
FC2
PC
CompactFlash
Main Menu ShortCut
4 Select the device to be The device is changed.

changed.
DEVICE PC
Main Menu ShortCut
4-3
4.3 Operation
4.3.2 Save
The operation to transmit data from the NX100 to the external memory unit is explained in the
following.
" Saving Job


the main menu.
2 Select {SAVE}. The external memory menu display is shown.

PC SAVE
JOB
FILE/GENERAL DATA
SYSTEM INFORMATION
Main Menu ShortCut
3 Select “JOB”. The external memory job list display is shown.

PC (SAVE) SINGLE NO. 7
TEST001 TEST002 TEST003
TEST007
PAGE
Main Menu ShortCut
4 Select the job to be saved. The select job is marked with “,“.
TEST007
PAGE
Main Menu ShortCut
4-4
4.3 Operation
5 Press [ENTER]. The confirmation dialog is shown.

TEST007
Save?
YES NO
PAGE
Main Menu ShortCut
6 Select “YES”. The job starts to be saved, and the transmission display is shown.
PC (SAVE)
TRANSMITTED FILE TEST0001
STOP
Main Menu ShortCut
To interrupt the saving, press [SELECT].

When the saving is completed or interrupted, the job content dis-
play appears.
4-5
4.3 Operation
" Saving File

the main menu.
2 Select {SAVE}. The external memory menu display is shown.

PC (SAVE)
JOB
FILE/GENERAL DATA
SYSTEM INFORMATION
Main Menu ShortCut
3 Select the file group to be The file selection display is shown.

saved. DATA EDIT DISPLAY UTILITY
PC (SAVE)
TOOL DATA TOOL .CND
WEAVING DATA WEAV .CND
USER COORDINATE DATA UFRAME .CND
VARIABLE DATA VAR .DAT
ARC START COND DATA ARCSRT .CND
ARC END COND DATA ARCEND .CND
ARC AUXILIARY COND DATA ARCSUP .DAT
POWER SOURCE COND. DATA WELDER .DAT
POWER SOURCE USER DEF DAT WELDUDEF .DAT
SHOCK DETECTION LEVEL SHOCKVL .CND
Main Menu ShortCut
4 Select the file to be saved. The select file is marked with “,“.
PC (SAVE)
TOOL DATA TOOL .CND
VARIBLE DATA VAR .DAT
SHOCK DETECTION LEVLE SHOCKVL .CND
Main Menu ShortCut
4-6
4.3 Operation
PC (SAVE)
TOOL DATA TOOL .CND
ARC START COND DATA Save?
ARCSRT .CND
ARC AUXILIARY COND DATAARCSUP .DAT
POWER SOURCE COND. DATAWELDER .DAT
POWER SOURCE USER DEFWELDUDEF
YES DAT .DAT
NO
PAGE
Main Menu ShortCut
6 Select “YES”. The file starts to be saved, and the transmission display is shown.
PC (SAVE)
TRANSMITTED FILE TOOL.CND
STOP
Main Menu ShortCut
To interrupt the saving, press [SELECT].

When the saving is completed or interrupted, the file selection
display reappears.
4-7
4.3 Operation
4.3.3 Load
The operation to transmit data from the external memory unit to the NX100 is explained in the
following.
" Loading Job

the main menu.
2 Select {LOAD}. The external memory menu display is shown.
PC (LOAD)
JOB
FILE/GENERAL DATA
SYSTEM INFORMATION
Main Menu ShortCut
3 Select “JOB”. The display to input the job name to be loaded is shown.
PC (LOAD)
JOB MODE SING

JOB NAME
EXEC
Main Menu ShortCut
4 Enter the job to be loaded.
5 Select “EXEC”.
4-8
4.3 Operation
" Loading File

the main menu.
2 Select {LOAD}. The external memory menu display is shown.
PC (LOAD)
JOB
FILE/GENERAL DATA
SYSTEM INFORMATION
Main Menu ShortCut
3 Select the file group to be The file selection display is shown.

loaded.
PC (LOAD)
TOOL DATA TOOL .CND
Main Menu ShortCut
4 Select the file to be loaded. The selected file is marked with “,“.
PC (LOAD)
TOOL DATA TOOL .CND
Main Menu ShortCut
4-9
4.3 Operation
PC (LOAD)
TOOL DATA TOOL .CND
ARC START COND DATA ARCSRT
Save? .CND
YES NO
Main Menu ShortCut
6 Select “YES”. The file is starts to be loaded, and the transmission display is
shown.
PC (LOAD)
TRANSMITTED FILE TOOL.CND

REST 1523 BYTE
STOP
Main Menu ShortCut
4.3.4 Job Selection Mode

To select a job to save, load, or verify, the following selection modes are available.
" Single Selection Mode

Only the selected job is loaded, saved, or verified.
" Related Selection Mode

The selected job and the related jobs and data files are loaded, saved, or verified.
4-10
4.3 Operation
For single selection mode For related selection mode

JOB EDIT DISPLAY UTILITY JOB EDIT DISPLAY UTILITY
JOB CONTENT JOB CONTENT

JOB NAME TEST STEP NO. 000 JOB NAME JOB-1 STEP NO. 000
CONTROL GROUP R1 TOOL 00 CONTROL GROUP R1 TOOL 00
0000 NOP 0006 CALL JOB:JOB-11
0001 MOVJ VJ=50.00 0007 MOVJ VJ=50.00
0002 MOVL V=276 0008 MOVJ VJ=50.00
0003 WVON WEV#(1) 0009 MOVJ VJ=50.00
0004 ARCON ASF#(1) 0010 MOVL V=276
0005 MOVL V=138 0011 MOVL V=276
0006 MOVL V=138 0012 WVON WEV#(1)
0013 TIMER T=0.5
MOVJ VJ=100.00
Main Menu ShortCut Main Menu ShortCut
Only the selected jobe is JOB CONTENT

JOB NAME JOB-11 STEP NO. 000
loaded, saved, and collated. CONTROL GROUP R1
0000 NOP
TOOL 00
0001 'CHILD JOB

0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 MOVL V=276
0005 TIMER T=1.00
JOB EDIT 0006
DISPLAY DOUT OT#(1) ON
WEAVING CONDITION JOB EDIT DISPLAY UTILITY

WEAVING COND. NO.
MODE : SINGLE TOOL
: SMOOTH TOOL NO. 00
SPEED TYPE : FREQ MOVJ VJ=100.00
FREQUENCY : 3.5 Hz NAME dhhh
<PATTERN>
VERTICAL : 1234.567 mm Main Menu ShortCut X -12345.678 mm Rx -123.45 deg.
HORIZONTAL : 1234.567 mm Y 0.000 mm Ry 0.000 deg.
ANGLE : 123.40 deg
TRAVEL ANGLE : 0.00 deg Z 50.000 mm Rz 0.000 deg.
<TIMER MODE> W 0.000 kg
POINT 1: WEAV STOP 2: WEAV STOP
3: WEAV STOP 3: WEAV STOP
<MOTION TIME> 1: 0.1 sec 2: 0.1 sec Xg 9999.000 mm Ix 0.000 kg.m2
3: 0.1 sec 3: 0.1 sec
Yg 0.000 mm Iy 0.000 kg.m2
Zg 0.000 mm Iz 0.000 kg.m2
Main Menu ShortCut
Main Menu ShortCut
The selected job and the data file

and related job are loaded, saved
and collated.
" Switching Selection Mode
1 Press the page key in the GO BACK
external memory job list dis- Each time the page key is pressed, the displays in “single
PAGE
play. selection mode” and in “related selection mode” appears alter-

nately.
TEST007
PAGE
Main Menu ShortCut
4-11
4.3.5 Selecting Job and Data File

There are two ways to select a job and various data files to be loaded, saved, verified, or
deleted.
" EACH Selection

Selects job and data file one by one.
" BATCH Selection

Selects all the jobs and data files at once.
For BATCH selection, proceeds the following operation.
1 Select {EDIT} of the menu in The pull down menu is displayed.

the external memory job list
display or the file selection dis-
play.
SELECT ALL
PC (SAVE) NO. 7
1 SLECT MARKER (*)
TEST002
TEST005
CANCEL SELECT
PAGE
Main Menu ShortCut
2 Select {SELECT ALL}.
The transmission procedure is the same as for DCI function. Refer to Section 3.7 “Transmis-
sion Procedure”.
4-12
5.1 File Data Transmission Function
5 Host Control Function
The NX100 supports the host control function which carries out the following file data transfer
or robot control according to the commands given by the host computer.
• File data transfer function

• Robot control function
To use the host control function, the following settings should be made.
• The “COMMAND REMOTE” described in Chapter 8 “Remote Function Setting”, should be

set valid (marked with “-”).
• The parameter RS000 should be set to “2”.
• The host control function should be validated. Whether the host control function is vali-
dated, can be verified in the “remote display” described in Section 2.1.3 “Display in Com-
mand Remote Mode”.
According to commands from a host computer, the host control function sends the stored data
of user memory of the NX100 to the host computer or receives data from the host computer.
The following data can be transmitted between the NX100 and a host computer. The system
information can be sent only to a host computer.
• Job data
• Condition file/General data
• System information
5.1.1 Transmission Procedure

" Load
The transmission from a host computer to the NX100 proceeds as follows.
Host computer → NX100

1. The ENQ code is sent from the host computer to establish a data link.
2. After the data link is established, the data is sent from the host computer.
3. After the transmission is completed, the host computer should get ready to receive.
4. After the data link is established, a response to the data sent from the host computer is
returned from the NX100 to terminate the transmission.
5-1
The data type is distinguished by the header number and the subcode number. Refer to the
header number list.
ENQ
ACK0
*3
ACK1
STX Data ETB BCC

Host computer
ACK0
NX100
STX Data ETX BCC
*1
ACK
EOT
ENQ
ACK0
*2
SOH 90, 000 STX Data ETX BCC
ACK1
EOT
Loading File Data (Host Control Function)
*1 ACK0 or ACK1
*2 Normal completion : 0000CR (ASCII code)
Abnormal completion : “Integer except 0000”CR (ASCII code)
*3 File name : CR (File name does not include extension)
" Save
The transmission from the NX100 to a host computer proceeds as follows.
NX100 → Host computer

1. The ENQ is sent from the host computer to establish a data link.
2. After the data link is established, a request to send is sent from the host computer.
3. The request to send consists of a header number and a subcode number. Refer to the
header number list.
4. After the request to send is accepted, the host computer should get ready to receive
data. The NX100 sends the ENQ code to establish a data link
5. After the data link is established, receive the data sent from the NX100. The transmis-
sion terminates at completion of reception. If the data requested to send are not found,
or the header of the request to send has an error, the NX100 sends the following
response message instead of data. Check the header and take an appropriate action.
SOH 90,000 STX DATA CR ETX BCC
5-2
ENQ
ACK0
*2
SOH 02, 051 STX File name ETX BCC
ACK1
EOT
ENQ
Host computer
ACK0
NX100
ACK1
STX Data ETB BCC
STX Data ETX BCC

*1
ACK
EOT
Saving File Data (Host Control Function)
*1 ACK0 or ACK1
*2 File name : CR (File name does not include extension)
5.1.2 Data Management

The jobs for the NX100 may refer to another job or condition data according to instructions.
When saving a single job or condition data to the host computer, the correspondence between
job and files should be controlled.
To reduce this labor, the related jobs and condition data can be transmitted in a batch as the
related job data. When specification of “related job data” is made, the master job, the related
job, and the related condition data are transmitted sequentially. The header number and the
subcode number indicate that the related job data are added.
Refer to the header number list.
5-3
5.2 Robot Control Function
To control manipulators by a host computer, the host control function can executes the com-
mands listed in the outline.
5.2.1 Command Transmission

The command transmission proceeds as follows.
2. After the data link is established, commands are sent. Commands and file data are
distinguished by the header number. Refer to the header number list. The transmis-
sion of a command should be completed in a single block. The NX100 cannot receive
divided single command, nor receive to execute more than one command in a single
block.
3. After the sending is completed, the host computer should get ready to receive. The
NX100 sends the ENQ code to establish a data link.
4. After the data link is established, the NX100 sends the response for the command and
terminates the transmission. The command format and the response format are
explained in the following.
For the command that requires returning data as a response, the response format at normal
completion of transmission is as shown in (2).
Command Format
SOH 01,000 STX COMMAND Data1, Data2, Data3 CR ETX BCC
Response Format
(1) SOH 90,000 STX {0000 or Error code} CR ETX BCC
0000 : Normal completion
Error code : Number with 4 digits other than 0000. In case of smaller than 1000, 0
is added before the number.
(2) SOH 90,001 STX Data1, Data2, DataN CR ETX BCC
If the NX100 cannot execute the sent command, the NX100 returns an interpreter message.
An example of DELETE command (delete a job) is shown.
5-4
ENQ
ACK0
SOH 01,000 STX DELETE WORK-A CR ETX BCC
ACK1
Host computer
EOT
NX100
ENQ
ACK0
SOH 90,000 STX 000 CR ETX BCC
ACK1
EOT
Sending Command from Host Computer
5.2.2 List of Interlock for Commands of Host Control Function

The executability of each command differs depending on the status of the NX100 as shown in
the following table.
Only Read
Read/Write Enabled
Enabled
Non-alarm/Non-error
Command Name Non-
Teach Mode Play Mode Alarm/ alarm/ Alarm/
Error Non- Error
Operat- Operat- error
Stop Stop
ing ing
RALARM . . . . . . .
RPOSC . . . . . . .
RPOSJ . . . . . . .
Read or
RSTATS . . . . . . .
Monitor
RJSEQ . . . . . . .
JWAIT . . . . A . A
RGROUP . . . . . . .
RJDIR . . . . . C C
Read or
RUFRAME . . . . . C C
Data
UPLOAD . . . . . C C
Access
SAVEV . . . . . C C
5-5
Only Read
Read/Write Enabled
Enabled
Non-alarm/Non-error
Command Name Non-
Teach Mode Play Mode Alarm/ alarm/ Alarm/
Error Non- Error
Operat- Operat- error
Stop Stop
ing ing
HOLD . . . . . C C
RESET . . . . . C C
CANCE . . . . . C C
MODE . . . . ./A*3 C C
CYCLE . . . . ./A*3 C C
Operation SVON 0 (OFF) . . . . . C C
SVON 1 (ON) . . . . A C C
HLOCK . . . . . C C
MDSP . . . . . C C
CGROUP . . . . . C C
CTASK . . . . . C C
START M M ./H*1 MOVE/.*2 A C C

MOVJ M M ./H*1 MOVE/.*2 A C C
MOVL M M ./H*1 MOVE/.*2 A C C
Activation
IMOV M M ./H*1 MOVE/.*2 A C C
PMOVJ M M ./H*1 MOVE/.*2 A C C
PMOVL M M ./H*1 MOVE/.*2 A C C
DELETE . MOVE M M A C C
CVTRJ . MOVE M M A C C
CVTSJ . MOVE M M A C
Editing MOVE M C
WUFRAME . M A C
DOWNLOAD . ./MOVE*4 . ./MOVE*4 A C C
LOADV . . . . A C C
Job SETMJ . MOVE . MOVE A C C

selection JSEQ . MOVE . MOVE A C C
5-6
<Interpreter message>
. : Possible to execute
A : Alarm/error occurring 2060
M : Incorrect mode 2080
H : Hold 2020 to 2050
MOVE : Manipulator moving 2010
C : No command remote setting 2100
*1 “.” if not being held ; “H” if being held

*2 “MOVE” if the manipulator is moving by operation other than command ; “.” if the
manipulator is moving by command since a single command can be accepted.
*3 “.” during an alarm ; “A” during error
5.2.3 Command that Handle Axis Data

The data transmission function of the NX100 has restrictions on handling control axis data.
Since the manipulator axes are fixed to a six-axis set, any manipulator having more than
seven axes cannot use the following commands.
A base axis and a station axis are recognized as an external axis. Up to three base axes can
be used. With station axis data added to the base axis data, up to six axes can be handled.
This applies to the following commands.

RPOSJ, RPOSC, RUFRAME
MOVJ, MOVL, IMOV, PMOVJ, PMOVL, WUFRAME
5.2.4 Response to MOV-type Command

The responses to MOV-type command are as follows.
• If the manipulator is moving by operations other than commands, the interpreter message
2010 (manipulator moving) is returned and the manipulator does not move.
• If the manipulator is in stop status, it turns ON the start lamp and moves according to the
command, and returns a response immediately.
• If the manipulator is moving according to the previous commands, only a single command
is accepted and the response is held up. After completing execution of the preceding
commands, when starting execution of the suspended command, the manipulator returns
a response.
This applied to the following commands.

MOVJ, MOVL, IMOV, PMOVJ, PMOVL
5-7
5.2.5 Status Read Function

The details of each command are described.
" Read/Monitor Command

RALARM
Reads the error alarm code. Although the NX100 has the subcode to error code, it cannot
read by RALARM because the command has no argument of the subcode.
Command format : RALARM

Response format : Data-1, Data-2, )))), Data-10 or Error code
Data-1 = Error code (0 to 9999)

Data-2 = Error data (0 to 256)
Data-3 = Alarm code (0 to 9999)
Data-4 = Alarm data (0 to 256)
<Example>
Command RALARM
Response 0, 1234, 12, 0, 0, 0, 0, 0, 0
RPOSJ
Reads the current position in joint coordinate system.
Command format : RPOSJ

Response format : Data-1, Data-2, )))), Data-12 or Error code
Data-1 = Number of S-axis pulses

Data-2 = Number of L-axis pulses
Data-3 = Number of U-axis pulses
Data-4 = Number of R-axis pulses
Data-5 = Number of B-axis pulses
Data-6 = Number of T-axis pulses
Data-7 = Number of 7th axis pulses
5-8
<Example>
Command RPOSJ
Response 500, 2600, 1250, 10789, 624, 36, 0, 0, 0, 0, 0, 0
RPOSC
Reads the current position in a specified coordinate system. Whether there is an external axis
or not can be specified.
Command format : RPOSC Data-1, Data-2
Data-1 = Specification of coordinate system

0 : Base coordinate
1 : Robot coordinate
2 : User coordinate 1
Data-2 = With or Without external axis

0 : Without external axis
1 : With external axis
Response format : Data-1, Data-2, )))), Data-14
Data-1 = X coordinate value (unit : mm, significant 3 decimal points)

Data-2 = Y coordinate value (unit : mm, significant 3 decimal points)
Data-3 = Z coordinate value (unit : mm, significant 3 decimal points)
Data-4 = Wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-5 = Wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-6 = Wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-7 = Type
Data-8 = Tool number (0 to 23)
Data-9 = Number of 7th axis pulses (for travel axis, mm)
Data-11 = Number of 9th axis pulses (for travel axis, mm
• Data-9 to Data-14 are added only when “With external axis” is specified.
• If the specified user coordinate system is undefined, an error occurs.
• The data of type is represented by the following bit data coded into a decimal number.
5-9
D5 D4 D3 D2 D1 D0
0 : Flip 1 : No flip
0 : Upper arm 1 : Lower arm
0 : Front 1 : Back
0 : R<180 1 : R>=180
0 : T<180 1 : T>=180
0 : S<180 1 : S>=180
<Example>
Command RPOSC 2, 0
Response 100.0, 50, 34, 12.34, 180.0, 0, 0, 0, 0, 0, 0
RSTATS
Reads the status of mode, cycle, operation, alarm error, and servo.
Command format : RSTATS
Response format : Data-1, Data-2 or Error code
Data-1
MSB LSB
Step
1 cycle
Auto
Running
Safety speed operation
Teach
Play
Command remote
Data-2
MSB LSB
Hold (parogramming pendant)

Hold (external)
Hold (command)
Alarm occuring
Error occuring
Servo ON
<Example>
Command RSTATS
Response 1, 0
5-10
RJSEQ
Reads the current job name, line No. and step No.
Command format : RJSEQ
Response format : Data-1, Data-2, Data-3 or Error code
Data-1 = Read job name (8 characters which can be processed in MS-DOS)

Data-2 = Read line No. (0 to 9999)
Data-3 = Read step No. (0 to 999)
<Example>
Command RJSEQ
Response WORK-A, 10, 5
JWAIT
JWAIT is for checking operations (job) of the manipulator. If a response is returned immedi-
ately after the job is started, in such a case with START command, completion of the job can-
not be known.
Specify a waiting time as an operand for JWAIT command.
No response is sent out until the operation of manipulator is completed or the specified waiting
time has elapsed. JWAIT returns as a response, the information whether the operation has
completed or not.
Command format : JWAIT Time
Time = Waiting time (-1.0 to 32767 sec.)

-1.0 indicates infinite time.
Response format : Data or Error code
Data = Operation status (0 : completed, -1 : not completed)
Waits for stop of job execution. The response varies depending on the following status.
<Status> <Response>
END or PAUSE execution during waiting time Completed
Step execution during waiting time Completed
Stopped by hold, alarm, emergency stop, servo OFF during Not completed
waiting time
Stopped by changing mode during waiting time Not completed
Test run is interrupted during waiting time Not completed
5-11
<Status> <Response>
Waiting timeup Not completed
Stopped (including when the control power ON) Completed
Stopped (hold) Interpreter message 2020 to 2050
Stopped (Elmer/error occurring) Interpreter message 2060
Stopped (servo OFF) Interpreter message 2070
<Example>
Command JWAIT 10
Response 0000
RGROUP
Reads the current control group set by CGROUP command or CTASK command, and the
task selection status.
Command format : RGOUP
Response format : Data-1, Data-2, Data-3 or Error code
Data-1 = Robot control group information. The control group information differs depending
on the number of manipulators in the system.
D15 D14 D13 D12 D11 D10 D09 D08 d07 D06 D06 D05 D04 D03 D02 D01 D00
R1: Robot 1
R2: Robot 2
R3: Robot 3
R4: Robot 4
5-12
Data-2 = Station control group information. The control group information differs depending
on the number of manipulators in the system.
S1: Station 1
S2: Station 2
S3: Station 3
S4: Station 4
S5: Station 5
S6: Station 6
S7: Station 7
S8: Station 8
S9: Station 9
S10: Station 10
S11: Station 11
S12: Station 12
Data-3 = Task information

0 : Master task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
In a system where independent control is not allowed, “0” is returned.
<Example>
Command RGROUP
Response 2, 1, 0
The above example shows that the current control group is robot1, robot 2 and station 1, and
the task selection status is master task.
" Read/Data Access System Commands

RJDIR
Reads all job names, or the names of jobs related to the parent job.
Command format : RJDIR Job-Name
Job-Name = All the job names currently registered

= Parent job name (8 characters which can be processed in MS-DOS)
If a parent job name is specified, RJDIR reads the name of related jobs excluding the parent
job. If there is no related child job, the command returns the null list. If the parent job has
related child jobs but they are not registered in the system, an error occurs.
5-13
Response format : Name-1, Name-2, )))), Name-N or Error code
Name-1 = Job name-1 (8 characters)

Name-2 = Job name-2 (8 characters)
Name-N = Job name-N (8 characters)
<Example>
Command RJDIR MASTER-1
Response WORK-A, WORK-B, SAMPLE-1
RUFRAME
Reads a specified user coordinate data.
Command format : RUFRAME Data-1
Data-1 = User coordinate No.

0 : Reserved
1 : Reserved
Response format : Data-1, Data-2, )))) Data-28
Data-1 = ORG X coordinate value (unit : mm, significant 3 decimal points)

Data-2 = ORG Y coordinate value (unit : mm, significant 3 decimal points)
Data-3 = ORG Z coordinate value (unit : mm, significant 3 decimal points)
Data-4 = ORG wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-5 = ORG wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-6 = ORG wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-7 = ORG type
Data-8 = XX X coordinate value (unit : mm, significant 3 decimal points)
Data-9 = XX Y coordinate value (unit : mm, significant 3 decimal points)
Data-10 = XX Z coordinate value (unit : mm, significant 3 decimal points)
Data-11 = XX wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-12 = XX wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-13 = XX wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-14 = XX type
Data-15 = XY X coordinate value (unit : mm, significant 3 decimal points)
Data-16 = XY Y coordinate value (unit : mm, significant 3 decimal points)
Data-17 = XY Z coordinate value (unit : mm, significant 3 decimal points)
Data-18 = XY wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-19 = XY wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-20 = XY wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-21 = XY type
Data-22 = Tool No. (0 to 23)
5-14

• ORG, XX, XY coordinates are read in the base coordinate system.

• In a system having no external axis, Data-23 to Data-28 are “0”.
• If the specified user coordinate system is not registered, an error occurs.
• If the group axis of the specified user coordinate system is not R1, an error occurs.
• If ORG, XX, and XY have different base axis data, an error occurs.
<Example>
Command RUFRAME 2
Response 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, )))), 0
SAVEV
Sends variable data to a host computer.
Command format : SAVEV Data-1, Data-2
Data-1 : Type of variables

0 : Byte type variables
1 : Integer type variables
2 : Double precision type variables
3 : Real number type variables
4 : Robot axis position type variables
5 : Base axis position type variables
6 : Station axis position type variables (only pulse type)
Data-2 : Variable No.
Response format : Data-1, Data-2, Data-3, )))), Data-10 or Error code
Data-1 = Byte value / Integer value / Double precision integer value / Real number value /
Position data type
Position data type = 0 : Pulse type
1 : Cartesian type
(When the position data type is “0”)

Data-2 = Number of S-axis pulses / Number of base 1st axis pulses / Number of station 1st
axis pulses
Data-3 = Number of L-axis pulses / Number of base 2nd axis pulses / Number of station 2nd
axis pulses
Data-4 = Number of U-axis pulses / Number of base 3rd axis pulses / Number of station 3rd
axis pulses
5-15
Data-5 = Number of R-axis pulses / Number of base 4th axis pulses / Number of station 4th
axis pulses
Data-6 = Number of B-axis pulses / Number of base 5th axis pulses / Number of station 5th
axis pulses
Data-7 = Number of T-axis pulses / Number of base 6th axis pulses / Number of station 6th
axis pulses
Data-8 = Tool No.
(When the position data type is “1”)

Data-2 = Coordinate data
0 : Base coordinate
26 : Tool coordinate
27 : Master tool coordinate
Data-3 = X coordinate value / Base 1st Cartesian value (unit : mm, significant 3 decimal
points)
Data-4 = Y coordinate value / Base 2nd Cartesian value (unit : mm, significant 3 decimal
points)
Data-5 = Z coordinate value / Base 3rd Cartesian value (unit : mm, significant 3 decimal
points)
Data-6 = Wrist angle RX coordinate value (unit : degree (°), significant 2 decimal points)
Data-7 = Wrist angle RY coordinate value (unit : degree (°), significant 2 decimal points)
Data-8 = Wrist angle RZ coordinate value (unit : degree (°), significant 2 decimal points)
Data-9 = Form
Data of the form is a value obtained by converting the following bit data to decimal notation.
D5 D4 D3 D2 D1 D0
0 : Front 1 : Back
0 : R<180 1 : R>=180
0 : T<180 1 : T>=180
0 : S<180 1 : S>=180
Data-10 = Tool No.
<Example>
Command SAVEV 0, 0
Response 123
In the above example, 123, the value of byte type variable B000, is sent to the host computer.
5-16
5.2.6 System Control Function

" Operation System Commands
HOLD
Turns HOLD ON/OFF
Command format : HOLD [Data]
Data = Specification of HOLD ON/OFF status

(0 : OFF, 1 : ON)
Response format : 0000 or Error code
<Example>
Command HOLD 1
Response 0000
RESET
Resets an alarm of manipulator.
The transmission alarms can be reset only by the programming pendant.
Command format : RESET
<Example>
Command RESET
Response 0000
CANCEL
Cancels an error.
Command format : CANCEL
<Example>
Command CANCEL
Response 0000
5-17
MODE
Selects a mode.
Command format : MODE Mode-No
Mode-No.=1 or 2
1 : Teach mode
2 : Play mode
<Example>
Command MODE 2
Response 0000
NOTE This function can be used when the external mode switch is permitted on the OPERATING
CONDITION window.
CYCLE
Selects cycle.
Command format : CYCLE Cycle-No
Cycle-No = Cycle specification (1 to 3)

1 : Step
2 : 1 cycle
3 : Auto
<Example>
Command CYCLE 2
Response 0000
SVON
Turns servo power supply ON/OFF.
To turn the servo ON/OFF by this command, connect the external servo ON (EXSVON) signal
29 of the input terminal block for the manipulator, to 30.
Command format : SVON Data
Data = Specification of servo power supply ON/OFF status

(0 : OFF, 1 : ON)
5-18
<Example>
Command SVON 1
Response 0000
HLOCK
Sets an interlock between the programming pendant and I/O operation signals. While the
interlock is ON, all operations except the followings are prohibited.
• Emergency stop from the programming pendant
• Hold and emergency stop from the playback panel
• Input signals except I/O mode change, external start, external servo ON, cycle change, I/
O prohibited, P.P/PANEL prohibited, and master call
HLOCK is invalid while the programming pendant is in edit mode or accessing to a file for
other function.
Command format : HLOCK Data
Data = Interlock status setting (0 : OFF, 1 : ON)
<Example>
Command HLOCK 1
Response 0000
MDSP
Receives message data and displays the message in the remote display of the programming
pendant. If the currently shown display is not the remote display, it is changed forcibly to the
remote display to display the MDSP command message.
Command format : MDSP Data
Data = Message to be displayed (Max. 30 characters)

<Example>
Command MDSP auto running
5-19
Response 0000
REMOTE
IO and Command mode
CURR
PREV
DISP
EXEC CANCEL
Main Menu ShortCut
CGROUP
Changes an objective control group of various commands used in the host control function.
The NX100 can support multiple number of manipulators and stations. In this case, CGROUP
is used when any control group for commands such as RPOSC is to be changed.
When the power supply is started up, robot 1, base 1, and station 1 (when a base and a sta-
tions exist) are specified.
Command format : CGROUP Data-1, Data-2
Data-1 = Robot control group specification. A control group can be specified according to
the following data. However, the following settings cannot be made.
• Selection of control axis which does not exist

• Specification of multiple number of manipulators
In a system with a base axis (such as travel axis), when the manipulator with this base axis is
specified, this base axis is automatically specified.
R1: Robot 1
R2: Robot 2
R3: Robot 3
R4: Robot 4
Data-2 = Station control group specification. A control group can be specified according to
the following data. However, the following settings cannot be made.
• Selection of control axis which does not exist

• Specification of multiple number of manipulators
5-20
S1: Station 1
S2: Station 2
S3: Station 3
S4: Station 4
S5: Station 5
S6: Station 6
S7: Station 7
S8: Station 8
S9: Station 9
S10: Station 10
S11: Station 11
S12: Station 12

<Example>
Command CGROUP 2, 1
Response 0000
In the above example with two manipulators, robot 2 and station 1 are validated. By issuing
RPOS after this command is issued, the current positions of robot 2 and station 1 can be read.
CTASK (Optional)
Changes the task for control in the host control function.
When the power supply is started up or in a system where an independent control is not
allowed, this command is to be used as follows.
For details, refer to Section 5.3 “Commands for Multi-control Group and Independent Control
Functions”.
• When the power supply is started up, a master task is selected as an task to be con-
trolled.
• CTASK cannot be used in a system where an independent control is not allowed.
Command format : CTASK Data-1
Data-1 = Specified task

0 : Master task
1 : Sub 1 task
2 : Sub 2 task
3 : Sub 3 task
4 : Sub 4 task
5 : Sub 5 task
6 : Sub 6 task
7 : Sub 7 task
5-21
<Example>
Command CTASK 1
Response 0000
" Start-up System Commands

START
Starts a job.
If a job name is specified for an operand, the relation between the job and the master job is
checked and the execution is started from the beginning of the job. If no job name is speci-
fied, the execution is started from the current line number of the set execution job.
Command format : START [Job-Name]
Job-Name = Starting job name (8 characters)

Can be omitted.
<Example>
Command : START WORK-A
Response : 0000
MOVJ
Moves a manipulator to a specified coordinate position in joint motion.
Command format : MOVJ Data-1, Data-2, )))), Data-16
Data-1 = Motion speed (0.01 to 100.0%)

Data-2 = Coordinate specification
0 : Base coordinate

Data- 4 = Y coordinate value (unit : mm, significant 3 decimal points)
Data-9 = Type
5-22

• In a system without external axis, Data-11 to Data-16 should be set to “0”.

• If a specified user coordinate is not defined, an error occurs.
<Example>
Command MOVJ 50.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
MOVL
Moves a manipulator to a specified coordinate position in linear motion.
Command format : MOVL Data-1, Data-2, )))), Data-17
Data-1 = Motion speed selection (0 : V (speed), 1 : VR (posture speed))

Data-2 = Motion speed (0.1 to +++.++ mm/s, 0.1 to +++.+° /s)
0 : Base coordinate

Data-5 = Y coordinate value (unit : mm, significant 3 decimal points)
Data-10 = Type

5-23
<Example>
Command MOVL 0, 500.0, 2, 123.1, 50.34, 10.8, 180.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
IMOV
Moves a manipulator from the current position for a specified coordinate incremental value in
linear motion.
Command format : IMOV Data-1, Data-2, )))), Data-17

0 : Base coordinate
Data-4 = X coordinate incremental value (unit : mm, significant 3 decimal points)

Data-5 = Y coordinate incremental value (unit : mm, significant 3 decimal points)
Data-6 = Z coordinate incremental value (unit : mm, significant 3 decimal points)
Data-7 = Wrist angle TX incremental value (unit : degree (°), significant 2 decimal points)
Data-8 = Wrist angle TY incremental value (unit : degree (°), significant 2 decimal points)
Data-9 = Wrist angle TZ incremental value (unit : degree (°), significant 2 decimal points)
Data-10 = Reserved

<Example>
Command IMOV 0, 100.0, 2, 10.0, 10.0, 10.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
5-24
PMOVJ
Moves a manipulator to a specified pulse position in joint motion.
Command format : PMOVJ Data-1, Data-2, )))), Data-14
Data-1 = Motion speed (0.01 to 100.0 %)

<Example>
Command PMOVJ 20.0, 100, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
PMOVL
Moves a manipulator to a specified pulse position in linear motion.
Command format : PMOVL Data-1, Data-2, )))), Data-15

5-25

<Example>
Command PMOVL 0, 123.0, 10, 200, 300, 400, 500, 0, 0, 0, 0, 0, 0, 0, 0
Response 0000
" Editing System Commands

DELETE
Deletes a specified job.
Command format : DELETE Job-Name
Job-Name = Job name to be deleted (8 characters which can be processed in MS-DOS)

= * : Delete all jobs
<Example>
Command DELETE WORK-B
Response 0000
CVTRJ (Optional)
Converts a specified job to a relative job of a specified coordinate.
Command format : CVTRJ Data-1, Data-2
Data-1 = Name of job to be converted

Data-2 = Conversion coordinate system specification
0 : Base coordinate
26 : Reserved
• If the specified user coordinate is not defined, an error occurs.
<Example>
Command CVTRJ TESTJOB, 2
Response 0000
5-26
NOTE This function requires the relative job function of the NX100.
CVTSJ (Optional)
Converts a specified job to a standard job (pulse job) in a specified converting method.
Command format : CVTSJ Data-1, Data-2, Data-3
Data-1 = Name of job to be converted

Data-2 = Converting method specification
0 : Previous step regarded (B-axis sign same)
1 : Form regarded
2 : Previous step regarded (R-axis travel amount minimum)
Data-3 = Reference position variable. Position variable No. indicating the first step conver-
sion reference position when the previous step is regarded.
<Example>
Command CVTSJ SAMPLE01, 1, 0
Response 0000
In the above example, P000 is to be the reference point and the job “SAMPLE01” is converted
to a standard job with the form regarded.
NOTE This function required the relative job function of the NX100.
WUFRAME
Writes a user coordinate data to a specified user coordinate system.
Command format : WUFRAME Data-1, Data-2, )))), Data-29
Data-1 = User coordinate No.

0 : Reserved
1 : Reserved
Data-2 = ORG X coordinate value (unit : mm, significant 3 decimal points)

Data-3 = ORG Y coordinate value (unit : mm, significant 3 decimal points)
5-27
Data-4 = ORG Z coordinate value (unit : mm, significant 3 decimal points)

Data-5 = ORG wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-6 = ORG wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-7 = ORG wrist angle TZ (uunit : degree (°), significant 2 decimal points)
Data-8 = ORG type
Data-9 = XX X coordinate value (unit : mm, significant 3 decimal points)
Data-10 = XX Y coordinate value (unit : mm, significant 3 decimal points)
Data-11 = XX Z coordinate value (unit : mm, significant 3 decimal points)
Data-12 = XX wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-13 = XX wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-14 = XX wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-15 = XX type
Data-16 = XY X coordinate value (unit : mm, significant 3 decimal points)
Data-17 = XY Y coordinate value (unit : mm, significant 3 decimal points)
Data-18 = XY Z coordinate value (unit : mm, significant 3 decimal points)
Data-19 = XY wrist angle TX (unit : degree (°), significant 2 decimal points)
Data-20 = XY wrist angle TY (unit : degree (°), significant 2 decimal points)
Data-21 = XY wrist angle TZ (unit : degree (°), significant 2 decimal points)
Data-22 = XY type
• ORG, XX, and XY coordinate are written in the base coordinate system.
• It the group axis of the specified user coordinate system is not R1, an error occurs.
• For base axis data of ORG, XX, and XY, the same data should be used.
<Example>
Command WUFRAME 2, 600.0, 12.34, 500.0, 180.0, 0.0, 0.0, 0, )))), 0
Response 0000
5-28
LOADV
Receives variable data from a host computer and write it in a specified variable.
Command format : LOADV Data-1, Data-2, )))), Data-12
Data-1 = Type of variables

0 : Byte type variables
1 : Integer type variables
2 : Double precision type variables
3 : Real number type variables
4 : Robot axis position type variables
5 : Base axis position type variables
6 : Station axis position type variables (only pulse type)
Data-2 = Variable No.

Data-3 = Byte value / Integer value / Double precision type integer value / Real number value
/ Position data type
Position data type = 0 : Pulse type
1 : Cartesian type
(When the position data type is 0)

Data-4 = Number of S-axis pulses / Number of base 1st axis pulses / Number of station 1st
axis pulses
Data-5 = Number of L-axis pulses / Number of base 2nd axis pulses / Number of station 2nd
axis pulses
Data-6 = Number of U-axis pulses / Number of base 3rd axis pulses / Number of station 3rd
axis pulses
Data-7 = Number of R-axis pulses / Number of base 4th axis pulses / Number of station 4th
axis pulses
Data-8 = Number of B-axis pulses / Number of base 5th axis pulses / Number of station 5th
axis pulses
Data-9 = Number of T axis pulses / Number of base 6th axis pulses / Number of station 6th
axis pulses
Data-10 = Tool No.
(When the position data type is 1)

Data-4 = Coordinate data
Coordinate data = 0 : Base coordinate
27 : Master tool coordinate
5-29
Data-5 = X coordinate value / Base 1st axis Cartesian value (unit : mm, significant 3 decimal
points)
Data-6 = Y coordinate value / Base 2nd axis Cartesian value (unit : mm, significant 3 decimal
points)
Data-7 = Z coordinate value / Base 3rd axis Cartesian value (unit : mm, significant 3 decimal
points)
Data-8 = Wrist angle RX coordinate value (unit : degree (°), significant 2 decimal points)
Data-9 = Wrist angle RY coordinate value (unit : degree (°), significant 2 decimal points)
Data-10 = Wrist angle RZ coordinate value (unit : degree (°), significant 2 decimal points)
Data-11 = Form
Data of the form is a value obtained by converting the following bit data to decimal notation.
D5 D4 D3 D2 D1 D0
0 : Front 1 : Back
0 : R<180 1 : R>=180
0 : T<180 1 : T>=180
0 : S<180 1 : S>=180
Data-12 = Tool No.
<Example>
Command LOADV 0, 0, 123
Response 0000
In the above example, 123 is stored in the NX100 byte type variable B000.
" Job Selection System Commands

SETMJ
Sets a specified job as a master job.
At the same time, the specified job is set as a execution job.
Command format : SETMJ Job-Name
Job-Name = Job name to be set (8 characters which can be processed in MS-DOS)
<Example>
Command SETMJ WORK-C
Response 0000
5-30
JSEQ
Sets a job name and a line No.
Command format : JSEQ Data-1, Data-2
Data-1 = Job name to be set (8 characters which can be processed in MS-DOS)

Data-2 = Line No. to be set (0 to 9999)
<Example>
Command JSEQ WORK-A, 10
Response 0000
5.2.7 I/O Read/Write Function

The host control function can read out or write in (change) I/O signal status using the host
computer.
The following table shows the number of signals and the types of signals to be sent or
received by the host control function.
# : Possible to execute
Signal Signal Range (Qty) Classification Read-out Write-in
0xxxx 00010 to 01287 (1024) General input signal #
1xxxx 10010 to 11287 (1024) General output signal #
2xxxx 20010 to 21287 (1024) External input signal #
3xxxx 30010 to 31287 (1024) External output signal #
4xxxx 40010 to 40807 (640) Specific input signal #
5xxxx 50010 to 51007 (800) Specific output signal #
7xxxx 70010 to 79997 (7992) Auxiliary relay #
8xxxx 80010 to 80647 (512) Control status signal #
82xxx 82010 to 82127 (96) Pseudo input signal #
22xxx 22010 to 23287 (1024) Network input # #
5-31
" Transmission Procedure

The transmission from the host computer proceeds as follows.
2. After the data link is established, the data is sent from the host computer. The data
transmission should be completed in a single block.
3. After the request to send is accepted, the host computer should be ready to receive.
The NX100 sends the ENQ code to establish the data link.
4. After the data link is established, the data sent from the NX100 is received to terminate
the transmission at completion of receipt.
The read/write function can be distinguished by the header number. Refer to the header num-
ber list.
" Read-out of I/O Signal Status
ENQ
ACK0
SOH 04,051 STX DATA-1 CR ETX BCC
ACK1
Host computer
EOT
NX100
ENQ
ACK0
ACK1
EOT
DATA-1
Command format : Data-1, Data-2
Data-1 = Start No.
Data-2 = Number of data points
5-32
DATA-2
Response format (at normal completion) : Data-1, Data-2, )))), Data-256
Data-1 = First 8 points of data
Data-2 = Second 8 points of data
Data-256 = Last (up to 256th) 8 points of data

Response format (at abnormal completion) : SOH 90,000 STX Error code CR ETX BCC
Error code Number with 4 digits other than 0000
Number smaller than 1000, 0 is added before the number.
<Example>
When 3 points are read out from 70010
Command 70010, 3
Response 2, 0, 5
" Write-in of I/O Signal Status
ENQ
ACK0
ACK1
Host computer
EOT
NX100
ENQ
ACK0
ACK1
EOT
DATA-3
Command format : Data-1, Data-2, Data-3, Data-4, )))), Data-258
Data-1 = Start No.
Data-2 = Number of data points
Data-3 = First 8 points of data
Data-4 = Second 8 points of data
Data-258 = Last (up to 256th) 8 points of data
5-33
DATA-4
Response format (at normal completion) : 0000
Response format (at abnormal completion) : Number with 4 digits other than 0000
Number smaller than 1000, 0 is added before the
number.
<Example>
When status of 3 points is changed from 22010
Command 22010, 3, 4, 3, 12
Response 0000
5-34
5.3 Commands for Multi-control Group and Independent Control Functions
5.3 Commands for Multi-control Group and

Independent Control Functions
5.3.1 Commands for Multi-control Group

The NX100 can control more than one manipulator or station simultaneously. The following
commands are available for this multi-control function.
• CGROUP : Changing the control group

• RGROUP : Reading the control group and task selected status
The following table shows the combination which can be set by using the above commands.
R1 (robot 1) R2 (robot 2) R3 (robot 3) R4 (robot 4) S+*1
× × × × -
-*2 × × × ×
- × × × -
× - × × ×
× - × × -
× × - × ×
× × - × -
× × × - ×
× × × - -
*1 Either one station among S1 to S12 can be selected in a system having several sta-
tions.
*2 Base axes is included in robot axes.
The following commands have influence when the above commands are used. The opera-
tions of these commands are applicable to the set control group.
Read System Startup System Editing System

Commands Commands Command
RPOSJ MOVJ WUFRAME

RPOSC MOVL
RUFRAME IMOV
PMOVJ
PMOVL
5-35
5.3 Commands for Multi-control Group and Independent Control Functions
5.3.2 Commands for Independent Control Function

The NX100 supports the independent control function which can execute more than one job
simultaneously. For this independent function, the following commands are available.
• CTASK : Changing the tasks

• RGROUP : Reading the control group or task selected status
By using the above commands, a task to be controlled can be changed.

The following commands have influence when the independent control function is used.
$Job startup (START)

Starts up a job. When a job name specification is provided for operand, execution of that
job is started from the head of job as a task that is currently selected. When a job name is
not specified, all tasks that are currently set are executed from the current line No.
%Waiting for completion of startup (JWAIT)

As a response, returns the information whether the currently selected task operation has
been completed.
&Master job registration (SETMJ)

Sets a specified job as a master job, to the currently selected task.
'Job selection (JSEQ)

Sets a job name, a line No. to the currently selected task.
(Read of selected job (RJSEQ)

Reads the job name, line No., and step No. of the currently selected task.
/Read of status (RSTATS)

Returns the system status disregarding the selected task status.
However, the “running” status differs from the conventional status ; the “running” is entered
even if only one task was operating.
5-36
5.4 Alarm Codes
5.4 Alarm Codes
Code Contents Remarks
Data sending error The EOT code is sent out and

1 : NAK retry over the data link is canceled.
4112
2 : Timer A timeup retry over
3 : Alternating response error retry over
Data receiving error For 3 to 7, the EOT code is

1 : Receiving timeup (Timer A) sent out and the data link is
2 : Receiving timeup (Timer B) canceled.
3 : Short heading length
4113
4 : Long heading length
5 : Illegal header No.
6 : Text longer than 256 characters
7 : Receiving other than expected control code
Transmission hardware error The EOT code is not sent.

1 : Overrun error
2 : Parity error
4114
3 : Framing error
4 : Sending timeup (Timer A)
5 : Sending timeup (Timer B)
Transmission system block For 4, the EOT code is sent out

This alarm notifies that the transmission procedure is and the data link is canceled.
correct but the received contents makes inconsis-
tency in the system. Usually this alarm is resulted
from violation of rules on the other party or illegal noti-
4115 fication.
1 : EOT was received while waiting for ACK
2 : EOT was received while waiting for ENQ
3 : EOT was received before receiving the last block
4 : Code other than EOT was received after receiving
the last block
Transmission system error The EOT code is not sent.

This alarm notifies an error on processing of transmis-
sion system. This alarm occurs in the following
cases.
4206 100 Error in transmission task
• A job containing position type variable of which the
value is not set, was to be saved.
• A job which does not exist on the memory, was to be
saved.
5-37
5.5 Interpreter Message List
The interpreter messages are classified into the following categories.

• 1xxx : Command text general error
• 2xxx : Command execution mode error
• 3xxx : Command execution error
• 4xxx : Job registration error
• 5xxx : File contents error
Interpreter Message List
Code Contents
1010 Command error
1011 Error in number of command operands
1012 Command operand value range over
1013 Command operand length error
1020 Disk full of files
2010 Manipulator operating
2020 Hold by programming pendant
2030 Hold by playback panel
2040 External hold
2050 Command hold
2060 Error/alarm occurring
2070 Servo OFF
2080 Incorrect mode
2090 File accessing by other function
2100 Command remote not set
2110 This data cannot be accessed.
2120 This data cannot be loaded.
2130 Editing
3010 Turn ON the servo power.
5-38
Code Contents
3040 Perform home positioning.
3050 Confirm positions.
3070 Current value not made
3220 Panel lock ; mode/cycle prohibit signal is ON.
3230 Panel lock ; start prohibit signal is ON.
3350 User coordinate not taught
3360 User file destroyed
3370 Incorrect control group
3380 Incorrect base axis data
3390 Relative job conversion prohibit (at CVTRJ)
3400 Master call prohibit (parameter)
3410 Master call prohibit (lamp On during operation)
3420 Master call prohibit (teach lock)
3430 Robot calibration data not defined
3450 Servo power cannot be turned ON.
3460 Coordinate system cannot be set.
4010 Insufficient memory capacity (job registered memory)
4012 Insufficient memory capacity (position data registered memory)
4020 Job editing prohibit
4030 Same job name exists
4040 No specified job
4060 Set a execution job.
4120 Position data destroyed
4130 Position data not exist
4140 Incorrect position variable type
5-39
Code Contents
4150 END instruction for job which is not master job
4170 Instruction data destroyed
4190 Invalid character in job name
4200 Invalid character in label name
4230 Invalid instruction in this system
4420 No step in job to be converted
4430 Already converted
4480 Teach user coordinate.
4490 Relative job/Independent control function not permitted
5110 Syntax error (syntax of instruction)
5120 Position data error
5130 No NOP or END instruction
5170 Format error (incorrect format)
5180 Incorrect number of data
5200 Data range over
5310 Syntax error (except instruction)
5340 Error in pseudo instruction specification
5370 Error in condition data record
5390 Error in job data record
5430 System not matched
5480 Incorrect welding function type
5-40
6.1 Header Number List
6 Data List
Contents File Name
01, 000 Command from a external computer
02, 001 Single job data xxxxxxxx. JBI
002 Related job data xxxxxxxx. JBR
02, 051 Request for single job data xxxxxxxx. JBI
052 Request for related job data xxxxxxxx. JBR
02, 200 Tool data TOOL. CND
201 Weaving condition data WEAV. CND
202 User coordinate data UFRAME. CND
203 Welding start condition data ARCSRT. CND
204 Welding end condition data ARCEND. CND
218 Motor gun pressure data SPRESS.CND
219 Pressure data SPRESSCL.CND
220 Open/full open position data STROKE.DAT
221 Spot I/O allocation data SPOTIO.DAT
222 Air gun condition data AIRGUN.DAT
230 Air auxiliary condition ARCSUP.DAT
232 Variable data VAR. DAT
244 Shock detection level SHOCKLVL.CND
250 Power source condition data WELDER.DAT
251 Power source user definition data WELDUDEF.DAT
264 Spot gun condition data SGUN.DAT
6-1
Contents File Name
265 Spot welder condition data SWELDER.DAT
413 Clearance setting data CLEARNCE.DAT
240 System information SYSTEM. SYS
241 Alarm history data ALMHIST. DAT
02, 300 Request for tool data TOOL.CND
301 Request for weaving condition data WEAV.CND
302 Request for user coordinate data UFRAME.CND
303 Request for welding start condition data ARCSRT.CND
304 Request for welding end condition data ARCEND.CND
318 Request for motor gun pressure data SPRESS.CND
319 Request for pressure data SPRESSCL.CND
320 Request for open/full open position data STROKE.DAT
321 Request for spot I/O allocation data SPOTIO.DAT
322 Request for air gun condition data AIRGUN.DAT
330 Request for weld auxiliary condition ARCSUP.DAT
332 Request for variable data VAR.DAT
344 Request for shock detection level SHOCKLVL.CND
350 Request for power source condition data WELDER.DAT
351 Request for power source user definition data WELDUDEF.DAT
364 Request for spot gun condition data SGUN.DAT
365 Request for spot welder condition data SWELDER.DAT
513 Request for clearance setting data CLEARNCE.DAT
340 Request for system information SYSTEM.SYS
341 Request for alarm history data ALMHIST.DAT
03, 001 Byte type variable
002 Integer type variable
6-2
Contents File Name
003 Double precision type variable
004 Real number type variable
005 Robot axis position type variable (pulse type)
006 Robot axis position type variable (XYZ type)
007 External axis position type variable (pulse type)
008 External axis position type variable (XYZ type)
03, 051 Request for byte type variable
052 Request for integer type variable
053 Request for double precision type variable
054 Request for real number type variable
055 Request for robot axis position type variable (pulse type)
056 Request for robot axis position type variable (XYZ type)
Request for external axis position type variable (pulse

057
type)
058 Request for external axis position type variable (XYZ type)
04, 001 Request for write-in of I/O signals
051 Request for read-out of I/O signals
90, 000 Command or data response (normal/error)
001 Command or data response (data)
6-3
6.2 Parameter List
6.2 Parameter List

Parameter for Transmission
Initial
Value
S2C110 Programming pendant operation (in remote) specification
0 : Invalid
1 : Valid
D7 D6 D5 D4 D3 D2 D1 D0
Programming pendant servo ON

([SERVO ON READY] key) 0
Programming pendant servo ON
(Enable Switch)
Mode change
Master call
Cycle change
Start
Reserved
RS000 Standard port protocol specification
0 : NON
2
1 : System reserved
2 : BSC LIKE
3 : FC1
Parameter for Transmission (for BSC protocol)
Initial
Value
RS030 Number of data bits

8
7 : 7 (bit)
8:8
RS031 Number of stop bits
0 : 1 (bit) 0
1 : 1.5
2:2
6-4
6.2 Parameter List
Parameter for Transmission (for BSC protocol)
Initial
Value
RS032 Parity specification
0 : No specification 2
1 : Odd parity
2 : Even parity
RS033 Transmission speed specification
1 : 150 (baud rate)

2 : 300
3 : 600
7
4 : 1200
5 : 2400
6 : 4800
7 : 9600
8 : 19200
RS034 Timer A : Sequence monitoring timer

Serves as protection against invalid response or no
response 30
RS035 Timer B : Text reception monitoring timer

Serves as protection against no response of text
end character 200
RS036 Retry 1 : Number of resendings of a control character for

invalid response or no response
10
Setting range : 0 to 30
RS037 Retry 2 : Number of resendings of a text for a block check

error (reception of NAK)
3
Setting range : 0 to 10
RS038 Block check method

0
0 : Check sum
6-5
7 Comparison of Data Transmission
Functions
Comparison of Functions Related to Controller Basic Functionality
Function NX100 / XRC MRC
Multipart Function Not supported Supported

Setup Two ports are available for FC1 and data trans-
mission
• Serial processing is possible but parallel pro-
cessing impossible
• Not supported with MRC II.
Comparison of Functions Related to Data Transmission (DCI)
LOADJ, SAVEJ Supported Supported
LOADV, SAVEV Supported Supported
Comparison of Functions Related to Data Transmission (Stand-alone)
Job (Single/Related) Supported Supported

Save, Load, Verify
Condition data Save, Supported Supported

Load, Verify File names of option function are incompatible.
System data Save Supported Supported
Comparison of Functions Related to Data Transmission (Host Control)
UPLOAD, DOWN- Supported Supported

LOAD File names of condition data option function are
incompatible.
RALARM Supported Supported
RPOS Not supported Supported
7-1
RPOSJ Supported Supported
RSTATS Supported Supported
RJSEQ Supported Supported
RJDIR Supported Supported
RPOSC Supported Supported
JWAIT Supported Supported
RUFRAME Supported Supported
START Supported Supported
HOLD Supported Supported
RESET Supported Supported
CANCEL Supported Supported
DELETE Supported Supported
SETMJ Supported Supported
JSEQ Supported Supported
MODE Supported Supported
CYCLE Supported Supported
SVON Supported Supported
HLOCK Supported Supported
MDSP Supported Supported
MOVJ Supported Supported
MOVL Supported Supported
IMOV Supported Supported
PMOVJ Supported Supported
PMOVL Supported Supported
CVTRJ Supported Supported
WUFRAME Supported Supported
CGROUP Supported Supported

Control group information differs depending on
number of manipulators in a system.
RGROUP Supported Supported
CTASK Supported Supported
7-2
CVTSJ Supported Supported
SAVEV Supported Supported
LOADV Supported Supported
7-3
8 Remote Function Setting
Whether I/O remote control or command remote control should be enabled can be set in the
pseudo input display when selecting the remote mode in the management mode.
1 Select {IN/OUT} under the

main menu.
2 Select {PSEUDO INPUT SIG}.
3 Select an item. Select “INHIBIT IO” or “CMD REMOTE SEL”.

The item enabled is marked with “-“while the item disabled is
marked with “#“.
PSEUDO INPUT SIGNAL

SYSTEM SECTION
#82010
#82011
#82012
#82013
#82014 INHIBIT IO
#82015 CMD REMOTE SEL
#82016 INHIBIT PP/PANEL
#82017
PAGE
Main Menu ShortCut
When INHIBIT IO is marked with # (disabled), the I/O remote

function is enabled. When CMD REMOTE SEL is marked with -
(enabled), the command remote function is enabled.
When INHIBIT IO is marked with # (disabled), the I/O remote

function is enabled so that the operation from external I/O is
enabled with the programming pendant mode key set to
[REMOTE].
When INHIBIT IO is marked with - (enabled), the operation
from external I/O is disabled.
When CMD REMOTE SEL is marked with - (enabled), the host

control function is enabled with the programming pendant mode
key set to [REMOTE].
When CMD REMOTE SEL is marked with # (disabled), the
host control function is disabled.
When INHIBIT P.P/PANEL is marked with # (disabled), the

operation from P.P/PANEL is enabled even in remote mode.
When INHIBIT P.P/PANEL is marked with - (enabled), the
operation from P.P/PANEL is disabled, except for the operations
of emergency stop, hold, and remote key.
8-1
NX100 OPTIONS
INSTRUCTIONS
FOR DATA TRANSMISSION 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
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686 Fax 1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800 Fax 46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100 Fax 49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844 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 (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377 Fax 60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
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. RE-CKI-A445

for ongoing product modifications and improvements. C Printed in Japan August 2004 04-08

Data Transmission Function Manual NX - 100

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Motoman NX 100 Controller

Part Number: 152388-1CD

1.1 About This Document

1.2 Reference to Other Documentation

1.3 Customer Service Information

It is the purchaser’s responsibility to ensure that all local, county, state,

This safety section addresses the following:

2.2 Standard Conventions

2.3 General Safeguarding Tips

2.4 Mechanical Safety Devices

2.5 Installation Safety

2.6 Programming, Operation, and Maintenance Safety

YASKAWA MANUAL NO. RE-CKI-A445

• The drawings and photos in this manual are representative examples

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

• YASKAWA is not responsible for incidents arising from unauthorized

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

PROHIBITED Must never be performed.

Emergency Stop Button

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Stop

• Observe the following precautions when performing teaching operations

Improper or unintended manipulator operation may result in injury.

• Confirm that no person is present in the P-point maximum envelope of

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

Definition of Terms Used Often in This Manual

Equipment Manual Designation

NX100 Controller NX100

NX100 Programming Pendant Programming Pendant

Cable between the manipulator and the controller Manipulator Cable

Equipment Manual Designation

ex. page key PAGE

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

Keys pressed When two keys are to be pressed simultaneously,

Displays The menu displayed in the programming pendant is

Description of the Operation Procedure

2 For Using Data Transmission Function

5 Host Control Function

8 Remote Function Setting

• DCI (Data Communication by Instruction)

1.1 DCI Function

Load Job can be transmitted in either mode.

• Byte type global variables

1.2 Stand-alone Function

Load Job can be transmitted in either

System Information • System information

1.3 Host Control Function

Host Control Function

Load Jobs can be transmitted in either

System • System information

Host Control Function

• Read of error and alarm codes

2 For Using Data Transmission Function

2.1 Remote Mode

2.1.1 Remote Mode

• Set the mode key on the programming pendant to [REMOTE] TEACH

Operation-site Mode Operation-site Condition to Enable the Operation