ロボットモジュールシステム 取扱説明書1 ＝コントローラー
Contents
1.2.
3. 13 40 e e
4. RSTA 15 2 EXEA EXEA
5. 14 2 2 14 28 14 14 2 4 e 14 1 2
6. 250mm s 50mm s ul 11 1 11 11 2 EXEA
7. f v RUN 1 HOLD RUN r FT
8. 19 8 21 3 2 2 3 2 1 3 3 1 2 3
9. CSTP RUN l HOLD
10. 19 1 3 6 Ne HH Ne HH 2 2 2 2 2 EXEA EXEA 2 2 EE ad I
11. 7 2 5 Writing DATWT CN3 14 22 14 14 1 12 e 14 1 2 14 23 40C 40 C
12. 2 2 3 3 RA A EMC EMI EMS EMC
13. 1 EXEA 12 3 4
14. 9 11 1 1 9 23 MODE 1 1 1JOB 2TUN 4etc F4 F4 2 NSP 2 1CLR 2SAV 3LOD 4etc F1 F1
15. 14 12 e 14 1 2 74 72 3 1 2 14 1 2
16. 1 1 1 e E
17. 21 3 7 1 3 1 i 3 3 1 1 2 2 2 2
18. 100mm 11 4 11 11 3 2 1 MOTOR
19. AA CPU EXEA CPU 1 IT 4 1 4
20. 9 10 1 1 Writing Writing 9 27 MODE 1 1 4etc F4 F4 2 u1 2 2SAV 3LOD 4etc F2
21. 5 1 1 30A 1 2 8 4 e 7 75 MZS 1215 33
22. DC24V 109 DC24V 7 18 EXT IO _ 7 17 7 7 7 2 EXT IO 7 79 EX7 O PROG0 PROG6 UNTN0UNTN2 POSN0 lt POSN11 IN1 IN16 PROGn UNTNn POSNn USER 0 127 RUN RUN USER
23. 7 79 70 7 7 2 79 70 2 7 Writing Writing SYS U1 1CLR 2SAV 3LOD 4etc SYS S Push SET SET SYS S Writing Writing 5 Writing
24. 9 12 1 1 9 25 MODE 1 1 1JOB 2TUN 4etc F4 F4 2 2 1CLR 2SAV 3LOD 4etc F3 F3 Push SET SET SET Reading Readingd 2
25. UN IO I O i
26. 7 7 2 2 EXEA PH 200W PM 100W RH
27. 14 9 14 e 14 1 2 14 8 3 22 2 1 e 14 1 2 14 9 4 x EXEA
28. 22 2 1 3 1 21 2 3
29. 7 9 10 1 1 9 28 9 9 77 External 1 Sys TM 1RUN 2I0 3FNC 4etc MANU F4 Gain Mode Externa1 4 2 SYS1TM i y 4etc 0500 A AD F1 Position i 1 SYS8 TM 1 1RUN 2ORG 3JOG 4etc X020 0 020 0 AAD
30. 7 17 7 22 8 8 8 1 1 1 2 CN3 EMST ON 3
31. 7 15 7 7 6 2 7 76 AU EE CN5 CONT AC100V 110V AC200V 220V FGND EXEA 5 6 EXEA L AC100V 110V AC200V 220V Du ea cz 7 7 5 6 EXEA 1 7 16 7 7 7 EXT IO
32. 16 64 82 FIN 5 1 1 1 DC24V 5 2 DC24V DC24V 10 2A 250mA 24 24 C24V EX7 O
33. 1 2 0 YW 1RUN 20RG 3JOG 4etc N 2
34. ie 14 29 14 14 2 5 e 14 1 2 183 4 14 29
35. 2 16 Encoder1 loss 16 2 13 14 2 1 3 2 4
36. 5 6 EXEA M EXEA 2 1100 A 00 EXEA IO 32 1 1 2 2 3 3 4 4 IO 48 IO 64 1100 5 A AC2007220V C AC100 110V 400W rm T CE 200W AC200 240V 100W IO 16 5 3 2 EXEA 57 M EXTB03
37. gt s gt 13 9 13 13 4 3 73 8 7 LED LED DRDY WRN Overcurrent 3
38. 13 5 EXEA 73 5 4 8 2 4 3EXT 4etc F VER 2ALM 3DAT 4etc FE F1 4etc F Push SET SET SET
39. 0 200W 100W EXEA 200W 100W 2 0 11 3 6 CPU EXEA CPU CPU 2
40. AN 2927 2 4 3 3 EXEA 3 1 3 1 1 3 1 1 1 2
41. ON 7 7 6 9 9 7 1 0 1 1200 0 600 0 me mi IFmahmoge ONEAL ak Inconrog omow om mm me A homedreclon NWREV Rmw og Homesequene lt o ORG nomesh mm 0 seo9 0 Homemove mm essesg o Home movemode NopApsuiwC Nop lomeumtsee 6 eo mm
42. 5 10mm 5 10mm 79 5
43. HOLD F E 7 10 7 5 3 CN3 7 7 CM3 E gt ONLI SI CESISKES ss amp DODD TD
44. 9 4 4 2 8 2 9 1 SYS TUN e P A e 0 9 CLR e OFF IMODE 1
45. 2 9 3 4 2 8 2 9 1 SYS JOB LLMT Over travel e
46. 2 1RUN 2ORG 3JOG 4etc 0 250mm s 2
47. HOS RUN HOS RUN STOP HLD 2 CN3 SVON 14 7 14 14 1 3 e 14 1 2 74 6 7 13 4 NO
48. V 3 14 2 6 5 14 27 14 14 2 3 e 14 1 2
49. 3 4 CB OB 4 4 13 34 e 3 4 CB E E es s 13 18 e
50. 11 3 4 9 4 4 Position error over RDY 77 2 11 5 11 11 3 5
51. AC200V AC100V AC100V AC200V CPU 7 2 5 V V LED
52. 7 4 7 7 3 7 3 1 7 7 3 CN1 CN1 2 Sa 7 5 CN3 a CN3 O MOTOR SENSOR EXT UO 7 7 EXT UO
53. E7 2 CR F2 Soft OT limit 13 25 13 13 5 1 CN3 O e CN3 23 ACLR OFF ON 73 4 ACLR 13 5 2 MODE e CLR SET e CLR CLR SET
54. 13 1 2 LED 7 LED 1 4 E 13 1 73 7 1 2 13 1 13 13 1 3 8 E 1 4 73 2 External ALARM F4 EMST 1RUN 2I0 3 FNC 4etc
55. 2 8 1 8 8 1 2 EXEA 7 LED 7 LED LED
56. OFF 7 12 2 2 EXEA FGND 7 2 4 EXEA 2 3 2 2 2 1 EXEA 2 RAM
57. 9 5 1 14 19 14 e 14 1 2 7 20 2 F2
58. EXEA 8 1 EXEA X module Name X 9 5 2 Payload
59. s s e 14 2 2 e s s e 200V 100V s s 13 19 13 13 4 17 73 37 1
60. 3 1 1 4 2 2 EXEA 3 250mm
61. LT 1 2 e EXEA 1 2 1 1 3 1 3 1 2 3 3 4 4 R ZZ
62. LED F4 CNS3 RDY WRN F5 EMST 11 3 1 2 3 1 1 EMG 1 B CN1 2 CN1
63. 13 45 LED I EA SE 3 P1 Main Power voltage CO AN Hard OT limit 22 22 EMST F5 Prg 13 46 5 LED 1 po Overheat 1 heatsink P4 Overheat 2 register Ctrl Power voltage Encoder 1 loss Encoder 2 Position Encoder 2 Position ST 1 Memory 1 data 2 Memory 2 backup 3 Memory 3 write IMemory 4 code i _ J 4 E3 Memory 4 code CPU E6
64. 9 3 4 5 10mm e 10 2 CN8 11 11 11 1 e EXEA
65. 14 26 14 14 2 2 e 14 1 2 13 4 74 26 1 OFF 2
66. 1 1 1 6 3 20 3 21 1 1 1 2 1 3 1 4 1 5 3 19 1 7 2 18 1 8 1 9 2 18 1 10 1 11 2 15 2 16 2 18 2 17 2 18 1 12 1 13 1 14 3 22 EXEA
67. 14 5 14 e 14 1 2 7 3 14 2 1 NN V V
68. 19 1 3 19 1 3 6 9 10 9 9 3 1 4 8 2 9 1 SYS JOB PRG Locus speed
69. 9 gt 9 5 USR1 USR8 USR1 USR8 9 4 1 9 4 2 9 4 3 9 6 1 9 76 e 4 L 05 40 L 20 R 1
70. 9 4 2 2 8 2 9 1 SYS TUN e e 0 9 CLR e OFF IMODE 1 2 i U1
71. s s Hard OT Timer A3 2 0 13 21 13 13 4 19
72. 1 61 2 EXEA 50mm lt 0 50 50 U 1 2 4 3 4 8 6 2 7 a
73. 4 2 5 5 1 EXEA 5 1 1 5 1 M EXEA1 1000 M EXEA1 0100 M EXEA1 0010 0 9kVA 1 2kVA 2 0kVA L5kVA 2 4kVA 3 1kVA 1 8kVA LekVA 2 5kVA 2 0kVA 8 6kVA 2 4kVA 8 1kVA 4 0kVA M EXEA3 0030 4 7kVA L6kVA M EXEA4 3100 12 0kVA 2 9kVA 2 4kVA 8 3KVA 40kVA 2 7kVA 5 6KVA 4 8kVA pkVA 3 0KVA 39kVA 46kVA 5 SEVA 6 2kVA 5 EXEA AC100 110V AC200 220V 1 6kVA 100W 200W 400W 1000V jp8 akV 0 50C 20 85
74. 13 4 74 28 1 2 8 2 3 2 Ee 4 14 2 6 5 5
75. 2 PO P4 1 EX A PO P4 EXEA lt i 73 5 e s e s
76. 13 4 4 73 70 70V DC5V EXEA 73 77 es e e e
77. 4096 9 5 1 9 5 1 9 5 1 ll 9 5 1
78. 9 36 9 75 Externa1 1RUN 2I0 3FNC 4etc 1 F4 Externa1 2 4etc 1RUN 20RG 1 3J0G 4etc E4 1EDT 2TCH 2 a i3PAL 4etc F4 1SYS 2CTR 3 3TO 4etc F2 9 QEF Robot Type OFF 1 x X Module Name y lt 4 4 lA 4 SET OFF 2 Y Y Module Name 4
79. U1 1 U1 9 5 79 10 1 1 9 30 9 72 Externa1 1 1RUN 2I0 3ENC 4etc 1 Externa1 1 2 4etc 1RUN 20RG 3JOG 4etc 1 1EDT 2TCH 3F 2 1SYS 2CTR
80. 14 2 2 14 3 14 14 1 2 e 14 1 2 74 2 1
81. EXEA 73 20 e 13 13 13 13 4 9 73 27 7 LED LED DRDY WRN Encoder 8 battery 2 8V
82. 73 73 s e s s gt e s es
83. 250mm e e a lt
84. 7 479 7 9 3 4 2
85. e 0 9 CLR e OFT e IMODE 1 e 2 U1 1 U1 A 9 5 9 18 ZXAE 9 10 1 1 9 7 External 1RUN 2I0 3FNC 4etc 1 F4
86. 17 3 2 9 10 1 1 10 4 e 2
87. 17 3 1 17 4 3 A5 2 3
88. Home search speed Over travel Over travel F1 2 F2 FlL 2 1 Low Pass Filter 2 2 RC OL F1 CLR Position Error Over
89. A 73 78 e gt s ls 7 2 5 s gt s
90. e 13 23 1 13 13 44 2 PRG Origin not exe Cant make path Without CPS Undefined cmnd Can t restart R Prg not found Task full Unit offline Axis overlap Over travel Alarm Undefined PRG Duplicate PRG Undefined PAL Duplicate PAL Not Init PAL overlap PAL Without CHLD Cmnd mismatch Cantmake mov e 1 101 e CPS CPE e Can t make cir e CPS
91. 5 5 2 2 5 5 mm TEACHING BOX EMG F2 Fs F4 CC START sToP srop loNjprg X Y Z R TX20A 14PH1 D2P1 D1 5 6 5 5 3 5 3 1 EXEA EXEA 1 4 6 1 9 128 5000 45000
92. 01 00 00000000 00000000 XXXXXXXX XXXXXXXX e 3 RDY 2 RST e 2 1 1 0 1 x 1 1 0 x 0 F2 RST 2 14 34 e F1 NRM 14 33 14 14 2 6 2
93. Main Power PPP 2 400V 60V EXEA 13 7 AC400V
94. RUN 0 3999 RUN H 3 RS 3 4 OUT1 OUT16 FIN1 FIN8 1 FINn USER 4 1 PROG0 PROG6 IN1 IN7 RSRV IN8 USER IN9 1N16 2 USER OUT1COUT16 3 4 FIN1
95. 1 4 PTP 8 3 3 0 1 35m s EE4 2 4 2 CPU 3 let
96. RI e s 13 15 7 2 5 3 13 13 4 12 3 13 27 e EXEA
97. e e NN 7 2 5 HH 13 14 13 4 11 2 73 25 13 7 LED DRDY WRN E1 8 Memory 2 backup
98. 9 3 2 Home direction 14 10 14 14 1 4 e 14 1 2 74 70 7 13 4 NO 14 1 2 1 2
99. EXEA 7 17 EX7 O EXEA DCLC J37SAF 13L9 DC 837P N DC C8 J13 F1 1 7 7 1 EXT IO EXT IO EXT IO 3m
100. OFF 2 eS 2 1 EE 3 o R Module Name 1 10 10 C 10 11 2 USR1 3 9 34 9 9 14 P SS 0 Wi XY HRSHHH PH XY HRSHHH PM 9 15 R W mm 200 XY HRSH RS XY HRSH CRS 10 10 10 10 20 20
101. 14 36 14 14 2 6 5 I O BRK IO B 2 2 14 40 3USR
102. e Writing Writing SY8 U1 1CLR 2SAV 3LOD 4etc F2 SY8 8 Push SET ISET syYs 8 Writing
103. F2 SAV F3 LOD 9 2 9 2 gx 9 Locus speed Locus accel Max speed Max accel Finish width Finish mode Fincontrol LFinouttme Home speed Home accel FIN FIN Home search speed Home direction Home sequence Home shift Home move Home move mode
104. i CN2 7 4 CN2 RS 232C RS 232C CN4 CN5 7 6 CN4 CN5 7 5 7 7 3 2 7 1 X CN1 1 1st MOTOR 1 1st SENSOR DC24V 2A 2nd MOTOR 2nd SENSOR 4h MOTOR 4th SENSOR CN3 Oia 24V COMI EMST lo 1 o EMST EXTLUO P1 a a 24V 7 60 V G 3 EXT I O P4 1 oo 1st 2 8 P2
105. CPU 13 73 3 2 Over travel 1 MENU 18 1 8 2 CPU
106. JO EMST EMST B DC24V REXEA DC24V EMST OFF 7 6 CV3 1 1 DCLC J37SAF 13L9 DC 37PF N DC C8 J13 F1 1 7 5 1 CN3
107. MAN Velocity Loop Gain Observer Gain Position Loop Gain 4 1
108. 0 1 1 74 32 Rl 00000000 00000000 14 32 14 2 FE1 CHK 1 2 2 2 3 1 2 74 33 O EMST 00 00000000 00000000 XX X XX X 1NRM 2RST 2 3
109. CLR SET CLR SET CLR SET 73 27 CLR CLR SET e 13 45 13 5 3 RS 232C ACLR ACLR ALL ACLR AOLR ALL 13 48 ACLR ALL 18 45 20H 13 26 13 13 6
110. 9 4 1 2 8 4 14 2 14 1 1 e 14 1 2 7 7
111. 9 9 1 OFF OFF 9 22 9 9 4 1 2 8 2 9 1 SYS TUN e P
112. 9 4 3 1 9 77 2 SI Gain mode AUTO MANU MANU A Position Loop Gain 1 0 100 0 5 0 4 1 Velocity Loop Gain s Observer Gain Hz 1 0 150 0 10 0
113. 1 CN2 RS 232C 38 XA Controller 8 i MADEINJAPAN 2nd 88 SENSOR 88 9e FGND EXT O IO CN3 I O s s EXEA 5 3 5 5 3 EXEA MOTOR1 EXEA Controler NSK Ltd 3 8 SENSOR 8 7 160
114. 14 2 6 1 14 35 14 14 2 6 4 1 O LMT a I O LL 2 1 2 I e 74 39
115. EXEA lt 13 6 Writing DATWT CN8 Writing DATWT 73 26 e
116. 1 2 EMST g m SVON RUN RON RSTA RSTA HOLD Horp Input IPO1 B010 ACLR ACLR A Input IPO1 B011 EREM EREM A IN1 PROGO A IUNTNO7USERRSRV Bk Input IP10 B101 IN2 PROG1 AIUNTNIUSERRSRV Input IP10 B102 IN3 PROG2 A UNTN2 USERRSRV Np Input IP10 B103 IN4 PRoGs A USERRSRV POSNO7USERRSRV POSN1USERRSRV Input IP10 B106 IN7 PROGe A POSN2USER RSRV Input IP10 B107 INe RSRV A POSN3USER IN9 USER A POSN4RSRV USER POSN5fRSRV USER POSNefRSRV USER POSN77RSRV USER POSN8RSRV USER POSN9RSRV USER A POSNIORSRV Input IP11 B117 IN16e USER A POSNiRSRV Output OP00 OB001 WRN WRN A Output OP00 OB003 EDTM EDTM A Output OP00 OB005 HOMS HOMS A Output OP00 OB007 HOLDA HOLDA A DATWT Output OP10 OB100 OUT1 USER A gmNuRsRV FIN2RSRV F
117. 8 1 8 1 1 8 1 8 1 2 8 2 8 2 8 4 8 2 1 8 4 8 2 2 8 6 9 9 1 9 1 9 1 9 2 9 2 9 3 9 9 9 3 1 9 9 9 3 1 1 9 9 9 3 1 2 9 10 9 3 1 3 9 10 9 3 1 4 9 11 9 3
118. 9 49 9 10 2 1 9 49 9 11 9 50 9 11 1 9 50 9 11 1 1 9 50 9 11 2 9 51 9 11 2 1 9 51 9 12 9 52 9 12 1 9 52 9 12 1 1 9 52 9 12 2 9 53 9 12 2 1 9 53 10 10 1 11 1 11 1
119. 100V 200V 2 5 6 EXEA PH PM RH RM RS 200W 100W 400W 400W 200W 200W 100W 6 2 6 6 3 e U 2085
120. 13 22 e 12 2 2 OO e 13 4 10 1 73 23 7 LED LED DRDY WRN Memory 1 data EXEA
121. 14 1 3 i 22 2 1 14 14 14 14 1 5
122. EXEA GAD e FGND 7 1 FGND 2 8 4 2 FGND 1 7 7 FGND gt FGND EXEA 1000 7 2 i 3 5mmz EXEA FG FGND
123. es DC24V 2600 VR EXEA DC24V s 13 12 13 13 4 7 73 77
124. 8 1 1 EMC EXEA EXEA 1 2 1 1 22 MES 2 1 2 EXE4 79 3 2
125. 1 O IF2 OUT ee IO 0O 4 2 3 4 1 4 74 35 O 1O RDY 00 00110000 00000000 10 00000000 00000000 1CHK 3USR e F3 USR 0 1 14 36 O 0 RDY 00 00110000 00000000 10 00000000 00000000 1CHK 3USR 3 r o10 RD
126. 19 1 2 e Max accel s 35m s2 Finish width gt 1 3 ONE 1 FIN ALL FIN Finish mode Fin control Fin out time R Locus accel Max accel 3 FIN OFF H ONE ALL FIN ON FTIN OFF FIN FTN FTN OFF FIN
127. 9 1 TUN SYS 4 4 0 9 CLR OFF IMODE 1 U1 1 U1 9 5
128. e Home speed Home shift 2 vo RS Home move Home accel SU LLS 0 1 85 0 0 5 2 1 Home direction NRM NRM REV REV Home 4 sequence 2 CA H hift 5 0 2 Home move mm 0 9999 99 0 Home move mode NOP ABS INC ABS
129. 4 12 2 12 1 M3 M FK123 2 1 EXEA 12 1 12 2 8 72 7 7 M3 72 2 M3 12 3 12 2
130. 9 5 1 3 2 e e e 1 3 3
131. 9 4 1 7 2 9 1 9 9 2 9 1 9 2 9 3 9 7
132. EXEA s es 5 es 2 e s
133. Home unit seq 1 2 NOP 9 13 9 9 3 2 2 8 2
134. 1 1 0 500 0 20 0 MAN RANSON OFF 0 1 100 0 OFF Observer Limit OFF Notch Filter Q1 0 10 5 00 1 00 1 00 9 27 9 9 4 3 2 8 2
135. 13 13 4 16 73 35 Position Error Position error over EXEA 13 36 e Position error over e es e
136. 14 30 14 14 2 6 IO 8 2 3 3 F3 1O 14 30 1O 1 F4 INP OUT MEM LMT 14 30 O 3 1SYS 2CTR 3I0 4etc reset 1 O 1INP 20UT 3MEM 4eto F4 1LMT 2BRK 14 31 14 14 2 6 1 1
137. 3 EXEA 3 2 EXEA DC24V CN3 IO EXT JO RS 232C 0 5 es l
138. EMST CN3 CN3 DC24V DC24V DC24V EXEA EMST DC24V EMST B CN3 DC24V EXEA 14 18 14 14 1 9 e 14 1 2 14 2 5
139. SPD SPD MOV Locus speed SPD MOV 15 2 7 3 19 1 2 0 1mm s 9 4 1 x 1096 x 196
140. 3 13 5 13 13 4 2 1 200W H 100W 2 e
141. 2 EXEA 5 6 EXEA e Type M 01 No 3 6 7 EXEA a EXEA CN3 pxpA REXT
142. 3 1CLR 2SAV 3LOD 4etc F3 F3 Push SET SET Reading Reading 3 9 53 9 9 54 10 10 9 E 1
143. U1 X Module Name YY Module Name Z Module Name R Module Name 9 15 8 2 XX Module Name Y Module Name Z Module Name R Module Name 79 10 2 1
144. 9 13 RE XY HRS020 PH200 1 X Module NN EXEA EXEA 1 4 X 5 1st 4th X R 1 X X X Module Y Y Module G HM X Module X Y Module Y 9 32 2
145. F1 VER 73 7 FNC V Typ EXE MONO Ver 0001 1VER 2ATLM 3DAT 4etc FNC V Typ EXE2 Ver 0001 1VER 2ALM 3DAT 4etc 0001 0001 13 28 13 13 7 2 IF2 ALM 2 3 13 49 eV e F2
146. AI CLR ALL DEF SET CLR UNT DEF DEF lt gt MDC lt gt AT CLR ALL DEF DEF MDC AT SET Executing 2 Executing 9 10
147. 10 70C 5 1 5 5 2 EXEA1 1 EXEA2 2 EXEA3 3 210A 210A 420A 30A 30A 60A 10mA 25mA 40mA 5 3 EXEA4 4 420A 60A 50mA EXEA 1 4 4000 5000 45000 128 1 RET END 15 2 1 19 1 2 0 1 1200mm s
148. e 0 9 CLR e OFT 9 39 9 IMODE 1 79 10 2 1 9 77 Externa1 1 CTR1M p
149. 9 4 14 15 14 14 1 6 e 14 1 2 7 76 14 2 2 NO 14 1 7 14 2 3 a o a
150. EXT I O MOTOR H 19 2 P R SENSOR 1 MOTOR 1 2 SENSOR ESN e e 7 2 4 ey 7 1 7 7 2 7 2 1
151. _ 14 17 14 14 1 8 e 14 1 2 14 18 Y 7 2 5 CN1
152. 8 2 IM mk 9 9 2 OUT 9 1 CTR H EA EX 4A 4A 9 46 H Output 200 No No 9 79 63 B WRN A 5 A A A CN3 Output OP00 OB005 HOMS HOMS A A A A A A A A A A A A USER A P1 EXT I 0 0UT9 A USER A USERRSRV A A A A USER A USERRSRV USER A 1
153. SET CN3 ACLR ON ACLR ATL 20 H 2 11 3 1 4 77 7 1 1 CN3 EMST EMG 11 3 1 5
154. 1 3 4 5 4 5 5 2 5 2 1 5 5 e e e s e E 5 4 ON OFF s LCD
155. 9 38 9 6 9 39 9 6 1 9 39 9 6 2 9 39 9 7 PMD 9 41 9 7 1 PMD 9 41 9 7 2 PMD 9 41 9 8 9 43 9 8 1 9 43 9 8 2 9 44 9 9 9 46 9 9 1 9 46 9 9 2 9 46 9 10 9 48 9 10 1 9 48 9 10 1 1 9 48 9 10 2
156. 13 10 13 4 4 13 10 13 4 5 13 11 13 4 6 13 12 13 4 7 13 13 13 4 8 13 13 13 4 9 13 14 13 4 10 1 13 14 13 4 11 2 13 15 13 4 12 3 13 16 13 4 13 4 13 17 13 4 14 CPU 13 17 13 4 15 13 18 13 4 16 13 19 13 4 17 13 20 13 4 18 13 21 13 4 19
157. 7 2 5 e gt 13 4 14 CPU 73 37 7 LED LED DRDY WRN gt x CPU CPU EXEA 73 32 e
158. 1 7 1 DC24V 2 5 DC24V 3 EMST 4 5 HOLD 6 RSTA 7 8 9 10 CW 11 CCW 12 DATWT 13 HOPDA 14 15 16 WRN 17 18 0OV DC24V 19 FG 20 21 a 22 23 24 CSTP 25 26 27 28 29 CW 30 CCW 31 RSTAE 32 33 TBXM 34 35 36 37 7 11
159. 2 9 4 1 9 4 1 1 SRV Payload Payload Servo Gain Feedforward Gain 0 100 OFF OFF Torque Limit f 1 100 OFF OFF Dead Band 1 100 OFF OFF
160. EREM ERRM EREIM e 3 5 3 3 2 3 1 EXEA 0 s EXEA
161. 10 20 XY HRS RM 20 20 XY HRS CRM 239 20 10 20 10 40 20 40 20 10 20 20 20 20 10 XY HRS RH 20 10 F 20 1 XY HRS CRH 20 f 20 F 40 20 40 20 40 20 40 20 040 400mm 1 2 9 35 9 9 5 2 8 2 9 1 CTR UNT
162. 2 8 1EDT 2TCH 3PAL 4etc XNRM YNRM Ab F4 Home direoction 3 y 1SYS 2CTR 3TO 4etc Y0 AD sYS 4 4A sYs Jo 1 1JOB 2TUN 4etc 0 x0000 00 Y0000 00 AD F1 Home shift YS 0 1 1PRG 2ORG 3JOGi 4LMT 20000200 0000 00 Ab F2 Home move i NOP Home move mode 4 Home unit sed 1 2 4ete
163. 9 EXEA EXEA CN3 RDY RDY RDY 11 2 11 11 3 11 3 1 11 3 1 1 OUT
164. 14 11 14 1 5 14 15 14 1 6 14 16 14 1 7 14 17 14 1 8 14 18 14 1 9 14 19 14 1 10 14 21 14 1 11 14 22 14 1 12 14 23 14 2 14 24 14 2 1 14 2 2 14 2 3 14 2 4 14 2 5 14 2 6 MO 14 2 6 1 14 2 6 2 14 2 6 3
165. e A e 0 9 CLR e OFF IMODE 1 U1 1 U1 9 5
166. 4etc 9 9 3 5 9 3 5 1 9 8 e 1 10 1 0 01mm e 0 Pulse resolution 1 e 1 1 a mm 19 1 9 3 5 2 8 2 e 9 1 SYS
167. 7 3 7 3 5 EXEA NEC PC9821 D sub 25 M EXTC040R01 KRS HA1502FK ul DN 14 14 KRS HA154K D sub25 D sub25 14 NEC PC98NX D09 9F25F 14 D sub9 DOS V 25 7 5 DOS Y 1 YY Y D09 9F25F KRS HA154K D sub9 OIOl
168. 9 22 9 4 1 1 9 22 9 4 1 2 9 23 9 4 2 9 25 9 4 2 1 9 25 9 4 2 2 9 25 9 4 3 9 27 9 4 3 1 9 27 9 4 3 2 9 28 9 4 4 9 30 9 4 4 1 9 30 9 4 4 2 9 30 9 5 9 32 9 5 1 9 34 9 5 2 9 36 9 5 3
169. 0 1 External External 20 8 SENSOR ALARM LED 8 3 RS LED 8 3 8 8 2 RDY CN3
170. e es TAG e TAG e CATL 5 4 e CALL RET e REP 5 4 s REP NXT s e 8 s ABS e INC s
171. 1RUN 20RG 3J0G 4etc N 2 2 3 14
172. 9 9 6 Externa1 1 1 SYS IJ y 1RUN 2I0 3FNC 4etc 0100 0 ng F4 Jog speed H Externa1 2 _ SYS J 4etc 0050 0 A F1 Jog 1 2 1 1RUN 20RG 3JOG 4etc 00 5 Sf F4 Jog accel 2 1EDT 2TCH 3PAL 4etc F4 MENU 3 1SYS 2CTR 3I0 4etc MODE F1 sYS 1JOB 2TON 4etc 1 sys J 2 1PRG 20RG 3J0G 4LMT
173. 1 13 11 13 13 4 6 73 75 7 LED LED DRDY WRN Thermal EXEA 73 76 s s
174. 14 6 14 e 14 1 2 7 5 EXEA CN3 DC24V EXEA DC24V O V 1
175. 9 e OFF IMODE 1 9 10 2 1 0 9 20 Externa1 1 1RUN 2TO 3FNC 4etc RDY B ly F4 Output OP00 OB000 allv External
176. EXEA RXEA 14 2 6 5 ON OFF 11 3 3 9 3 4 Over travel 10
177. gt es e e 13 10 13 13 4 5 73 72 Encoder1 loss EXEA Zi EXEA
178. 1 O FI1 INP IO T 4 2 8 4 4A 1 4 14 31 O I EMST 00 00000000 00000000 10 00000000 00000000 2 3 1 7 0 8 5
179. 2 8 4etc 9 9 5 EXEA EXEA 9 13 X X Module 2 1 EXEA 1 1 XX 1st 2 XY HRS020 PH200
180. 7 6 1 13 200W 1 0 33kVA 0 66kVA 1 5kVA 1 25mm2 1 5kVA 3kVA 2mm2 FGND 7 2 2 6 6 7 7 5 6 EXEA 7 14 AC200V7220V AC180V AC242V AC90V AC264V C AC100V7110V AC90V AC121V AC90V AOC121V
181. Home unit sed Jog speed H Jog speed L Jog accel Over travel Over travel Escape Z Escape Z Escape Z Escape Escape Escape Payload Servo Gain Feedforward Gain Torque Limit Dead Band Low Pass Filter 1 1 Low Pass Filter 2 2 Notch Filter Position Loop Gain Velocity Loop Gain observerGain observerLimt _ NotchFierQ1 Lainmode
182. 7 37 O M 0 00000000 00000000 1CHK e 2 1 8 7 0 e 0 1 7 38 00 01 00000000 00000000 2 IF1 CHK 2 2 3 2 4 2 H
183. 7 7 2 O EXEA FGND FGND FGND V AC x EXEA FGND FGND FGND V W W_W AC AC AC 7 3 7 7 2 5 EMC EXEA EXEA
184. 9 15 9 9 3 3 9 3 3 1 9 6 em 0 a Jog speed L Jog accel 9 3 3 2 0 1 1200 0 100 0 0 1 1200 0 50 0 0 1 35 0 0 5 8 2 es 91 JOB e e e 0Q 9 CLR
185. e 14 1 2 74 75 k 13 4
186. 12 7 12 3 1 12 7 1 12 3 2 12 7 12 3 3 12 7 12 3 4 12 7 13 13 1 Lo 13 1 13 1 13 1 1 CN3 13 1 13 1 2 LED 13 1 13 1 3 13 2 13 2 13 3 13 3 13 3 13 3 1 13 3 13 3 2 13 4 13 4 13 6 193 4 1 13 8 13 4 2 13 9 13 4 3
187. Q Position Direction Hard OT Timer Rated Current RC Over Load OL Position Error Over CLR ALL DEF CLR UNT DEF 9 3 9 9 3 RebotType X Module Name X Y Module Name Y Z Module Name Z R Module Name R User module 2 User module 3 x User moduie 4 x User module 5 User modue es User modue7 User moduie 8
188. 13 4 8 Encoder 2 position CTR SAV A0
189. EXEA DC24V DC24V HF 5 1 1 1 DC24V EXEA 1 O Windows98 WindowsNT4 0Workstation EXEA gt EXEA EXEA EXEA es EXEA ZOS f LT OE CN3 1
190. Q Notch Filter Q1 2 7 25 z 9 4 2 1 9 70 1 Low Pass Filter 1 1 10 500 OFF OFF FIL LowPass Filter 2 2 10 500 OFF 30 Notch Filter 10 500 OFF OFF
191. 2A 5 2 5 5 1 2 5 7 EXEA 7 U 7 7 LED CN2 RS 232C a CN3 EXTMO MO CN2 RS 232C 8 lle RA Controller 88 NSK Ltd 88 88 MADEINJAPAN FGND EXT I O IO CNS3 IO s s EXEA 5 2 EXEA 2 7 LED MOTOR1 Il 2
192. 7 9 10 1 1 9 11 9 9 4 External 1RUN 2I0 3FNC 4etc 1 F4 Externa1 4etc 2 F1 1RUN 20RG 3JOG 4etc 1 F4 1 i3PAL 4etc 1EDT 2TCH 2 F4 1SYS 2CTR 3TO 4etc SYS 1JOB 2TUN 4etc MODE sYS J 2 1PRG 20RG 3J0G 4LMT 3 F1 F1 F1 SYS JP 0600 0 Loc
193. ly e 0 9 CLR IMODE OFF 1 1 EE 9 10 2 1 9 41 9 9 78 PMD Externa1 1 y 1RU
194. 13 22 13 4 20 13 23 5 13 25 13 5 1 CN3 O 13 26 13 5 2 13 26 13 5 3 RS 232C 13 26 6 13 27 7 13 28 13 7 1 13 28 13 7 2 13 29 14 1 1 14 1 14 1 1 14 3 14 1 2 14 4 14 1 3 14 8 14 1 4
195. 4 1 9 14 0
196. EXEA J 7 0 O s SES SE CN3 11 3 3 4 1 3 18
197. 3 AC 3 1 100W 200W 14 16 14 14 1 7 e 14 1 2 74 77 V 14 2 2 V
198. ENDC E OUT OP RSTA 1 2 gt 13 24 E 13 13 5
199. 11 1 11 2 11 2 11 3 11 3 11 3 1 11 3 11 3 1 1 11 3 11 3 1 2 11 3 11 3 1 3 11 4 11 3 1 4 11 4 11 3 1 5 11 4 11 3 2 11 5 11 3 3 11 5 11 3 4 11 5 11 3 5 11 6 13 11 3 6 CPU 11 6 12 12 1 12 1 12 1 0 12 1 12 2 1 12 1 12 2 2 12 2 12 3
200. E 12 7 12 12 8 13 19 EXEA 13 1 H 7 H EXEA CN3 LED 13 1 1 CN3 RDY WRN RDY 2 WRN
201. EMST 7 7 8 EXEA CN3 DC24V 24V V n gt CoO COMI EREM HOLD RSTA RUN SVON ACLR CSTP HOS STOP EMST EMST 7 23 24 25 26 3 22 12 13 14 15 16 31 32 33 34 35 37 DATWT HOLDA HOMS EDTM WRN RSTAE CSTPA TBXM MTN RDY COM KT KT KT KT KT KT a a OO 10 CWP 11 CCWP 30 CCWP IPI a i CCW gt DC5V 19 F G DC24V DC24V 7 12 7 7 5 3 1 EREM HOLD RSTA RUN SVON ACLR CSTP HOS STOP 7 9 DC2
202. 14 4 14 e 14 1 2 14 3 2 2 13 4 14 2 3 I
203. 2 9 2 1 X X 2 2 2 1 XX X Z Z EX Z 9 74 2 Z CTR U XY HRS020 PM10 2 Z 2 EXEA Y Module AN Z EXE
204. EMST CN3 DC24V s DC24V 7 2 5 EXEA 14 1 8 13 22 13 4 20 13 13 5 15 2 EXEA 13 44 Prg Prog not found Step not found Axis mismatch Data range Over
205. 9 22 MODE 1 2 1 2 1UNT 2MDL 4etc 1PMD 2INP 3OUT 4etc em F4 F4 3 u1 3 1CLR 2SAV 3LOD 4etc F2 F2 Push SET SET SET Writing Writingd 3 9 49 9 9 11 9 11 1
206. Soft OT Hmit Over travel Over travel OFF EXEA 3 7
207. e 5 FGAD 12 1 1 12 2 2 12 EXEA 12 2 e 50 000
208. s 5 5 ON OFT s START s START
209. 73 38 e Over travel e e 13 20 13 13 4 18 73 39 7 LED LED DRDY WRN e EXEA 1
210. 13 6 Writing DATWT CN3 Writing DATWT 73 28 e e 7 2 5 13 16
211. 5 0 ORNANE 2 e 10 30 9 e 5 10 M FK123 6 7 2 3
212. V V AC100V 110V AC200V 220V CN3 EXT I O EXEA 24V 0V 7 6 7 7 4 CN2 RS 232C EXEA RS 232C 18 7 4 1 7 5 5 3 4 RS 232C
213. 20mm 1200mm s 9 3 1 3 Locus accel 2 1 SPD 8SPD SPD i A RT OM MOV Locus accel SPD MOV 15 2 7 3
214. 9 1 SYS JOB ORG Home speed VY e e 0 9 CLR e OFF IMODE 1 08 U1 1 U1
215. F2 AMP A 1 1 4 A24 4 2 4 F2 AXS U U1X U XR U3XZ 4 3 X Z s
216. 2 SET CTR1O y Lal F1 Output OP00 OB001 Allv 4 SET 1 1RUN 2ORG 3JOG 4etc 4 F4 4 2 6 yy 1EDT 2TCH 3PAL 4etc y CTR O F4 gt Output OP11 OB117 Allv SET 3 1SYS 2CTR 3I0 4etc rem CTR 1UNT 2MDL 4eto ew CTR 1PMD 2TNP 3OUT 4eto F2 1 9 47 9 9 10 9 10 1 3
217. 73 9 2 ENC A 01 A5 1XY Encoder2 position 1VER 2ALM 1CLR 2AMP i EF2 U1XY 1 X Y A12 1 2 ftENC 01 5 12 _JwEncoder2 position 1CLR 2AXS F1 CLR 13 29 13 13 49 0 31 e e 1 F4 P1 P3 P4 E0 E3 E6 A5 e 7 LED
218. EC RA 2 9 76 4 2 XY 1 X 2 X 1UNT 2MDL 4etc Y Module Name eW 5 2 XY HRS020 PM200 CTR 1U XY HRS020 PM200 Allv hg Y Module Name Robot Type U2 AD A V SET CTR U U1 OFF 1 x X Module Name InI2 CTR U U1 2 1 1 CTR U a 1 Y XY HRS020 PM200 SET 2 Y Module Name OFF 2 Y Y Modu1e Name Y Modu1e Name Mpa et ou1 UNT 2MDL 4etc U2
219. e EXT IO 9 8 7 N 7 18 E 9 9 7 7 3 EXT IO 7 13 EXT IO E gt 2 3 5 amp 1 2 3 4 5 6 7 IN8 8 3 0 1 12 13 14 OUT10 16 7 18 9 20 21 22 23 24 25 26 27 28 29 30 31 OUT11 32 33 34 35 36 7 7 19 7 DC24V DC24V POSN11 POSN9 POSN7 POSN5 POSN3 PROG5 POSN1 PROG3 PROG1 UNTN1 H i FIN8 FIN6 FIN4 FIN2 SI POSN10 POSN8 POSN6 POSN4
220. 13 13 4 13 4 73 29 7 LED DRDY WRN Memory 4 code ROM EXEA 73 30 s
221. 8 1 Externa 1 1RUN 2I0 3FNC 4etc 2 Externa 1TBX 4etc 1 Menu 1RUN 20RG 3J0G 4etc 2 Menu 1EDT 2TCH 3PAL 4etc 3 Menu 1SYS 2CTR 31O 4etc 4 Menu 1FNC 3EXT 4etc 8 8 2 2 e 4 IE3 1 2 3 8 6 4 3EXT 4etc
222. 13 4 14 27 1 2 14 2 6 5 3
223. CPU 11 6 12 12 12 1 9 2 12 2 e 12 2 1 12 1 72 7 e FGND AC
224. 4 IO EE RSTAE RSTAE EREMST RUN 3 STOP 17 5 2 11 3 1 3 5
225. CN3 CN3 3m DC24V 109 DC24V 7 7 CN3 DC24V 10 10mA 1 ye DC5V 10 240Q EN 25mA 0 DC24V 100mA gd 2V
226. 250mm s 2 13 7 1 13 4 1 13 4 13 P4 Overheat1 heatsink Overheat2 register e
227. 3 31O 4ete 1JOB 2TUN 4etc SYS T 1SRV 2FIL 9 AAD AAD AUTO SYS TA X0020 Over Load SYS TA X30000 Position Error Over 4etc 1
228. 97 1 1 EXEA 1 0 R8 232C EXEA CD ROM EXEA EXEA EXT H TO 1 3 3 8 4 nh M
229. 1RUN 2I0 3FNC 4etc L20 R4096 4 NRM W100 rw User modulel fr Am lA SET External 2 CTR M L20 R4096 Ab NRM W100 rem User HG9RTe2 or Allv SET 1 4etc 1RUN 20RG 3JOG 4etc F4 2 8 1EDT 2TCH 3PAL 4etc 120 R4096 4 Db NRM W100 rem User modu1e8 or aAllv SET 3 3 1SYS 2CTR 3TO 4etc gem CTR 1UNT 2MDL 4etc F2 1 9 40 9 7 PMD 9 7 1 PMD 9 77 PMD
230. 40 C 70C 500C e 14 1 2 14 24 50 50 C 50 50C 1 EXEA 100W 1 40W 200W 1 50W 10W EXEA1 0100A
231. E3 USR 0 1 14 41 1 9 1 e F3 SYS MODE 14 37 14 14 38 1 MOTOR A 7 EXEA GIC2 5 6 GF 7 62 GIC2 5 6 STF 7 62 KGS MSTB2 579 A 7 DD
232. MENU 73 3 MENU MODE MENU ALARM F4 EMST MENU ALARM F4 EMST MENU ALARM F4 EMST 1SYS 2CTR 3I0 4etc MENU ALARM F4 EMST 1FNC 3EXT 4etc 1RUN 20RG 3JOG 4etc 1EDT 2TCH i3PAL 4etc 13 2 13 13 2 WRN RDY 13 3 13 3 1 73 7 7 LED RDY WRN
233. 3 5 pp EXEA J 7 0 RS 232C i ma UO EReM 2 RS 232C 5 83 3 5 3 4 RS 232C CN3 EREM
234. 9 50 9 11 2 9 9 24 4etc 1UNT 2MDL mm Ul 1CLR 2SAV 3LOD 4etc me Push SET Executing 1 2 3 9 11 2 1 1PMD 2TNP 3OUT 4etc F4 MODE
235. 6 3 7 7 1 7 1 7 1 7 2 7 2 7 2 1 7 2 7 2 2 7 2 7 2 3 7 2 7 2 4 7 3 7 2 5 7 4 7 3 7 5 7 3 1 7 5 7 3 2 7 6 7 4 CN2 RS 232C 7 7 7 4 1 7 7 7 4 2 RS 232C 7 8 7 5 CN3 7 9 7 5 1 CN3
236. 9 9 8 9 8 1 A B Input IP0O IB00 0 No No 9 78 CN3 P1 EXT I O Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input Input IPOO IB000 IPOO IB001 IP00 IB002 IPO0 IB003 IPOO IB004 IPO0 IB005 IPOO IB006 IP01 IB011 IP10 IB100 IP10 IB101 IP10 IB102 IP10 IB103 IP10 IB104 IP11 IB110 IP11 IB111 IP11 IB112 IP11 IB113 IP11 IB114 IP11 IB115 IP11 IB116 IP11 IB117 2 Pi 3 7 Pei IZAI 1 DD 2 2 2 am FF B ile EE bp 2 2 PROGO UNTNO USER RSRV PROG17UNTN1 7USER RSRV PROG27UNTN2 USER RSRV PROG37USER RSRV PROG4 POSN0 USER RSRV PROG5 POSN1 USER RSRV PR
237. A 2 0V 24V W V U A 3 400W 280VPWM 280VPWM 280VPWM 2 6Arms 7 8Arms 4 4 DC24V 400mA 1 A 5 EXEA A 2 ENC_PWR ENC_RST N C N C N C N C N C N C dO lt lt w ENC_BAT N C N C N C N C N C Er NN DBLC J25SAF 13L9 BE DB 25PF N DB C4 J11 81 2 A 6 1
238. D sub25 5 9 RS 232C M EXTC 040 R01 7 4 CN2 1 1 RS 232C 4m 5 8 6 6 6 1 PO 0 UMS 5 1 1 6 2 6 2 1 1 1
239. Externa1 4etc 2 F1 1RUN 20RG 3JOG 4etc 1 F4 1EDT 2TCH 1 i3PAL 4etc 2 F4 1SYS 2CTR 31TO 4etc 3 F1 4eto q F1 2 3JOG 4LMT F4 9 SYS JIL XOFF YOFEF Over travel lA vy SYS JIL XOFF 1 YOFF Over travel lA ly SYS JIL 0000 00 Escape upr Z lA 4 SYS JL 0000 00 Escape lwr Z lA 4 OEE Escape pos Z lA vy
240. JOB TPL e e 0 CLR e MODE 1 79 10 1 1 6 gt 9 20 9 9 8 Externa1 1 _ SYS IT 1RUN 2I0 3FNC 4etc X 01 SET F4
241. Push 1 key Push 2 key Push 3 key External 22TO 3FNC 4etc External 8 6 9 EXEA 9 e 9 1 EA 8 2 9 2 e
242. s 17 5 e e 7 es nl INN 3 e DD 101 CPS CPE MOV MOVM CIR ARC OUT SPD CPS CPE e RSTA MOV RSTA PATLI 2
243. 1SYS 2CTR 3I0 4etc 3 F SYS 1JOB 2TUN 4eto MODE y FE2 SYS T 1SRV 2FIL 2 3MAN 4ADL FE2 SYS TF 1 XOFF YOEF Low Pass F11ter1 y lA 4 OFF SYS TF L X030 Y030 Low Pass Filter2 p AD 4 ly OFF SYS TF 1 XOEF YOFF Notch Fi1ter 9 26 1 2 OFF 4etce 9 9 4 3 Payload
244. 9 9 9 Externa1 1 sys rSs y 1RUN 2TO 3FNC 4etc X05 0 4A FE 398 Externa1 4 2 SYS rS i 4etc XOFF YOEE 4A F1 Servo Gain 3 A OFF 2 1 SYS TS 1 1RUN 2ORG 3JOG 4etc NOE OM AAD F4 Feedfoward gain i 8 A OFF 2 2 i 1EDT 2TCH 3PAL 4etc 295R OR AD F4 Torque Limit OFF
245. F3 1 2 4etc 9 17 9 9 3 4 9 3 4 1 9 7 me OFF 9999 99 Over travel GN mm 9999 99 OFF OFF i 9999 99 Escape upr Z E 9999 99 9999 99 Escape Iwr Z Se E 9999 99 2 Z 0000 sZ 99 Over travel Escape pos Z Escape upr R Escape Iwr R Escape pos R 1
246. e 1 A e 0 9 CLR e OFT IMODE 1 9 15 3 1 EXEA 1st 2nd 1 2 1 2 7 2 4 7 4 5 8 U1 U8
247. e 14 1 2 74 73 2 1 2 14 13 14 e 14 1 2 74 74 5
248. F2 U1 Push SET SET SET Writing Writing 2 9 48 9 9 10 2 e 9 10 2 1 Writing ng
249. 14 14 2 5 14 2 4 YES 70C 14 1 12
250. 7 9 7 5 2 CN3 7 10 7 5 3 CN3 7 11 7 5 3 1 7 13 7 5 3 2 EMST 7 13 7 5 3 3 7 14 7 5 3 4 7 14 7 6 CN4 CN5 7 15 7 6 1 7 15 7 6 2 7 16 7 7 EXT IO 7 17 7 7 1 EXT IO 7 17 7 7 2 EXT IO 7 18 7 7 3 EXT IO 7 19 7 7 3 1 7 21 7 7 3 2 7 21 7 8 7 22 8 1 8 1
251. e 3 e CPE ml EMST STOP T END e e es RSTA RSTA
252. 7 4 CN2 RS 232C RS 232C EXEA 17 5 CN3 CRISIS KS Fa CN3 I O 7 6 CN4 CN5 gt CN4 CN5 7 7 EXT IO
253. 7 9 1 7 5 2 CN3 7 8 CA3 5 HOS RSTA CSTP RDY WRN CSTPA RSTAE 7 ba e SVON e SVON 5 18 EREM 4 EREM EXT IO PROG0 PROG6 No RUN
254. es e es a e EXEA 3 6 3 6 3 3
255. s Writing Writing i e Complete MODE Comp1ete MODE 13 27 13 13 7 VER ALM DAT 73 6 4 8 2 4 FNC 3EXT 4etc F1 FNC VER 2ALM 3DAT 4etc 13 7 1
256. 2 1 200W 100W TU V W 3 0 EXEA 0 EXEA A AC180V 242V C AC90V 121V 4 FGN
257. F3 13 4 18 A3 14 20 14 14 1 10 e 14 1 2 74 27
258. 400W RM 400W 200W RS 200W 100W 77 7 2 3 o 7 7 2 4
259. 9 5 9 10 1 1 9 14 9 9 5 Externa1 1 sys Jo y 1RUN 2I0 3FNC 4etc 0020 0 SET F4 Home speed Externa1 2000 2 sys I0 4etc RE 1 Home accel 1 SYs1Jo 1 2 3 4 0001 0 RUN ORG 3J0G etc SET F4 Home searoh speed AI
260. s es gt e e e gt 3 e 13 8 7 gt x 13 13 4 2 A4C242V
261. 1 2 14 2 6 5 3 3mm 1 2 14 2 2
262. 1 2 2 F4 3 F1 SET Executing 3 9 10 9 51 9 9 12 9 12 1 Py TF HH
263. 13 4 LED RS 232C 1 RS 232C 7 4 CN2 RS 232C 2 18 14 21 14 14 1 11 e 14 1 2 14 22
264. 14 1 2 Z 14 8 14 e 14 1 2 14 7 2
265. 2 CN3 EMST OFF B EMST ON 3 EMST 11 3 11 11 3 1 3 1 CN3 EMST ON EMG EMST 2 2 1 CLR SET CLR SET CLR
266. 14 A e 0 9 CLR e OFTF e IMODE 1 U1 1 U1 9 5 9 10 1 1 9 23
267. 3 Sys rS 1SYS 2CTR 3I0 4etc XOFF 1 34 EE OFF sys 1JOB 2TUN 4eto FE2 SYS m 2 1SRV 2FIL 3MANE4ADLi F1 1 2 4etc 9 24 9 9 4 2 FTL Low pass Hilter 1 2 1 Notch Hilter
268. EXEA 1 0 CN3 EN RG EMG 17 4 6 8 4 Externa RUN 21O 3FNC 4etc 8 2 1 TE4l etc F1lITBX 8 5 5 2 1
269. 14 1 7 hd ON a a 1RUN 20RG 3J0G 4etc 22 2 1
270. 14 2 6 4 14 2 6 5 14 27 14 28 1 MOTOR 1 2 SENSOR 2 iv 1 1 P R EXEA 08 1 2 4 M EXEA3 0210C00 03 3 1 lt
271. Pulse reso1ution Externa1 2 4etc F1 1 1RUN 20RG 3JOG 4etc F4 2 1EDT 2TCH 4etc F4 3 1SYS 2CTR 3TO 4etc F1 sys 1JOB 2TUN 4etc FE sYs J 1PRG 20RG 3JOG etc F4 SYS J 1LMT 2TPL 4eto F2 9 21 9 9 4 EXEA
272. 9 OP RE a gt E 7 2 5 e CPU 13 17 13 13 4 15 73 33 7 LED LED DRDY WRN E7 Power Amp System Motor Version OB Cpu CB
273. CTR 1UNT 2MDL 4eto MODE CTR 1PMD 2TNP 3OUT 4etc 3 F2 FE4 F2 9 CTRIT EMST B Input TP00 TB000 y 4 KA4 lA vy SET CIR I SVON A Input TP00 TB001 y ly Allv SET CTR I USER A Input TP11 TB117 9 45 ly allv SET 1 9 9 9 9 9 1 A B e
274. JE RN EXEA CN2 7 7 7 7 4 2 RS 232C CN2 RS 232C 7 4 CV2 7 5 CN2 7 6 RS232C EXEA 7 8 7 4 7 5 10214 52A2JL 10114 3000VE 10314 52A0 008 7 6 7 7 5 CN3 EXEA
275. F1 F2 F3 F4 8 4 8 5 1 4 F4 w 2 LF 1 F2 Go F4 F3 Gs F1 EE F2 F4 F4 F3 4 F1 3 F2 F4 F3 310 Y F1 w 3 EXT
276. F4 Velocity i 2 i gt 1EDT 2TCH 3PAL 4etc X010 0 Ab F4 a a 3 SYS1TM 1SYS 2CTR 3I0 4etc XOFF A Ab FE cbserver A OFF sys 4 8 1JOB 2TUN 4etc X01 00 Y01 00 AD F2 Notch Fi1ter O1 sys T 2 1SRV 2FIL 3MANE4ADL F3 1 2 4ete 9 29 9 9 4 4 9 4 4 1
277. e OFT IMODE 1 4 1 U1 H 5 PA VY SYS JOG Jog speed H PR MSG ME U1 9 5 4 79 70 7 7 9 16
278. SYS JL 0000 00 Escape upr R lA vy SYS JL 0000 00 Escape 1wr R 4etc lA vy OF Escape pos R 9 19 1 2 3 y AD OFF p AbD OFF OFF OFF
279. 12 3 12 4 8 72 3 7 lt 2 gt R M3 M3 M3 72 4 lt 2 gt M3 M3 M3 M3 12 4 12 3 4 12 5 12 6 13 72 5 7 lt 3 4 M3 72 6 3 4 M3 M3 M3 M3 M3 M3 M3 12 5 12 2
280. 14 11 14 e 14 1 2 74 77 2 1 END 2 V
281. 9 2 EMST data save NOP NOP SAVE NOP STOP data save NOP NOP SAVE NOP CSTP data save NOP SAVE NOP ALRM data save NOP NOP SAVE NOP RUN mode PRG PRG POS PRG POS 17 5 2 9 7 2 PMD 8 2 9 1 CTR PMD PMD 4A Y
282. P27 8 3 13 30 14 14 1 14 2 1 200W 100W TU
283. R EXEA K20071 01 2000 3 24 1 1 2001 9 17 1 2 1 6 3 141 8560 TELO3 3779 7111 Q FAX03 3779 7431 NSK TELO3 3779 7289 TELO3 3779 7324 TEL03 3779 7312 TELO3 3779 7327 O TELO426 45 7021 Q
284. U2 UNT 2MDL 4etc F1 1 2 1 2 1 9 38 Y Module 2 9 6 e EX L gt
285. 1 I 9 10 1 1 9 25 9 9 70 Externa1 1RUN 2I0 3FNC 4etc 1 F4 Externa1 4etc 2 F 1RUN 20RG 3JOG 4etc 1 F4 1EDT 2TCH i3PAL 4etc 2 F4
286. 1 2 9 0 1 1200 0 3 600 0 0 1 35 0 0 5 mm s 0 1 1200 0 0 0 99 99 1200 0 OFF ONE ALL ALL OFF ON OFF 0 0 99 99 OFF 3 17 5 3 9 9 9 9 3 1 2 Locus speed SPD
287. Z Modu1e Name y AD Allv SET AD 4 KA4 lA 4 R Module Name SET 2 4 KA4 SET CTR 1UNT 2MDL 4eto 1 2 Z R F1 9 16 9 37 9 9 5 3 1 U1 ET 1
288. 9 72 1 Position direction NRM NRM REV NRM REV F3 82990880 Hard OT Timer AUTO AUTO X0 5 ms ADL AUTO Rated current 43 Position error over 11 3 4 pulse 0 30000 30000
289. BE II Encoder 3 battery Memory 1 data Memory 2 backup Memory 4 code 13 4 a Memory3 write A0 ES
290. CSTP data save LOD 9 4 9 9 1 9 2 1 U1 OFF
291. PROG6 POSN2 PROG4 POSNO0 gt gt LEIELFEIEFFIEEIETIEIEFETE LTTILTETILEILETIL ETIL ET LT1 PROG2 UNTN2 PROG0 UNTNO PIN7 FIN5 FIN3 FIN1 7 74 EXEA EXT O DC24V 9 T T T T T T _ 0 0 0 0 0 OO GO SO VO SO GO SO OOOOO OO OO OO OOOO OO DC24V DC24V
292. R 1 1 2 4 U1 7 7 U2 2 4 1st X UX DU1X UI X 2nd UiY UiY Uli Y 3rd U1Z DU2X 4th 10 DU2Y X
293. 12 7 72 7 3 72 8 4 5 12 6 12 3 12 3 1 12 1 2400 12 3 2 e 12 3 3 E
294. 7 LED RDY 73 2 CPU 13 3 1 13 3 2 13 3 1 2 1 2 3 4 CPU 13 72 7 RDY As Encoder 1 loss WRN Overheat 1 heatsink Overheat 2 register Main Power voltage ii Overcurrent Ctrl Power voltage Speed
295. U V W E 3 EXEA L A AC180V 242V EXEA L C AC90V 121V e 4 FGND AC FGND AC AC 13 6 13
296. TELO46 223 9911 Q TEL0294 36 3382 TELO276 48 1575 O TEL0O266 58 8800 TEL025 247 0134 TEL022 261 3735 TELO11 231 1400 O TELO45 335 2433 TELO28 624 5664 TELO55 222 0711 TELO48 526 7101 O TELO268 26 6811 Q TELO299 82 6881 FAX 03 3779 7435 FAX 03 3779 7437 FAX 03 3779 7437 FAX 03 3779 7437 FAX 0426 45 7022 FAX 046 223 9910 FAX 0294 35 8391 FAX 0276 48 1620 FAX 0266 58 7817 FAX 025 247 0140 FAX 022 261 3768 FAX011 251 2917 FAX 045 332 3738 FAX 028 624 5674 FAX 055 224 5229 FAX 048 526 7088 FAX 0268 26 6813 FAX 0299 82 6883 o 1 TEL052 571 6327 TEL052 571 6707 TEL0566 98 7711 TEL0532 61 3195 TEL054 237 0717 TEL076 242 5261 TEL06 6945 8153 TEL075 341 4
297. 1 9 10 2 1 9 44 9 79 Externa1 1RUN 2I0 3FNC 4etc 1 F4 Externa1 4etc 2 F1 1RUN 20RG 3JOG 4etc 1 E4 a i3PAL 4etc 1EDT 2TCH 2 F4 1SYS 2CTR 3TO 4etc
298. 7 2 5 A 1 GA 2 AC DC 3 2 4C 6 7 5 AC EXEA
299. 9 52 9 9 12 2 F TTF 9 12 2 1 9 26 MODE 1 2 gt 1 2 1UNT 2MDL 1PMD 2INP 3OUT 4etc 2 F4 F4 3
300. Undefind TAG Duplicate TAG Too many CALL Without CALL Too many REP Without REP Cantmake cir Servo off Axis offline H e s END e 4 1 XY XZ
301. 4 1 a 5 1 5 1 EXEA 5 1 5 1 1 5 1 5 1 1 1 DC24V 5 2 5 1 2 5 3 5 2 5 5 5 2 1 5 5 5 2 2 5 6 5 3 5 7 5 3 1 EXEA 5 7 5 3 2 5 7 5 3 3 5 8 5 3 4 RSS282C 5 8 mi 6 1 6 1 6 1 6 2 6 1 6 2 1 6 1 6 2 2 6 2 6 3
302. 8 7 TROLLE NSK CO Typ EXE Ver 0001 a LM Externa RUN 2TO 3ENC 4etc 14 e E 4 8 2 1 MODE 13 Externa ALARM A5 Enocoder2 position 1RUN 2TO 3FNC 4etc 8 2 8 1 XE YE EXE MONO EXE2 2 EXE3 3 EXE4 4 Ver 0001 1 3
303. NSK P ee R EXEA 3 Ll 2 0 4 5 6 8 9 4 a 19 M E099XE0K2 015 K20071 01 2000 2001 2 1 1 1 1 1 2 1 2 1 2
304. 10 03 3m 04 CE 10 10m 05 5 7 5 5 3 3 Microsoft Windows98 WindowsNT4 0Workstation Windows98 WindowsNT4 0Workstation e 5 8 M EXTA02 5 3 4 RS 232C EXEA 1 RS 232C H EXEA D sub25
305. 8 QO DISP al nd Mo NSK Ltd HE om J 7 1 4 6 6 4 7 7 7 1 EXEA 5 1 2 7 1 1 CN1 ee es RS 232C CN2 e RS 232C
306. LM es ET Op 9 enuede FW wawo wasp CU INoch ero1 oosoo ioo Postion preston NRMREV mw ADL lovertoad ioooomE so lm 9 9 2 Robot Type OFF UNT L20 R4096 NRM W100 L20 R4096 NRM W100 LUser module 3 L20 R4096 NRM W100 L20 R4096 NRM W100 MDL L20 R4096 NRM W100 L20 R4096 NRM W100 L20 R4096 NRM W100 L20 R4096 NRM W100 PMD PMD PRG 9 9 2
307. V W 3 0 EXEA 0 EXEA e A AC180V 242V C AC90V 121V 4 FGND AC FGND AC AOC 14 1 14
308. 1 3 1 3 931 1 3 1 3 2 1 3 1 3 3 1 3 2 1 2 1 2 1 2 2 EXEA 2 3 2 2 1 2 4 3 1 3 1 3 1 3 1 1 3 1 3 1 1 1 3 1 3 1 1 2 2 3 2 3 1 2 3 3 3 2 3 6 3 3 3 7
309. 2 9 13 9 3 2 1 9 13 9 3 2 2 9 14 9 3 3 9 16 9 3 3 1 9 16 9 3 3 2 9 16 9 3 4 9 18 9 3 4 1 9 18 9 3 4 2 9 18 9 3 5 9 20 9 3 5 1 9 20 9 3 5 2 9 20 9 4 9 22 9 4 1
310. 00 50W 10W 60W 2 80C 50 C 80C 14 23 14 14 2
311. 000 8192 R 4096 User module 1 mm NRM 6 NRM 2 R pulse revy REV 3 W 100 200 400 W 100 H W WI User module 2 s User module 3 User module 4 User module 5 User module 6 le User module 7 s User module 8 9 6 2 8 2 9 1 CTR MDL e e
312. 13 47 7 LED LED DRDY WRN EXEA 73 42 1 2 8 4 5 e 11 3 1 3 CN3 EMST e DC24V N EXEA EMST DC24V s RMST
313. 2 1 3 4 17 3 3 3 IO s CN3 11 3 3 3 1 3 2 17 4 3 4 pp
314. 25 14 14 2 1 e 14 1 2 13 4 74 25 NR OFF 3 SR Menu 1RUN 20RG 3J0G 4etc
315. 4V 10 1 3 3kQ 10mA 1 7 9 Yak 7 5 3 2 EMST EMST EMST 7 70 DC24V 10mA 7 70 DC24V 3 3kQ mg 7 13 7 7 5 3 3 CCWP CCWP CWP CWP 7 11 DC5V 10 1 240Q 25mA 7 77 SKI 7 5 3 4 DATWT HOLDA HOMS EDTM WRN RSTAE CSTPA TBXM MTN RDY 7 72 DC24V 100mA 2V 7 72 coM 7 14 7 7 6 CN4 CN5
316. 7 20 7 7 7 3 1 IN1 IN16 7 20 DC24V 10 1 3 3kQ 10mA 1 7 75 fk 7 7 3 2 OUT1 OUT16 7 27 DC24V 100mA 2V 7 76 COM 7 21 7 7 8 6
317. 775 TEL0792 89 1521 TEL089 941 2445 TEL082 285 7760 TEL092 451 5671 TEL087 866 4141 TEL0849 54 6501 TEL0862 44 4166 TEL096 337 2771 FAX052 571 6396 FAX052 561 7588 FAX0566 98 3200 FAX0532 63 4615 FAX054 237 2139 FAX076 242 5264 FAX06 6945 8173 FAX075 341 4745 FAX0792 89 1675 FAX 089 941 2538 FAX082 283 9491 FAX092 474 5060 FAX087 867 4660 FAX0849 54 6502 FAX0862 44 4145 FAX096 348 0672 MTM 3 TEL 03 3779 7284 TEL 052 571 6389 TEL 06 6945 8243 TEL 0466 44 1783 FAX03 3779 7435 FAX052 571 6395 FAX06 6945 8176 FAX0466 45 7904 1 2 2001 9 17 K20071 01
318. A 9 33 1 9 5 1 Module Name 9 Module Name USR1 USR8 9 6 9 73 Y 9 14 9 15 OFF a Type OFF 0 X Module Name Y Module Name Z Module Name 3 2 1 2 OFF
319. D AC e FGND AC AC 14 24 14 7 2
320. F GND 2 3 4 A 5 B B 6 Z 7 8 N C 9 N C 10 NC 11 N C 12 NC 13 N C 14 15 16 DGND 17 A A 18 B B 19 Z z 20 ENC_BAT 21 NC 22 N C 23 24 25 Ne E A a DC5V 10 TI SN75175NS 0 2V 2200 12V 3 4 P
321. INSyRSRV pe FTN4RSRV FIN5 RSRV FIN6 RSRV FTN7RSRV FIN8 RSRV Output OP11 OB110 OUT9 USER A RSRV Output OP11 OB111 OUT10 USER A RSRV Output OP11 OB112 OUT11 USER A RSRV Output OP11 OB113 OUT12 USER A RSRV Output OP11 OB114 OUT13 USER A RSRV Output OP11 OB115 OUT14 USER A RSRV Output OP11 OB116 OUT15 USER A RSRV USER A RSRV A 9 3 1 9 3 1 1 9 3 Locus speed s Locus accel Max speed Pe 1 1200 0mm s Locus speed Max speed
322. N 2I0 3FNC 4etc aAllv F4 EMST data SET Externa1 2 P NO9 4 F1 STOP data save SET 1 1RUN 2ORG 3J0G 4etc p y NO A v 4etc F4 CSTP data save SET lA 2 a 1EDT 2TCH i3PAL 4etc F4 NOP aAllv ALARM data save SET 3 A 4 1SYS 2CTR 3TO 4etc CTR P F2 PRG A v RUN mode SET CTR 1UNT 2MDL 4etc MODE F4 CTR 1PMD 2TNP 3OUT 4etc F1 9 42
323. OG6 POSN2 USER RSRV RSRV POSN3 USER USER POSN4 RSRV USER POSN5 RSRV USER POSN6 RSRV USER POSN7 RSRV USER POSN8 RSRV USER POSN9 RSRV USER POSN107RSRV USER POSN11 RSRV 9 43 cladld gl B GS gl amp 9 9 8 2 8 2 9 1 CTR ITNP e e OFF IMODE
324. TO 4 2 s EXEA 13 4 2 s EXEA gt 3 4 2 1 3 6 1 6 6 2 2 EXEA 11 e
325. Y 0 6 00 00110000 00000000 10 00000000 00000000 1CHK 3SYS WS 0 1 e F3 SYS MODE 14 34 1 14 HH 14 2 6 3 e 1 O F3 MEM IO M 2 2
326. s 50mm s 4 26 14 EN OF RM OFF ul 9
327. us speed lA 4 00 5 Locus acce1 lA 4 SYS JP X1200 0 1 Y1200 0 Max speed SYS JP X35 0 Max acce1 gt 4 OE SYS JP XOFF Finish width AD lA 4 OFF ALL Finish mode lA ly OEE Fin contro1 lA vy SYS JP 00 10 Fin out time 9 12 2 OFF 4etc 9 9 3 2 9 3 2 1 9 5
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