nx100 parameter list

DATE January 6, 2005

ESTIMATE No.

ORDER No.

CUSTOMER

USER

CONTENTS NX100 / NXC100 PARAMETER LIST

NOTE COPIES

CUSTOMER

USER

DR.

CK. －

APP.

DWG No.

YASKAWA ELECTRIC CORPORATION Controller Technology Section1 Controller Technology Department Robot Plant Robotics Automation Division

CONFIDENTIAL

YASKAWA

HE0401120

Do not submit this electronic data to the customer.

THIS MATERIAL IS FOR STUDY PURPOSE ONLY.YOU MUST READ THE MANUAL WHICH ENCLOSEDWITH A ROBOT.

FD PARAMETR -----------3

S2C PARAMETER -----------7



RS PARAMETER -----------51

CIO PARAMETER -----------56

AP PARAMETER -----------70

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ＮＸ100 / NXC100 FD

FD Byte Type (UCHAR)

NX XRC Main Item Sub Item Unit Remarks Initial Value0 0 Concurrent IO Step number extension 0: 10000 steps (Standard)

1: 15000 steps (Extended)0

1 1 Relative job function 0: Disable1: Enable (Standard)2: Enable (Extended)New job is made by relative job. Specify coordinates in related S2C278)

0

2 2 External reference point 0: Disable, 1: Enable 03 3 Data transmission 0: Disable

1: Enable2: Enable API function (PC-XRC only)

0

4 4 Endless rotation (Ext-axis, T-axis) 0: Disable1: Enable2: Enable (Without MRESET)

0

5 5 System job function Task 1 to 4 0: Disable1: Task 12: Task 23: Task 34: Task 4

0

6 6 Independent motion Task 1 to 8 0: Disable1: Independent control for Task 42: Independent control for Task 8

0

7 7 Coordinated motion 08 8 Function for MOTION debug Debug instraction registration 0: Disable, 1: Enable 09 9 0

10 10 Function for commercial test (R) 0: Disable, 1: Enable 0

11 11 012 12 I/O alarm/message detection (Bit

setting)d0 :IO alarmd1 :IO message

0: Numeral value (Standard) (Specific input code area)1: Bit value (Register area)

0

13 13 Start Point Search 0: Disable1: Slow Down and Stop2: Stop Immediately

0

14 14 0

15 15 Speed limitation for Europeansafety specification

0: Disable, 1: Enable 1

16 16 0

17 17 0

18 18 0: Disable, 1: Enable 019 19 PMT function 1: PMT with P.P operation

2: Addition of automatic PMT (SETTOOL, GETTOOL, PMT installation)

0: Disable1: Enable with P.P2: Enable automatically

0

20 20 Conveyer synchronization 0: Disable, 1: Enable 021 21 022 22 0: Normal

1: Controlled by master robot motion time(complete synchronization)

0

23 23 Interrupt job 0: Disable, 1: Enable 024 24 COMARC function 0: Disable, 1: Enable 025 25 026 26 027 27 0

MEASON, MEASOF instructionsDeta transmission commands RABS,WABSO

Station twin (triple) synchronous function (Multi-task synchronization)

Station twin (triple) synchronous function (Multi-task synchronization)

Following register areas aredetected.M060:d0-d15 system IO alarm 1-16M061:d0-d7 system IO alarm 17-24M061:d8-d15 user IO alarm 1-8M062:d0-d15 system IO message 1-16M063:d0-d7 system IO message 17-24M063:d8-d15 User IO Message 1-8

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NX XRC Main Item Sub Item Unit Remarks Initial Value28 28 029 29 General sensor 0: Disable, 1: Enable 030 30 TCP function 0: Disable, 1: Enable 031 31 032 32 033 33 034 34 Servo float Bit setting

d0: Joint servo floatd1: Linear servo floatd3: Cancel servo float (only by executing instruction)

0

35 35 Twin drive 0: Disable, 1: Enable 036 36 037 37 Hexagon cutting 0: Disable, 1: Enable 038 38 039 39 0: Disable, 1: Enable 040 40 Motor gun function 0: Disable, 1: Enable 041 41 Motor gun change 0: Disable, 1: Enable 042 42 Ethernet 0: Disable, 1: Enable 043 43 T-axis speed control 0: Disable, 1: Enable 044 44 Number key input teaching

correction0: Disable, 1: Enable 0

45 45 Form cutting 0: Disable1: Conventional method2: Circular control

0

46 46 Collision detection function 0: Disable, 1: Enable １47 47 Arm deflection compensation

function0: Disable, 1: Enable 0

48 48 Aluminum welding power sourcecommunication

0: Disable1: A3002: A2003: P500

0

49 49 Arc monitoring function 0: Disable, 1: Enable 050 50 Pause weaving 0: Disable, 1: Enable 051 51 052 52 053 53 Vision 0: Disable, 1: Enable

2: HONDA Spec0

54 54 Vision P.P menu operation 0: Disable, 1: Enable 055 55 Safety speed change

（ANSI2000）0: Enable (Conventional spec)1: Disable (Speed limited at 250 mm/sec)

1

56 56 Circlar weaving 0: Disable, 1: Enable 057 57 058 58 Automatic speed adjustment during

playback0: Disable, 1: Enable 0

59 59 Point variable function 0: Disable, 1: Enable 060 60 Tool shift coordinates 0: Disable, 1: Enable 061 61 Compensation of weaving root gap

(WVADJ)0: Disable, 1: Enable 0

62 62 MEMOPLY function 0: Disable, 1: Enable 063 63 Euler angle display 0: Disable, 1: Enable 064 64 Move instruction delete condition

change0

65 65 Special shift spec (For KOMATSU) For KOMATSU 0: Disable, 1: Enable 066 66 Welding condition change during

playback(Extended ver. for KOMATSU)

For KOMATSU 0: Disable, 1: Enable 0

67 67 Parallel shift control in coordinatedmotion

0: Disable (Coordinated motion as things are)1: Enable (Shift coordinates considered)

0

68 68 IO job function 0: Disable, 1: Enable 069 69 Axis shift function 0: Disable, 1: Enable 070 70 Arc-ON condition change

(Welding in teach mode)0: Disable, 1: Enable 0

71 71 Arc-ON condition change(Motion continuation)


72 72 Shift condition cancel 0: Disable, 1: Enable 073 73 Three dimensional shifting function 0: Disable, 1: Enable 074 74 Macro instruction (job) 0: Disable, 1: Enable

2: KOMATSU spec0

75 75 Laser tracking 0: Disable, 1: Enable 076 76 Search function in continuous

motionNSRCH 0: Disable, 1: Enable 0

77 77 Ethernet FTP 0: Disable, 1: Enable 0

Analog speed control related speed (General sensor)

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NX XRC Main Item Sub Item Unit Remarks Initial Value78 78 Ethernet WWW 0: Disable, 1: Enable 079 79 Auto-backup function 0: Disable, 1: Enable 080 80 Sealing function 0: Disable, 1: Enable

2: Under coating0

81 81 Motion extension function 0: Disable, 1: Enable 082 82 OPTON instruction 0: Disable, 1: Enable 083 83 General purpose robot function Make "UNIV-x" settable for

robot and base-axis0: Disable, 1: Enable 0

84 84 Home position detection function 0: Disable, 1: Enable 085 85 ControlNet 0: Disable, 1: Enable 086 86 Alarm check

(Twin coordinate arc restart)For DaimlerChrysler 0: Disable, 1: Enable 0

87 87 Arm interference check function 0: Disable, 1: Enable 088 88 Spot welder communication

function0: Disable1: Welder from Obara Corporation2: Welder from Welding Technology Corporation (Medar)3: Welder from Dengensha4: Welder from NADEX

0

89 89 Self-interference check function Temporarily for HONDA only 0: Disable, 1: Enable 090 90 Control group advanced feature 1: For HONDA

2: For FUJI HEAVY INDUSTRIES

0: None1: Available (3 or more move instructions)2: Available (1 + coordinated motion extension)

0

91 91 Manual spot multiple control For HONDA 0: Disable, 1: Enable 092 92 Database function For HONDA 0: Disable, 1: Enable 093 93 Paint delivery system (EVB) For HONDA 0: Disable, 1: Enable 094 94 Station-axis angle display For KOMATSU 0: Disable, 1: Enable 095 95 Mass/weight measurement

interlock release0: Disable, 1: Enable 0

96 96 Group change function 097 97 SV debug function 0: Disable, 1: Enable 098 98 Pre-online display change For KOMATSU 0: Standard

1: Delete YASKAWA logo0

99 99 Message check For debug 0: Disable, 1: Enable 0100 100 Unused 0101 101 Automatic home position return For painting 0: Disable, 1: Enable 0102 102 Unused 0103 103 Bending function 0: Disable, 1: Enable 0104 104 Job sharing function For DaimlerChrysler

(Also enable in standard)0: Disable, 1: Enable 0

105 105 Master tool user coordinates For DaimlerChrysler(Also enable in standard)


106 106 Conveyor tracking (Shift function) For painting 0: Disable, 1: Enable 0107 107 Reservation window advanced

featureFor KOMATSU 0: Disable

1: Enable (10 displays)0

108 108 Broken-belt detection 0109 109 Weaving synchronous function For HONDA 0: Disable, 1: Enable 0110 110 Direct open of move instruction For KOMATSU 0: Disable, 1: Enable 0111 111 Encoder reset 0112 112 FL-net 0: Disable, 1: Enable 0113 113 Manual conveyor setting (paint) Position setting function for

manual conveyor0: Disable, 1: Enable 0

114 114 Jigless robot system for 3-4 robots Jigless arc 0: Disable, 1: Enable 0115 115 Path priority control For MG 0: Disable, 1: Enable

2: Enable in all zones0

116 116 LS input signal setting for manualconveyor home position (paint)


117 117 Three dimensional shiftingconversion function


118 118 Instruction edit function duringoperation


119 119 Motor gun pressure force fileextension

For DAIHATSU 0: Disable (15)1: Enable (255)2: Enable (127)

0

120 120 I/F panel Color PP 0: Disable, 1: Enable 0121 121 Play path check 0: Disable, 1: Enable

Condition for AND operationwith S2C698

0

122 122 Network service 0: Disable, 1: Enable 0

123 123 0124 124 0125 125 0126 126 0127 127 0

TCP/IP network services such asDHCPC, DNS resolver, SNTPC

LS input signal function formanual conveyor home position

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NX XRC Main Item Sub Item Unit Remarks Initial Value128 128 0129 129 0130 130 0131 131 0132 132 0133 133 0134 134 0135 135 0136 136 0137 137 0138 138 0139 139 0140 140 0141 141 0142 142 0143 143 0144 144 0145 145 0146 146 0147 147 0148 148 0149 149 0150 New Wafer alignment function 0: Disable, 1: Enable 0151 New Password-protection function 0: Disable, 1: Enable 0152 New Servo power group individual

ON/OFF function0: Disable, 1: Enable 0

153 New Ladder editor function 0: Disable, 1: Enable 0154 New Individual master call during

operationFor KLA 0: Disable, 1: Enable 0

155 New Automatic home position return(SER)

For DAINIPPON SCREEN 0: Disable, 1: Enable 0

156 New Motor gun control method change Switching of torque-positioncontrol

0: Torque control (Equivalent to XRC)1: Position control

0

157 New Zeroing function 0: Disable, 1: Enable 0158 New Play mode enable function For ANSI 0: Disable, 1: Enable 0159 New Motor gun in MAZDA spec 0: Disable, 1: Enable 0160 New For GM 0: Disable, 1: Enable 0161 New I/F function for TOYOPUC 0: Disable, 1: Enable 0162 New Reserved for motor gun 0: Disable, 1: Enable 0163 New Compact remote laser welding For (R-OU) 0: Disable, 1: Enable 0164 New Manual brake release For ANSI 0: Disable, 1: Enable 0165 New 0166 New 0167 New 0168 New 0169 New 0170 New 0171 New 0172 New 0173 New 0174 New 0175 New 0176 New 0177 New 0178 New 0179 New 0180 New 0181 New 0182 New 0183 New 0184 New 0185 New 0186 New 0187 New 0188 New 0189 New 0190 New 0191 New 0192 New 0193 New 0194 New 0195 New 0196 New 0197 New 0198 New 0199 New Reserved For System 0200～

999

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NX100 / NXC100 S2C

S2C Byte Type (UCHAR)

NX XRC Main Item Sub Item Unit Remarks Initial Value0 0 Option board setting 01 1 Cube soft-limit check d0: Base coordinate of Robot1

control pointd1: Base coordinate of Robot2 control pointd2: Base coordinate of Robot3 control pointd3: Base coordinate of Robot4 control point

0

2 2 S-axis interference check 0: No Check1: Check (Bit Setting)

d0: Robot1d1: Robot2d2: Robot3d3: Robot4

0

3 3 Signal 1 04 4 Signal 2 05 5 Signal 3 06 6 Signal 4 07 7 Signal 5 08 8 Signal 6 09 9 Signal 7 0

10 10 Signal 8 011 11 Signal 9 012 12 Signal 10 013 13 Signal 11 014 14 Signal 12 015 15 Signal 13 016 16 Signal 14 017 17 Signal 15 018 18 Signal 16 019 19 Signal 17 020 20 Signal 18 021 21 Signal 19 022 22 Signal 20 023 23 Signal 21 024 24 Signal 22 025 25 Signal 23 026 26 Signal 24 027 Signal 25 028 Signal 26 029 Signal 27 030 Signal 28 031 Signal 29 032 Signal 30 033 Signal 31 034 035 Signal 33 (Reserved) 036 Signal 34 (Reserved) 037 Signal 35 (Reserved) 038 Signal 36 (Reserved) 039 Signal 37 (Reserved) 040 Signal 38 (Reserved) 041 Signal 39 (Reserved) 042 Signal 40 (Reserved) 043 Signal 41 (Reserved) 044 Signal 42 (Reserved) 045 Signal 43 (Reserved) 046 Signal 44 (Reserved) 047 Signal 45 (Reserved) 048 Signal 46 (Reserved) 049 Signal 47 (Reserved) 050 Signal 48 (Reserved) 051 27 Frame type 052 28 0: Pulse (Axis interference) 053 29 1: Base 054 30 2: Robot 055 31 3: User 056 32 057 33 Hot-line work robot --> 058 34 4: Wrist position (Base) 0

Cube/axis interference signal

Cube 33 to 48: reserved forsystem

Check specification0: None1: Robot12: Robot23: Robot34: Robot45: Base16: Base27: Base38: Base49: Station110: Station211: Station312: Station413: Station514: Station615: Station716: Station817: Station918: Station1019: Station1120: Station12

Cube/axis interference signal 2Usage

Frame TypeFrame No.



Frame TypeFrame No.

Frame TypeFrame No.


Frame TypeFrame No.

0: No Check, 1: Check (Bit setting)

Signal 32

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NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value59 35 5: Elbow position (Base) 060 36 6: Wrist position (Robot) 061 37 7: Elbow position (Robot) 062 38 063 39 Check specification 064 40 Most significant bit d7: 065 41 066 42 067 43 068 44 1: Stops right before check 069 45 070 46 071 47 Frame No. 072 48 073 49 074 50 075 51 076 52 077 53 078 54 079 55 080 56 081 57 082 58 083 59 084 60 085 61 086 62 087 63 088 64 089 65 090 66 091 67 092 68 093 69 094 70 095 71 096 72 097 73 098 74 099 0

100 0101 0102 0103 0104 0105 0106 0107 0108 0109 0110 0111 0112 0113 0114 0115 0116 0117 0118 0119 0120 0121 0122 0123 0124 0125 0126 0127 0128 0129 0130 0131 0

0: Dedicated output signal turns ON after entering interference area

(If frame type is set to 3,specify frame No.)

Cube/axis interference signal 40Usage (Reserved)

Frame TypeFrame No.

Cube/axis interference signal 41 Frame Type


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.

Cube/axis interference signal 21UsageCube/axis interference signal 22UsageCube/axis interference signal 23UsageCube/axis interference signal 24Usage

Frame TypeFrame No.Frame TypeFrame No.

Cube/axis interference signal 19UsageCube/axis interference signal 20Usage

Cube/axis interference signal 15UsageCube/axis interference signal 16UsageCube/axis interference signal 17UsageCube/axis interference signal 18Usage

Frame TypeFrame No.

Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.




Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.

Frame TypeFrame No.

Frame TypeFrame No.


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NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value132 0133 0134 0135 0136 0137 0138 0139 0140 0141 0142 0143 0144 0145 0146 0147 75 Security mode at power ON 0: Operation mode

1: Up to edit mode2: Up to management mode

1

148 76 Rect/cyl select 0: Cylindrical motion1: Rectangular motion

1

149 77 Coordination change inhibition(at JOG operation)

0: Tool & user coordination changing enable1: Tool coordination changing inhibit2: User coordination changing inhibit3: Tool & user coordination changing inhibit

0

150 78 FWD operation 0: Each line, 1: Each step 0151 79 Instruction execution at FWD

(Other than move instruction)0: FWD+INTERLOCK key1: Only FWD key2: No execution

0

152 80 Motion coordination changing atjob changing

0: Change (Joint coordinates)1: Keep2: Cartesian coordinates (Robot with interpolation)

0

153 81 Robot posture control at JOGoperation

0: Enable, 1: Disable 0

154 82 Tcp type at user coordinates 0: Robot tcp, 1: External tcp 0155 83 Job step modification (Only for edit-lock job) 0: Enable, 1: Disable 1156 84 Manual speed keep at changing

coordination0: Disable, 1: Enable 0

157 85 Speed modification 0: Single (Cursor does not move)1: Continuously (Cursor moves to next step automatically)

0

158 86 Instruction insert position 0: Before next step1: Next to cursor

0

159 87 Master job / sub master job callat play mode


160 88 Key operation at check run andmachine lock


161 89 Reserved job change 0: Enable, 1: Disable 0162 90 Master job / sub master job call

at play mode0: Enable, 1: Disable 0

163 91 Instruction level 0: Subset1: Standard (same as ERC)2: Expansion

0

164 92 +MOV*, +SMOV* speed input Bit setting 0: Disabled0: +MOV* Enable (Master)d1: +SMOV* Enable (Slave)

0

165 93 +MOV motion type input d0 +MOVJ (1: Enable)d1: +MOVL (1: Enable)d2: +MOVC (1: Enable)d3: +MOVS (1: Enable)

2

166 94 Instruction leaning function 0: Disable, 1: Enable 1167 95 Job line addressing at control

power ON0: Last line at power OFF1: Initialization (Top of master job)

0

168 96 Job list sorting at job selection 0: By name, 1: By date 2


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.


Frame TypeFrame No.

Usage (Reserved) Frame No.

HE0401120 9/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value169 97 Initial speed of manipulator 0: Soft key operation

1: Slow start (after edit operation)

0

170 98 Step execution at playback 0: Every 1 line, 1: Every 1 step 0171 99 External start 0: Enable, 1: Disable 0172 100 P.PANEL start 0: Enable, 1: Disable 0173 101 Speed input unit 0:mm/sec, 1:cm/min,

2:inch/min1

174 102 Reserved job start 0: Enable, 1: Disable 1175 103 0176 104 Job selection at remote/play

mode0: Enable, 1: Disable 0

177 105 External mode change 0: Enable, 1: Disable 1178 106 System reservation （P.PANEL

mode change) <NS1.70>0: Enable, 1: Disable 0

179 107 External cycle change 0: Enable, 1: Disable 0180 108 PP cycle change 0: Enable, 1: Disable 0181 109 Servo ON operation by

external/P.PANEL inhibitd0: External, d1: P.PANEL 0

182 110 P.PANEL/PP operation at"IO"remote mode

d0: P.PANEL servo ON ([SERVO ON READY] key; play mode)d1: PP servo ON (DMS: teach mode)d2: System reserved (Mode change --> PP mode switch)<NS1.70>d3: Master job calld4: Cycled5: Start

0

183 111 Motion in FWD/BWD/TESToperation

At independent control 0: 1Job, 1: All jobs 0

184 112 Motion in sub task call At independent control 0: Master job, 1: Start job 0185 113 Manual top speed function

(Safety specification)Enabled with FST signal ON 0: Disable, 1: Enable 0

186 114 Tool change interlock atrecording position

0: Interlock disable1: Interlock enable

0

187 115 Output relay status at controlpower ON

0: Reset to power OFF status1: Initialization (All general relays are OFF )

0

188 257 Robot 1 - Robot 2 0189 258 Robot 1 - Robot 3 0190 259 Robot 2 - Robot 3 0191 280 Robot 1 - Robot 4 0192 281 Robot 2 - Robot 4 0193 282 Robot 3 - Robot 4 0194 122 Station axis current position

display function (Angle)0: Disable, 1: Enable 0

195 123 Station 1 0196 124 Station 2 0197 125 Station 3 0198 126 Station 4 0199 127 Station 5 0200 128 Station 6 0201 129 Station 7 0202 130 Station 8 0203 131 Station 9 0204 132 Station 10 0205 133 Station 11 0206 134 Station 12 0207 135 0208 136 0209 137 0210 116 1 job motion mode change when

teach mode is selectedAt independent control 0: Unchange

1: Change0

211 139 Remote initial cycle mode 0:Step, 1:1Cycle, 2:Auto,3:Keep

1

212 140 Local initial cycle mode 0:Step, 1:1Cycle, 2:Auto,3:Keep

1

213 141 0214 142 Initial speed level when changed

to FST mode0: Low, 1: Mid, 2: High, 3: Top 0

Robot interference check

Station axis display units(Angle teach function)

0: Disable, 1: Enable

(Bit setting)0: Angle1: Distance

HE0401120 10/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value215 143 Non-excessive segment function

process0: Disable, 1: Enable (All),2: Enable (Instruction with VADJ tag)

0

216 144 Control of advanced stepnumber optimization

Applies control optimizationin continued operation evenif the step number is 0.


217 145 Non-excessive segment functionmode setting

0: Disable1: Enable only in teach mode

0

218 146 Excessive segment notification 0: Disable, 1: Enable 0219 147 0220 148 0221 149 0222 150 0223 151 0224 152 0225 153 0226 154 0227 155 3-level inching function 0: Disable, 1: Enable 0228 156 Welding condition change

during operation0: Disable1: Enable

0

229 157 Data modification of syncfunction monitor for conveyorwith shift function

0: Disable1: Enable

0

230 158 Playback cycle at power ON 0:Step, 1:1Cycle, 2:Auto,3:Keep

1

231 159 Teach initial cycle 0:Step, 1:1Cycle, 2:Auto,3:Keep

1

232 160 Play initial cycle 0:Step, 1:1Cycle, 2:Auto,3:Keep

1

233 161 Alarm code output data type 0: Binary, 1: BCD 0234 162 Start condition after abso range

error0: Position check1: Slow start

0

235 163 WAIT instruction releaseenforcement

Bit settingd0: Enable WAIT release menu selectiond1: Enable WAIT release with interlock + 4d7: Motion specification afterWAIT release 0: Stop job, skip WAIT 1: Continue job

0

236 164 Job name display on top menu 0: Nondisplay, 1: Display 0237 165 MOVE instruction deletion 0: Enable in same position

1: Enable in different position0

238 166 Control group changing Teaching point correction 0: Disable, 1: Enable 0239 167 0240 168 0241 169 0242 170 0243 171 0244 172 0245 173 0246 174 0247 175 0248 176 0249 177 0250 178 0251 179 0252 180 Gun 1 0253 181 Gun 2 0254 182 Gun 3 0255 183 Gun 4 0256 184 Gun 5 0257 185 Gun 6 0258 186 Gun 7 0259 187 Gun 8 0260 188 Gun 9 0261 189 Gun 10 0262 190 Gun 11 0263 191 Gun 12 0264 192 0265 193 Coordinate change at power ON 0: Link, 1: Cartesian 0

User coordinate numbers forcorrection of worn stationary gun(For motor gun)

0: Gun attached to robot1 to 24: User coordinate numbers

HE0401120 11/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value266 194 Coordinate change at power ON

(Reserved)0

267 195 Coordinate change at power ON(Reserved)

0

268 196 4 point teaching function 0: Disable, 1: Enable 0269 197 Group interlock of jog operation

request for IO0: Disable, 1: Enable 0

270 198 New speed auto adjustmentfunction

Function for KOMATSU(Message/alarm is displayedwhen speed is auto-adjusted)


271 199 Execution enforcement at FWD 0: Disable, 1: Enable 0272 200 Job list display style D0: Simple

D1: Detail (Comments)D2: Detail

0

273 201 Inversion of mirror shift sign forconveyor instruction

Linear CTP, STPArc CTPP, STPP

d0: Linear, d1: Arc 0

274 202 Reverse function for path For painting application 0: Disable, 1: Enable 0275 203 Simple position correction For painting application 0: Disable, 1: Enable 0276 204 Signal mode change of hand for

jigless application0: Change unkept1: Change kept

0

277 205 Axis operation when inputtingmotor operation permission

For painting application 0: Disable, 1: Enable 0

278 206 Coordinate specification inrelative job creation

When FD001=2 0: Pulse1: Base coordinate2: Robot coordinate3: User coordinate 1 :26: User coordinate 24

0

279 207 Weaving coordinate creationmethod

For KOMATSU 0: Use approaching direction1: Tool posture of weaving start position

0

280 208 Cursor control after deletingmove instruction

0: Standard (Move to last step)1: Move to last line

0

281 209 Cursor control in instructiondialog

0: Standardd0: Instruction group list: Use → to move to instruction list Instruction list: Use ← to move to instruction group listd1: Use ↑/↓ in instruction list to scroll

3

282 210 Key stop in FWD/BWD 0: Disable, 1: Enable 0283 211 Limited teaching modification 0: Disable, 1: Enable 0284 212 FWD/BWD speed 0: LED, 1: Low, 2: Mid, 3: High 0285 Security mode in mode change 1: Operation mode

2: Edit mode or lower level3: Management mode or lower levelDisable other than 1 to 3

0

286 0287 General output status change in

play mode (GM)0: Disable, 1: Enable 0

288 Step No display 0: Line display only1: Line and step display

0

289 PL setting screen display 0: Disable, 1: Enable 0290 Instruction execution at BWD

except move instruction (WAITonly)

For MAZDA 0: Disable instruction (Move instruction only)1: Enable MOVE/WAIT only with "BWD" key

0

291 Edit mode of master job For MAZDA 0: Edit mode or upper level (current)1: Management mode or upper level

0

At change from teach mode to playmode

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NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value292 PMT conversion method For GM 0: Conventional method

(converted with /OV)1: Convert after batch limit checking (not converted with /OV)

0

293 Security mode at PW protectionfunction logoff when FD151 iseffective

0: Operation mode1: Edit mode2: Management mode

0

294 Reserved 0295 Welding start signal output For MAZDA 0: Conventional method

X: Start at X% of specified welding force

0

296 Selection of IO simulation outputstatus

0: Simulation input not reflected in output to actual external equipment1: Simulation input reflected in output to actual external equipment

0

297 Signal name alias function For GM 0: Disable, 1: Enable 0298 Variable name alias function 0: Disable, 1: Enable 0299 Display of user signal variable

definitionFor GM 0: Disable, 1: Enable 0

300 363 Registration of CIOregister name

Function implanted from 0: Disable, 1: Enable 0

301 IF panel key operation 0: Enable, 1: Disable 0302 0303 0304 0305 0306 0307 0308 0309 0310 0311 0312 0313 0314 0315 0316 ARCOF CONTINUE in arc

failure: inhibition setting0: Disable, 1: Enable 0

317 245 Time reset operation Controller power-on time 0: Inhibit, 1: Permit 0318 246 Servo power-on time 0319 247 Playback time 0320 248 Operation time 1321 249 Moving time 1322 250 Synchronized robot posture

control methodIn use of station twinsynchronous system

0: M-TOOL coordinate1: World coordinate

0

323 251 Posture control method of robotin synchronized job operation

In use of station twinsynchronous system

0: M-TOOL coordinate1: World coordinate

0

324 252 Restart operation after pathdeviation

0: Move to next step1: Move to path deviated position then move to indicated step2: Move to path deviated position and stop, then move to indicated stop with restart operation

1

325 253 Motion after jog operation 0: Move to next step1: Move to path deviated position then move to indicated step2: Move to path deviated position and stop, then move to indicated stop with restart operation

0

HE0401120 13/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value326 254 Returning position after path

deviation0: Created with feedback position value1: Created with current position value

0

327 255 Circular motion posture control 0: Move posturing equally1: Posture rotated by circular path2: Move posturing equally to horizontal plane (XY)

0

328 256 Weaving permission 0: Enable only with basic axis1: Enable only with 3 axes on wrist (Cannot be used)

0

329 257 0330 258 0331 259 0332 260 Relative job motion Conversion method 0: Last step concerned

1: Type concerned2: Last step concerned (minimum R-axis movement)3: B-axis type concerned, and last step concerned (For KOMATSU)

2

333 261 Tool No change 0: Disable, 1: Enable 0334 262 Tool calibration calculation 0: XYZ only (current)

1: Posture only2: XYZ and posture

0

335 263 Buzzer setting in positionteaching

0: With buzzer1: Without buzzer

0

336 264 Job synchronization operation In use of station twinsynchronous system


337 265 Moving average in ARCONoperation

0: Moving average change disable1: Moving average change enable at 0 msec

0

338 266 Torch jog motion d0: Specify X, Y, Zcoordinatesd1: Specify Rz motionNote) Not be disclosed to

d0: 0=Base coordinate 1=Torch jog coordinated1: 0=With Rz motion 1=Without Rz motion

0

339 267 Playback motion continuousfunction permission(Double cursor indication)

Start of continuation fromplayback stopped position

0: Disable1: Enable (Standard: Without jog operation distance monitoring function)2: Enable (GM spec: With restart distance monitoring function after jog operation)10: Enable (Confirmation dialog without continuous move, restart after stop)11: Enable (Confirmation dialog without continuous move, restart immediateiy)

0

340 268 Macro insctruction (job) display 0: Disable, 1: Enable 0

341 269 Inverse conversion method ofparallel shift

Conversion method 0: Last step concerned1: Type concerned2: Last step concerned (minimum R-axis movement)3: B-axis type concerned, and last step concerned (For KOMATSU)

0

342 270 SI unit indication Motor gun, linear servo float 0: Old units (kgf),1: SI units (N)

0

343 271 Safeguarding input signalmessage change

0: "Safety guard is open" (standard)1: "Servo off signal (SAF-F) is ON" (for TOYOTA)

0

Macro job display in executingmacro instruction

Note) Not be disclosed to user (Not be on manual)

HE0401120 14/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value344 272 SVSPOT interlock in test mode For NISSAN 0: Disable, 1: Enable 0345 273 Job registration table Used in JUMP, CALL

instructions0: Disable1: Enable (only in teach mode)2: Enable (in playback mode)

0

346 274 Arm interference check function 0: Enable, 1: Disable 0347 275 Self-interference check function 0: Enable, 1: Disable 0348 276 Process in MOVC execution For KOMATSU 0: Existing process

1: Calculate circular path from 3 points including motion started point

0

349 277 Inverse transformation of targetpoint

For CSL15 0: Standard (Rotation of near direction)1: Keep the last step type

0

350 278 Motion after path deviation/jogoperation

For KOMATSU 0: Executed by FWD and/or start of job1: Executed only by FWD

0

351 279 Coordinated job motion withmaster specification

For KOMATSU 0: Stop after CALL execution1: Do not stop after CALL execution

1

352 280 0353 281 0354 282 0355 283 Arc monitoring function: current

conversion rateWelder 1: when FD049=1 200

356 284 Arc monitoring function: currentoffset

Welder 1 Unit: 1A 0

357 285 Arc monitoring function: voltageconversion rate

Welder 1 200

358 286 Arc monitoring function: voltageoffset

Welder 1 Unit: 0.1V 0

359 287 Arc monitoring function: currentconversion rate

Welder 2 200


Welder 2 Unit: 1A 0


Welder 2 200



363 291 Arc monitoring function: currentconversion rate

Welder 3 200


Welder 3 Unit: 1A 0


Welder 3 200



367 Arc monitoring function: currentconversion rate

Welder 4 200

368 Arc monitoring function: currentoffset

Welder 4 Unit: 1A 0

369 Arc monitoring function: voltageconversion rate

Welder 4 200

370 Arc monitoring function: voltageoffset


371 295 R/L coordinated motion of twinwrist robot

Applied to twin wrist robot inHONDA C-zone.Closed to the public


372 0373 0374 0375 0376 0377 0378 0379 0380 0381 0382 310 Cursor move reply time to the

top of the jobs0: 4 seconds1 to 254: Reaction time255: Cursor immediately moved on the top

0

383 311 0

Reply time to move cursor to thetop of the jobs by pressing SHIFT +"↑" cursor key simultaneously

HE0401120 15/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value384 312 0385 313 0386 314 0387 315 0388 316 0389 317 0390 318 0391 319 0392 320 0393 321 Continued motion of step after

FWD operation0: Disable, 1: Enable 0

394 322 Servo gun: clearance function 0: Normal1: Inhibit continued motion of the 3rd stage in motion pattern 1

0

395 323 0396 324 0397 325 Group change

(GRP recognition signal start)R1 0

398 326 Group change(GRP recognition signal end)

0

399 327 Group change(GRP recognition signal start)

R2 0


0


R3 0


0


R4 0


0

405 333 Group change(ATC chuck completed)

R1 0


R2 0


R3 0


R4 0

409 337 0410 338 0411 339 0412 340 0413 341 0414 342 0415 343 0416 344 0417 345 0418 346 0419 347 0420 348 0421 349 0422 350 0423 351 0424 352 0425 353 0426 354 0427 355 0428 356 0429 357 Play mode for customized

number key0: Disable, 1: Enable 0

430 358 Job display of general-purposeIO signal name


431 359 Plate thickness measuringfunction

Motor gun: related withS2C337


432 360 0433 361 Shock sensor release operation 0: Disable, 1: Enable 0

Specify whether to continue ordiscontinue step motion in testmode/playback after FWD.(Closed to the public)

HE0401120 16/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value434 362 Contactor diagnosis function 0: Disable, 1: Enable 0435 363 Registration of CIO register

name0: Disable, 1: Enable 0

436 364437 365438 366439 367 Cube interference area change

by tool0: Disable, 1: Enable 0

440 368441 369442 370 Security mode of welding

schedule edit0: Edit mode1: Management mode

0

443 371 Welding schedule type(timer 1)

0: ACC simplified1: AVC simplified2: ACC extended3: AVC extended

0

444 372 Network address (timer 1) 0445 373 Welder (timer) type setting 0: AC, 1: Inverter 0446 374 Reserved 0447 375 Reserved 0448 376 Reserved 0449 377 Reserved 0450 378 Reserved 0451 379 Debug display 0: Disable, 1: Enable 0452453 Exclusive input for overrun

release0: Standard1: Enable when I/F panel is displayed

454 Individual start condition Bitsetting

d0: Enable during individually at hold status in other taskd1: Enable during individually at alarm status in other task

0

455 Control group # for [R1] 1456 Control group # for [R2] 2457 Control group # for [R3] 3458 Control group # for [R4] 4459 Control group # for [R5] 5460 Control group # for [R6] 6461 Control group # for [R7] 7462 Control group # for [R8] 8463 Exclusive input for RPS function

"RPS job selection"For TOYOTA 0: Disable, 1: Enable 0

464 Application # for [R1] 0465 Application # for [R2] 0466 Application # for [R3] 0467 Application # for [R4] 0468 Application # for [R5] 0469 Application # for [R6] 0470 Application # for [R7] 0471 Application # for [R8] 0472 400 Weaving frequency change WVADJ,SWVADJ

instructions (For KOMATSU)0: Unchange, 1: Change 0

473 401 Start condition 0: Manual restart,1: Auto-restart

1

474 402 Clearance teaching method For DAIHATSU 0: Up, 1: Down,2: Up and down

0

475 403 Correction method for deviationdue to wear

For DAIHATSU 0: Sensor, 1: Pressurization 0

476 404 Axis detaching function For DAIHATSU 0: Disable, 1: Enable 0477 405 Automatic gun tool number

changeFor DAIHATSU 0: Disable, 1: Enable 0

478 406 Teaching with equalization For DAIHATSU 0: Disable1: Full-equalization2: Half-equalization

0

479 407 Stop of teaching withequalization

For DAIHATSU 0: Decelerate & stop1: Immediate stop

0

480 408 Forced pressurization motion For DAIHATSU 0: Motion equivalent of INTERLOCK + 21: Motion equivalent of INTERLOCK +8, 9

0

481 409 Detailed Job list display 0: Disable, 1: Enable 0

Restart operation upon completionof scavenging (For painting robot)

Setting of MEDAR timer

0: No control group1 to 16: Control group numbers

Robot application table(For TOYOTA)

0: No application1: Arc welding2: Handling3: Plasma welding*"Applications" mentioned here suggest the different meaning from the NX100

TOYOPUC robot number table(For TOYOTA)

HE0401120 17/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value482 410 Selection of manual pressure

subject gunFor DAIHATSU 0: Depended on group of

selected job1: Gun No on manual spot display

0

483 411 Selection of manual pressure file For DAIHATSU 0: File No on manual spot displayX: Pressurize with pressure file No X

0

484 S4C161

Selection of manual pressuresubject gun (gun change in playmode)

0: Gun No on manual spot display1: Gun No connected

0

485486487488489490491492493494495496497 497 Correction for deviation due to

wearFor MITSUBISHI 0: Enable

1: Disable2: Enable only for fixed side

498 498 For debug Unit: Sec0: Disable

0

499 499 FWD/BWD/TEST motions For in-house testing 0: Enable in job window1: Enable in windows other than job window (only in YASKAWA mode)

0

500 S4C0 System IO diagnosis slot For in-house testing: virtualIO monitoring specifiedby slotSystem IO diagnosis 3: INSystem IO diagnosis 4: OUT

Slot No: 1 to 17Disable other than 1 to 17

0

501 1 0502 2 Mirror shift tool condition 0: Current selection tool

1: Teaching position tool0

503 3 Job cue use status 0: Unused1: Used

0

504 4 Trigger input signal 0505 5 Que data input signal 0506 6 Que disable output signal 0507 7 Que data clear signal 0508 8 Anticipator function 0: Disable, 1: Enable 0509 9 Distance monitor when step end 0: Disable (divided number)

1: Enable0

510 10 Step continuance whensampling

0: Disable1: Enable

0

511 11 Posture change when reverse 0: Disable, 1: Enable 0512 12 0: Specified by S2C195

1: Posture control concerned0

513 13 4-step anticipation function 0: Disable (normal)1: Enable

0

514 14 0: Teaching point1: Position variable (conventional method)

0

515 15 Estop cursor advance control 0:Disable, 1:Enable 1516 16 % 50517 17 ms 10518 18 0519 19 0520 20 Mode data detailed setting Bit

settingd0: flip/non-flip = B-axis angle 0

521 21 0522 22 0523 23 0524 24 0525 25 0

Estop cursor advance CONT completion positionEstop cursor advance start step motion completion delay time

Parallel shift job conversion method

MOVJ posture control when relative Job

HE0401120 18/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value526 26 0527 27 0528 28 0529 29 0530 30 0531 31 0532 32 0533 33 0: Vertical direction of plane

created with 3 points is specified as -Y direction in user coordinates. Z direction is specified as a vector directing to the 1st point from the center of the circular arc created with 3 points.1: 6 points teaching method The vector created with center points of two circles, one is created with 1st point and 3rd point and the order is created with 4th and 6th, is Y. Z is the vector from the center point of the first circle to 1 st point.

0

534 34 0535 35 0536 36 0537 37 0538 38 0539 39 0540 40 0541 41 0542 42 0543 43 0544 44 0545 45 0546 46 0547 47 0548 48 FWD/BWD synchronization in

twin cordinated system0: Enable Only when FD022=11: Disable

0

549 49 No group axis job executioncondition

0: All control group servo ON1: Any control group servo ON

1

550 50 BWD motion d0: No control group job (0: Enable, 1: Disable)d1: Concurrent job (0: Enable, 1: Disable)

2

551 51 Robot calibration method 0: 3 Points (conventional system)1: Multi points255: Multi points + Number

1

552 52 Instruction modification to step Unused 0: Disable, 1: Enable 0553 53 0554 54 0555 55 0556 56 0557 57 0558 58 0559 59 0560 60 Base axis JOG key allocation 0: Axis NO order

(conventional system)1: Fixed on coordination direction

0

561 61 Manual speed automatic changeto SLOW

d0: At changing to teach moded1: At selecting jobd2: At changing motion coordinatesd3: At servo OFFd4: Fixed to SLOW

0

Coordination calcuration method when user frame creation jobmethod specified

HE0401120 19/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value562 62 User frame creating method 0: Current method

1: New method (pulse data conversion)

0

563 63 Speed override 0: Enable 1 cycle and speed change1: Enable auto cycle, disable speed change

0

564 64 0: 100% (No override)1: Selected manual speed

0

565 65 Control group axis changeinterlock

0: Enable1: Disable

0

566 66 Condition after mode change d0: Check Rund1 to d7: Not used(bit setting)

0: Cancel1: Maintain

0

567 67 Step Continuation of MOVJ->MOVL, MOVL->MOVJ

Closed to user 0: Enable1: Disable

0

568 68 Anticipator function delaycorrection


569 69 Sensor function accel/decelspeed control change

0: Without arithmetic accel/decel + without averaging1: With arithmetic accel/decel + without averaging2: With arithmetic accel/decel + with averaging

0

570 70 Servo gun application Motion inhibit request when manually gripping workpiece


571 71 Continuous speed override 0: Disable, 1: Enable 0572 72 Motion for axes endless function D0: Rotating motion system

ON: absolute movement OFF: relative movement

0

573 73 Arithmetic instruction executionafter Estop

Re-execution/skip forarithmetic instruction of Estop cursor position

0: Skip execution1: Re-execution

0

574 74 CALL/JUMP motion continuationcontrol

Closed to user 0: Disable, 1: Enable 1

575 75 Base axis TCP fixed operation Only for cartesiancoordinates (base


576 76 Conditional NWAIT function 0: Disable, 1: Enable 0577 77 Special motion of exclusive

signal for 1 step back0: Disable, 1: EnablePriority: S4C77 > S4C78

0

578 78 Special motion of exclusivesignal for 1 step back

d0: Job with no group axis (Robot, concurrent job)d1: Concurrent job (Robot 1, 2, 3)0: Disable, 1: EnablePriority: S4C77 > S4C78

0

579 79 0580 80 CONT path completion position

for I/O instruction delay control% 50

581 81 I/O instruction delay controlcorrection time

msec 0

582 82 Speed override ration limit For GM % 0: Disable1 to 100: Upper override ratio limit101 or more: Disable

0

583 83 0584 84 0585 85 0586 86 0587 87 0588 88 0589 89 0590 90 0591 91 0592 92 0593 93 0594 94 0595 95 0

Start only input control group(concurrent job does not operate)

Override speed clamp when switching to play mode

Concurrent jobs, jobs with no groupaxes (jobs cannot register moveinstruction), BWD motion

HE0401120 20/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value596 96 0597 97 0598 98 0599 99 0600 100 MEMPLAY sampling space mm 5601 101 0602 102 0603 103 0604 104 0605 105 Conveyor work data recovery

when power is ON0: Stored data, 1: Clear all 0

606 106 Rotation speed unit (T-axisspeed control function)

0: Motor rotation speed1: T-axis rotation speed

1

607 107 In-line macro at hold 0: Immediately stop at hold input1: Stop after executing specified line

0

608 108 0609 109 0610 110 Control method of SYMOVJ In case of motion disabled

with TOKIKO method0: Alarm, 1: MOVJ 0

611 111 SVSPOT positioning method Measure of gun close beforerobot stop

0: Conventional methodOther than 0: Positioningmonitor delay clock count

0

612 112 TSYNC improvement d0: Processing improvement of MOTIONd1: Cursor control of SYSCON

0

613 113 Continuous shift motion after thepower-off


614 114 0615 115 BWD motion after discontinuing

shift motion0: Move to current cursor position1: Move to the previous step by 1 step from current cursor

0

616 116 0617 117 0618 118 0619 119 0620 120 1st designation 0621 121 2nd designation 0622 122 3rd designation 0623 123 4th designation 0624 124 5th designation 0625 125 6th designation 0626 126 7th designation 0627 127 8th designation 0628 128 0629 129 0630 130 0631 131 Conveyor speed indicating unit

change0：mm/sec1：m/min

0

632 132 Conveyor speed indicating unitrefresh timing

0: NormalOther than 0: Segment clock

0

633 133 SPOT, GUNCL instructionanticipator in test mode

0: Move as tag setting1: Move as ATT="0"

0

634 134 NWAIT for SPOT, GUNCLinstructions in test mode

0: Enable (conventional manner)1: Disable

0

635 135 Conveyor current position outputsource port

For checking 0

636 136 Conveyor current position outputdestination register NO

For checking 0

637 137 0638 138 0639 139 TSYNC status window display 0640 140 Cube 1 to 8 0641 141 Cube 9 to 16 0642 142 Cube 17 to 24 0643 Cube 25 to 32 0644 Cube 33 to 40 (Reserved) 0645 Cube 41 to 48 (Reserved) 0

Deviation correction due to wearfor axes interference area

Moving average process during APTRKON execution

d0: Robot 1d1: Robot 2d2: Robot 3d3: Robot 4

Jigless robot coordinated motionlock

Bit setting (in lower bit order)Enable shift for wear correctionby ON

HE0401120 21/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value646 167 Cooling fan alarm detection

displayCooling fan alarm 1 0: Alarm 1 to 3 undetected

1: Message only2: Message & alarm

0

647 Cooling fan alarm detectiondisplay

Cooling fan alarm 2 0: Alarm 2 undetected1: Message only2: Message & alarm

0

648 Cooling fan alarm detectiondisplay

Cooling fan alarm 3 0: Alarm 3 undetected1: Message only2: Message & alarm

0

649 168 Cooling fan alarm 1 detectionmotion

Bit setting0:Normal open (or unused)1:Normal close

0



0

651 Cooling fan alarm 1 detectionmotion


0



0



0



0



0



0



0

658 174 Power supply status in coolingfan alarm 1 detection

Bit setting0: Detect when control power is ON1: Detect when servo power is ON

0



0

660 Power supply status in coolingfan alarm 1 detection


0



0

d0:SV#2-TU3， d1:SV#2-TU4d2:SV#2-TU5， d3:SV#2-TU6d4:SV#3-TU1， d5:SV#3-TU2d6:SV#3-TU3， d7:SV#3-TU4



d0:SV#1-TU1， d1:SV#1-TU2d2:SV#1-TU3， d3:SV#1-TU4d4:SV#1-TU5， d5:SV#1-TU6d6:SV#2-TU1， d7:SV#2-TU2d0:SV#2-TU3， d1:SV#2-TU4d2:SV#2-TU5， d3:SV#2-TU6d4:SV#3-TU1， d5:SV#3-TU2d6:SV#3-TU3， d7:SV#3-TU4d0:SV#3-TU5， d1:SV#3-TU6d2:SV#4-TU1， d3:SV#4-TU2d4:SV#4-TU3， d5:SV#4-TU4d6:SV#4-TU5， d7:SV#4-TU6d0:SV#1-TU1， d1:SV#1-TU2d2:SV#1-TU3， d3:SV#1-TU4d4:SV#1-TU5， d5:SV#1-TU6d6:SV#2-TU1， d7:SV#2-TU2

d0:SV#3-TU5， d1:SV#3-TU6d2:SV#4-TU1， d3:SV#4-TU2d4:SV#4-TU3， d5:SV#4-TU4d6:SV#4-TU5， d7:SV#4-TU6d0:SV#1-TU1， d1:SV#1-TU2d2:SV#1-TU3， d3:SV#1-TU4d4:SV#1-TU5， d5:SV#1-TU6d6:SV#2-TU1， d7:SV#2-TU2d0:SV#2-TU3， d1:SV#2-TU4d2:SV#2-TU5， d3:SV#2-TU6d4:SV#3-TU1， d5:SV#3-TU2d6:SV#3-TU3， d7:SV#3-TU4d0:SV#3-TU5， d1:SV#3-TU6d2:SV#4-TU1， d3:SV#4-TU2d4:SV#4-TU3， d5:SV#4-TU4d6:SV#4-TU5， d7:SV#4-TU6

d0:SV#1-TU1， d1:SV#1-TU2d2:SV#1-TU3， d3:SV#1-TU4d4:SV#1-TU5， d5:SV#1-TU6d6:SV#2-TU1， d7:SV#2-TU2d0:SV#2-TU3， d1:SV#2-TU4d2:SV#2-TU5， d3:SV#2-TU6d4:SV#3-TU1， d5:SV#3-TU2d6:SV#3-TU3， d7:SV#3-TU4

HE0401120 22/76

NX100 / NXC100 S2C

NX XRC Main Item Sub Item Unit Remarks Initial Value662 177 Power supply status in cooling

fan alarm 2 detectionBit setting0: Detect when control power is ON1: Detect when servo power is ON

0



0



0



0



0

667 Fan alarm 1 0668 Fan alarm 2 0669 Fan alarm 3 0670 0671 0672 0673 0674 0675 0676 0677 0678 0679 0680 0681 0682 0683 0684 0685 0686 0687 0688 0689 0690 0691 0692 0693 0694 0695 0696 0697 0698 144 Play path check function

(reservation)Could be unused in NX 0: Disable, 1: Enable

(Condition for AND operation with FD121)

0

699 199 Motion command limit timecheck

(Check during continuing motion)

0: Disable, 1: Enable(Closed to user)

0

700～1999






0: Cooling fan alarm [number]1: Blown cooling fan fuse in controller

Cooling fan alarm namedesignation

HE0401120 23/76

NX100 / NXC100 S3C

S3C 4 Byte Type (LONG)

NX XRC Main Item Unit Remarks Initial Value0 0 X 01 1 Y 02 2 Z 03 3 X 04 4 Y 05 5 Z 06 6 X 07 7 Y 08 8 Z 09 9 X 0

10 10 Y 011 11 Z 012 12 X 013 13 Y 014 14 Z 015 15 X 016 16 Y 017 17 Z 018 600 X 019 601 Y 020 602 Z 021 603 X 022 604 Y 023 605 Z 024 18 + Direction 025 19 - Direction 026 20 + Direction 027 21 - Direction 028 22 + Direction 029 23 - Direction 030 606 + Direction 031 607 - Direction 032 24 X Axis1 033 25 Y Axis2 034 26 Z Axis3 035 27 - Axis4 036 28 - Axis5 037 29 - Axis6 038 30 - Axis7 039 31 - Axis8 040 32 X Axis1 041 33 Y Axis2 042 34 Z Axis3 043 35 - Axis4 044 36 - Axis5 045 37 - Axis6 046 38 - Axis7 047 39 - Axis8 048 40 X Axis1 049 41 Y Axis2 050 42 Z Axis3 051 43 - Axis4 052 44 - Axis5 053 45 - Axis6 054 46 - Axis7 055 47 - Axis8 056 48 X Axis1 057 49 Y Axis2 058 50 Z Axis3 059 51 - Axis4 060 52 - Axis5 061 53 - Axis6 062 54 - Axis7 063 55 - Axis8 064 56 X Axis1 065 57 Y Axis2 066 58 Z Axis3 067 59 - Axis4 068 60 - Axis5 0

µｍ2nd Position(-)

S-axis interference robot 3 Pulse



Cube soft limit 4(Robot 4 TCP on basecoordinates)

1st Position(+)

1st Position(+)

1st Position(+)

2nd Position(-)


Cube Interference 1

Cube soft limit 1(Robot 1 TCP on basecoordinates) µｍ



1st Position(+)

2nd Position(-)

S2C053=0: Axis Pulse [Pulse]S2C053=1, 2, or 3: XYZ [0.001mm]

Cube Interference 2

1st Position(+) S2C051=0: Axis Pulse [Pulse]S2C051=1, 2, or 3: XYZ [0.001mm]

2nd Position(-) S2C053=0: Axis Pulse [Pulse]S2C053=1, 2, or 3: XYZ [0.001mm]


Cube Interference 3 1st Position(+)

1st Position(+)

2nd Position(-)


Sub Item

HE0401120 24/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item69 61 - Axis6 070 62 - Axis7 071 63 - Axis8 072 64 X Axis1 073 65 Y Axis2 074 66 Z Axis3 075 67 - Axis4 076 68 - Axis5 077 69 - Axis6 078 70 - Axis7 079 71 - Axis8 080 72 X Axis1 081 73 Y Axis2 082 74 Z Axis3 083 75 - Axis4 084 76 - Axis5 085 77 - Axis6 086 78 - Axis7 087 79 - Axis8 088 80 X Axis1 089 81 Y Axis2 090 82 Z Axis3 091 83 - Axis4 092 84 - Axis5 093 85 - Axis6 094 86 - Axis7 095 87 - Axis8 096 88 X Axis1 097 89 Y Axis2 098 90 Z Axis3 099 91 - Axis4 0

100 92 - Axis5 0101 93 - Axis6 0102 94 - Axis7 0103 95 - Axis8 0104 96 X Axis1 0105 97 Y Axis2 0106 98 Z Axis3 0107 99 - Axis4 0108 100 - Axis5 0109 101 - Axis6 0110 102 - Axis7 0111 103 - Axis8 0112 104 X Axis1 0113 105 Y Axis2 0114 106 Z Axis3 0115 107 - Axis4 0116 108 - Axis5 0117 109 - Axis6 0118 110 - Axis7 0119 111 - Axis8 0120 112 X Axis1 0121 113 Y Axis2 0122 114 Z Axis3 0123 115 - Axis4 0124 116 - Axis5 0125 117 - Axis6 0126 118 - Axis7 0127 119 - Axis8 0128 120 X Axis1 0129 121 Y Axis2 0130 122 Z Axis3 0131 123 - Axis4 0132 124 - Axis5 0133 125 - Axis6 0134 126 - Axis7 0135 127 - Axis8 0136 128 X Axis1 0137 129 Y Axis2 0138 130 Z Axis3 0139 131 - Axis4 0140 132 - Axis5 0141 133 - Axis6 0




Cube Interference 4 1st Position(+) S2C057=0: Axis Pulse [Pulse]S2C057=1, 2, or 3: XYZ [0.001mm]


2nd Position(-)







HE0401120 25/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item142 134 - Axis7 0143 135 - Axis8 0144 136 X Axis1 0145 137 Y Axis2 0146 138 Z Axis3 0147 139 - Axis4 0148 140 - Axis5 0149 141 - Axis6 0150 142 - Axis7 0151 143 - Axis8 0152 144 X Axis1 0153 145 Y Axis2 0154 146 Z Axis3 0155 147 - Axis4 0156 148 - Axis5 0157 149 - Axis6 0158 150 - Axis7 0159 151 - Axis8 0160 152 X Axis1 0161 153 Y Axis2 0162 154 Z Axis3 0163 155 - Axis4 0164 156 - Axis5 0165 157 - Axis6 0166 158 - Axis7 0167 159 - Axis8 0168 160 X Axis1 0169 161 Y Axis2 0170 162 Z Axis3 0171 163 - Axis4 0172 164 - Axis5 0173 165 - Axis6 0174 166 - Axis7 0175 167 - Axis8 0176 168 X Axis1 0177 169 Y Axis2 0178 170 Z Axis3 0179 171 - Axis4 0180 172 - Axis5 0181 173 - Axis6 0182 174 - Axis7 0183 175 - Axis8 0184 176 X Axis1 0185 177 Y Axis2 0186 178 Z Axis3 0187 179 - Axis4 0188 180 - Axis5 0189 181 - Axis6 0190 182 - Axis7 0191 183 - Axis8 0192 184 X Axis1 0193 185 Y Axis2 0194 186 Z Axis3 0195 187 - Axis4 0196 188 - Axis5 0197 189 - Axis6 0198 190 - Axis7 0199 191 - Axis8 0200 192 X Axis1 0201 193 Y Axis2 0202 194 Z Axis3 0203 195 - Axis4 0204 196 - Axis5 0205 197 - Axis6 0206 198 - Axis7 0207 199 - Axis8 0208 200 X Axis1 0209 201 Y Axis2 0210 202 Z Axis3 0211 203 - Axis4 0212 204 - Axis5 0213 205 - Axis6 0214 206 - Axis7 0

Cube Interference 9










HE0401120 26/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item215 207 - Axis8 0216 208 X Axis1 0217 209 Y Axis2 0218 210 Z Axis3 0219 211 - Axis4 0220 212 - Axis5 0221 213 - Axis6 0222 214 - Axis7 0223 215 - Axis8 0224 216 X Axis1 0225 217 Y Axis2 0226 218 Z Axis3 0227 219 - Axis4 0228 220 - Axis5 0229 221 - Axis6 0230 222 - Axis7 0231 223 - Axis8 0232 224 X Axis1 0233 225 Y Axis2 0234 226 Z Axis3 0235 227 - Axis4 0236 228 - Axis5 0237 229 - Axis6 0238 230 - Axis7 0239 231 - Axis8 0240 232 X Axis1 0241 233 Y Axis2 0242 234 Z Axis3 0243 235 - Axis4 0244 236 - Axis5 0245 237 - Axis6 0246 238 - Axis7 0247 239 - Axis8 0248 240 X Axis1 0249 241 Y Axis2 0250 242 Z Axis3 0251 243 - Axis4 0252 244 - Axis5 0253 245 - Axis6 0254 246 - Axis7 0255 247 - Axis8 0256 248 X Axis1 0257 249 Y Axis2 0258 250 Z Axis3 0259 251 - Axis4 0260 252 - Axis5 0261 253 - Axis6 0262 254 - Axis7 0263 255 - Axis8 0264 256 X Axis1 0265 257 Y Axis2 0266 258 Z Axis3 0267 259 - Axis4 0268 260 - Axis5 0269 261 - Axis6 0270 262 - Axis7 0271 263 - Axis8 0272 264 X Axis1 0273 265 Y Axis2 0274 266 Z Axis3 0275 267 - Axis4 0276 268 - Axis5 0277 269 - Axis6 0278 270 - Axis7 0279 271 - Axis8 0280 272 X Axis1 0281 273 Y Axis2 0282 274 Z Axis3 0283 275 - Axis4 0284 276 - Axis5 0285 277 - Axis6 0286 278 - Axis7 0287 279 - Axis8 0










HE0401120 27/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item288 280 X Axis1 0289 281 Y Axis2 0290 282 Z Axis3 0291 283 - Axis4 0292 284 - Axis5 0293 285 - Axis6 0294 286 - Axis7 0295 287 - Axis8 0296 288 X Axis1 0297 289 Y Axis2 0298 290 Z Axis3 0299 291 - Axis4 0300 292 - Axis5 0301 293 - Axis6 0302 294 - Axis7 0303 295 - Axis8 0304 296 X Axis1 0305 297 Y Axis2 0306 298 Z Axis3 0307 299 - Axis4 0308 300 - Axis5 0309 301 - Axis6 0310 302 - Axis7 0311 303 - Axis8 0312 304 X Axis1 0313 305 Y Axis2 0314 306 Z Axis3 0315 307 - Axis4 0316 308 - Axis5 0317 309 - Axis6 0318 310 - Axis7 0319 311 - Axis8 0320 312 X Axis1 0321 313 Y Axis2 0322 314 Z Axis3 0323 315 - Axis4 0324 316 - Axis5 0325 317 - Axis6 0326 318 - Axis7 0327 319 - Axis8 0328 320 X Axis1 0329 321 Y Axis2 0330 322 Z Axis3 0331 323 - Axis4 0332 324 - Axis5 0333 325 - Axis6 0334 326 - Axis7 0335 327 - Axis8 0336 328 X Axis1 0337 329 Y Axis2 0338 330 Z Axis3 0339 331 - Axis4 0340 332 - Axis5 0341 333 - Axis6 0342 334 - Axis7 0343 335 - Axis8 0344 336 X Axis1 0345 337 Y Axis2 0346 338 Z Axis3 0347 339 - Axis4 0348 340 - Axis5 0349 341 - Axis6 0350 342 - Axis7 0351 343 - Axis8 0352 344 X Axis1 0353 345 Y Axis2 0354 346 Z Axis3 0355 347 - Axis4 0356 348 - Axis5 0357 349 - Axis6 0358 350 - Axis7 0359 351 - Axis8 0360 352 X Axis1 0









2nd Position(-) S2C091=0: Axis Pulse [Pulse]




HE0401120 28/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item361 353 Y Axis2 0362 354 Z Axis3 0363 355 - Axis4 0364 356 - Axis5 0365 357 - Axis6 0366 358 - Axis7 0367 359 - Axis8 0368 360 X Axis1 0369 361 Y Axis2 0370 362 Z Axis3 0371 363 - Axis4 0372 364 - Axis5 0373 365 - Axis6 0374 366 - Axis7 0375 367 - Axis8 0376 368 X Axis1 0377 369 Y Axis2 0378 370 Z Axis3 0379 371 - Axis4 0380 372 - Axis5 0381 373 - Axis6 0382 374 - Axis7 0383 375 - Axis8 0384 376 X Axis1 0385 377 Y Axis2 0386 378 Z Axis3 0387 379 - Axis4 0388 380 - Axis5 0389 381 - Axis6 0390 382 - Axis7 0391 383 - Axis8 0392 384 X Axis1 0393 385 Y Axis2 0394 386 Z Axis3 0395 387 - Axis4 0396 388 - Axis5 0397 389 - Axis6 0398 390 - Axis7 0399 391 - Axis8 0400 392 X Axis1 0401 393 Y Axis2 0402 394 Z Axis3 0403 395 - Axis4 0404 396 - Axis5 0405 397 - Axis6 0406 398 - Axis7 0407 399 - Axis8 0408 400 X Axis1 0409 401 Y Axis2 0410 402 Z Axis3 0411 403 - Axis4 0412 404 - Axis5 0413 405 - Axis6 0414 406 - Axis7 0415 407 - Axis8 0416 X Axis1 0417 Y Axis2 0418 Z Axis3 0419 - Axis4 0420 - Axis5 0421 - Axis6 0422 - Axis7 0423 - Axis8 0424 X Axis1 0425 Y Axis2 0426 Z Axis3 0427 - Axis4 0428 - Axis5 0429 - Axis6 0430 - Axis7 0431 - Axis8 0432 X Axis1 0433 Y Axis2 0

1st Position(+)


2nd Position(-)

Cube Interference 26

S2C091=1, 2, or 3: XYZ [0.001mm]












HE0401120 29/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item434 Z Axis3 0435 - Axis4 0436 - Axis5 0437 - Axis6 0438 - Axis7 0439 - Axis8 0440 X Axis1 0441 Y Axis2 0442 Z Axis3 0443 - Axis4 0444 - Axis5 0445 - Axis6 0446 - Axis7 0447 - Axis8 0448 X Axis1 0449 Y Axis2 0450 Z Axis3 0451 - Axis4 0452 - Axis5 0453 - Axis6 0454 - Axis7 0455 - Axis8 0456 X Axis1 0457 Y Axis2 0458 Z Axis3 0459 - Axis4 0460 - Axis5 0461 - Axis6 0462 - Axis7 0463 - Axis8 0464 X Axis1 0465 Y Axis2 0466 Z Axis3 0467 - Axis4 0468 - Axis5 0469 - Axis6 0470 - Axis7 0471 - Axis8 0472 X Axis1 0473 Y Axis2 0474 Z Axis3 0475 - Axis4 0476 - Axis5 0477 - Axis6 0478 - Axis7 0479 - Axis8 0480 X Axis1 0481 Y Axis2 0482 Z Axis3 0483 - Axis4 0484 - Axis5 0485 - Axis6 0486 - Axis7 0487 - Axis8 0488 X Axis1 0489 Y Axis2 0490 Z Axis3 0491 - Axis4 0492 - Axis5 0493 - Axis6 0494 - Axis7 0495 - Axis8 0496 X Axis1 0497 Y Axis2 0498 Z Axis3 0499 - Axis4 0500 - Axis5 0501 - Axis6 0502 - Axis7 0503 - Axis8 0504 X Axis1 0505 Y Axis2 0506 Z Axis3 0









2nd Position(-)

[ ]


HE0401120 30/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item507 - Axis4 0508 - Axis5 0509 - Axis6 0510 - Axis7 0511 - Axis8 0512 X Axis1 0513 Y Axis2 0514 Z Axis3 0515 - Axis4 0516 - Axis5 0517 - Axis6 0518 - Axis7 0519 - Axis8 0520 X Axis1 0521 Y Axis2 0522 Z Axis3 0523 - Axis4 0524 - Axis5 0525 - Axis6 0526 - Axis7 0527 - Axis8 0528 X Axis1 0529 Y Axis2 0530 Z Axis3 0531 - Axis4 0532 - Axis5 0533 - Axis6 0534 - Axis7 0535 - Axis8 0536 X Axis1 0537 Y Axis2 0538 Z Axis3 0539 - Axis4 0540 - Axis5 0541 - Axis6 0542 - Axis7 0543 - Axis8 0544 X Axis1 0545 Y Axis2 0546 Z Axis3 0547 - Axis4 0548 - Axis5 0549 - Axis6 0550 - Axis7 0551 - Axis8 0552 X Axis1 0553 Y Axis2 0554 Z Axis3 0555 - Axis4 0556 - Axis5 0557 - Axis6 0558 - Axis7 0559 - Axis8 0560 X Axis1 0561 Y Axis2 0562 Z Axis3 0563 - Axis4 0564 - Axis5 0565 - Axis6 0566 - Axis7 0567 - Axis8 0568 X Axis1 0569 Y Axis2 0570 Z Axis3 0571 - Axis4 0572 - Axis5 0573 - Axis6 0574 - Axis7 0575 - Axis8 0576 X Axis1 0577 Y Axis2 0578 Z Axis3 0579 - Axis4 0

Cube Interference 35(Reserved)












HE0401120 31/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item580 - Axis5 0581 - Axis6 0582 - Axis7 0583 - Axis8 0584 X Axis1 0585 Y Axis2 0586 Z Axis3 0587 - Axis4 0588 - Axis5 0589 - Axis6 0590 - Axis7 0591 - Axis8 0592 X Axis1 0593 Y Axis2 0594 Z Axis3 0595 - Axis4 0596 - Axis5 0597 - Axis6 0598 - Axis7 0599 - Axis8 0600 X Axis1 0601 Y Axis2 0602 Z Axis3 0603 - Axis4 0604 - Axis5 0605 - Axis6 0606 - Axis7 0607 - Axis8 0608 X Axis1 0609 Y Axis2 0610 Z Axis3 0611 - Axis4 0612 - Axis5 0613 - Axis6 0614 - Axis7 0615 - Axis8 0616 X Axis1 0617 Y Axis2 0618 Z Axis3 0619 - Axis4 0620 - Axis5 0621 - Axis6 0622 - Axis7 0623 - Axis8 0624 X Axis1 0625 Y Axis2 0626 Z Axis3 0627 - Axis4 0628 - Axis5 0629 - Axis6 0630 - Axis7 0631 - Axis8 0632 X Axis1 0633 Y Axis2 0634 Z Axis3 0635 - Axis4 0636 - Axis5 0637 - Axis6 0638 - Axis7 0639 - Axis8 0640 X Axis1 0641 Y Axis2 0642 Z Axis3 0643 - Axis4 0644 - Axis5 0645 - Axis6 0646 - Axis7 0647 - Axis8 0648 X Axis1 0649 Y Axis2 0650 Z Axis3 0651 - Axis4 0652 - Axis5 0














HE0401120 32/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item653 - Axis6 0654 - Axis7 0655 - Axis8 0656 X Axis1 0657 Y Axis2 0658 Z Axis3 0659 - Axis4 0660 - Axis5 0661 - Axis6 0662 - Axis7 0663 - Axis8 0664 X Axis1 0665 Y Axis2 0666 Z Axis3 0667 - Axis4 0668 - Axis5 0669 - Axis6 0670 - Axis7 0671 - Axis8 0672 X Axis1 0673 Y Axis2 0674 Z Axis3 0675 - Axis4 0676 - Axis5 0677 - Axis6 0678 - Axis7 0679 - Axis8 0680 X Axis1 0681 Y Axis2 0682 Z Axis3 0683 - Axis4 0684 - Axis5 0685 - Axis6 0686 - Axis7 0687 - Axis8 0688 X Axis1 0689 Y Axis2 0690 Z Axis3 0691 - Axis4 0692 - Axis5 0693 - Axis6 0694 - Axis7 0695 - Axis8 0696 X Axis1 0697 Y Axis2 0698 Z Axis3 0699 - Axis4 0700 - Axis5 0701 - Axis6 0702 - Axis7 0703 - Axis8 0704 X Axis1 0705 Y Axis2 0706 Z Axis3 0707 - Axis4 0708 - Axis5 0709 - Axis6 0710 - Axis7 0711 - Axis8 0712 X Axis1 0713 Y Axis2 0714 Z Axis3 0715 - Axis4 0716 - Axis5 0717 - Axis6 0718 - Axis7 0719 - Axis8 0720 X Axis1 0721 Y Axis2 0722 Z Axis3 0723 - Axis4 0724 - Axis5 0725 - Axis6 0















1st Position(+)

2nd Position(-)

1st Position(+)

HE0401120 33/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item726 - Axis7 0727 - Axis8 0728 X Axis1 0729 Y Axis2 0730 Z Axis3 0731 - Axis4 0732 - Axis5 0733 - Axis6 0734 - Axis7 0735 - Axis8 0736 X Axis1 0737 Y Axis2 0738 Z Axis3 0739 - Axis4 0740 - Axis5 0741 - Axis6 0742 - Axis7 0743 - Axis8 0744 X Axis1 0745 Y Axis2 0746 Z Axis3 0747 - Axis4 0748 - Axis5 0749 - Axis6 0750 - Axis7 0751 - Axis8 0752 X Axis1 0753 Y Axis2 0754 Z Axis3 0755 - Axis4 0756 - Axis5 0757 - Axis6 0758 - Axis7 0759 - Axis8 0760 X Axis1 0761 Y Axis2 0762 Z Axis3 0763 - Axis4 0764 - Axis5 0765 - Axis6 0766 - Axis7 0767 - Axis8 0768 X Axis1 0769 Y Axis2 0770 Z Axis3 0771 - Axis4 0772 - Axis5 0773 - Axis6 0774 - Axis7 0775 - Axis8 0776 X Axis1 0777 Y Axis2 0778 Z Axis3 0779 - Axis4 0780 - Axis5 0781 - Axis6 0782 - Axis7 0783 - Axis8 0784 X Axis1 0785 Y Axis2 0786 Z Axis3 0787 - Axis4 0788 - Axis5 0789 - Axis6 0790 - Axis7 0791 - Axis8 0792 X Axis1 0793 Y Axis2 0794 Z Axis3 0795 - Axis4 0796 - Axis5 0797 - Axis6 0798 - Axis7 0













1st Position(+)

2nd Position(-)

1st Position(+)

2nd Position(-)

2nd Position(-)

2nd Position(-)


1st Position(+)

HE0401120 34/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item799 - Axis8 0800 408 0801 409 Robot 1 µｍ 0802 410 Robot 2 µｍ 0803 411 Robot 3 µｍ 0804 608 Robot 4 µｍ 0805 412 Work Home Position Side µｍ 100000806 413 Position Correction µｍ 10000807 414 Speed Correction 0.01% 5000808 415 Coordination 0: Base1

1: Robot2: Tool3-26: User1-24

1

809 416 Maximum drift angle of stationaxis

In use of station twinsynchronous system

0.1deg 0

810 417 PAM Function Posture anglecorrected range

0.01deg 1000

811 418 Base Axis Speed Limit Ratio(Segment Check Level)

% 0: No Check 0

812 419 Wrist Axis Speed Limit Ratio(Segment Check Level)

% 0: No Check 0

813 420 XYZ 0.001mm 10000814 421 Angle 0.01deg 1000815 422 Pulse pulse 100816 423 0817 424 bit d0: Incremental Value

d1: Absolute Value0: No Limit1: Limit by parameter

1

818 425 Position Correction CoordinationChanging of Relative Job

0: No Change1: Change

0

819 426 Analog Output 1st Filter Channel 1 0820 427 Analog Output 2nd Filter Channel 1 0821 428 Analog Output 1st Filter Channel 2 0822 429 Analog Output 2nd Filter Channel 2 0823 430 Analog Output 1st Filter Channel 3 0824 431 Analog Output 2nd Filter Channel 3 0825 432 Analog Output 1st Filter Channel 4 0826 433 Analog Output 2nd Filter Channel 4 0827 434 Analog Output 1st Filter Channel 5 0828 435 Analog Output 2nd Filter Channel 5 0829 436 Analog Output 1st Filter Channel 6 0830 437 Analog Output 2nd Filter Channel 6 0831 438 Analog Output 1st Filter Channel 7 0832 439 Analog Output 2nd Filter Channel 7 0833 440 Analog Output 1st Filter Channel 8 0834 441 Analog Output 2nd Filter Channel 8 0835 442 Analog Output 1st Filter Channel 9 0836 443 Analog Output 2nd Filter Channel 9 0837 444 Analog Output 1st Filter Channel 10 0838 445 Analog Output 2nd Filter Channel 10 0839 446 Analog Output 1st Filter Channel 11 0840 447 Analog Output 2nd Filter Channel 11 0841 448 Analog Output 1st Filter Channel 12 0842 449 Analog Output 2nd Filter Channel 12 0843 Analog Output 1st Filter Channel 13844 Analog Output 2nd Filter Channel 13845 Analog Output 1st Filter Channel 14846 Analog Output 2nd Filter Channel 14847 Analog Output 1st Filter Channel 15848 Analog Output 2nd Filter Channel 15849 Analog Output 1st Filter Channel 16850 Analog Output 2nd Filter Channel 16851 Analog Output 1st Filter Channel 17852 Analog Output 2nd Filter Channel 17853 Analog Output 1st Filter Channel 18854 Analog Output 2nd Filter Channel 18855 Analog Output 1st Filter Channel 19856 Analog Output 2nd Filter Channel 19857 Analog Output 1st Filter Channel 20858 Analog Output 2nd Filter Channel 20859 Analog Output 1st Filter Channel 21860 Analog Output 2nd Filter Channel 21

msec

For XEW01 Analog OutputFunctioned with ARATIONInstruction

Robot Sphere InterferenceCheck

Axis Block Allowable Pulse (Not Used)

PAM Function

Position Correction Range

Input Range Limit

HE0401120 35/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item861 Analog Output 1st Filter Channel 22862 Analog Output 2nd Filter Channel 22863 Analog Output 1st Filter Channel 23864 Analog Output 2nd Filter Channel 23865 Analog Output 1st Filter Channel 24866 Analog Output 2nd Filter Channel 24867 Analog Output 1st Filter Channel 25868 Analog Output 2nd Filter Channel 25869 Analog Output 1st Filter Channel 26870 Analog Output 2nd Filter Channel 26871 Analog Output 1st Filter Channel 27872 Analog Output 2nd Filter Channel 27873 Analog Output 1st Filter Channel 28874 Analog Output 2nd Filter Channel 28875 Analog Output 1st Filter Channel 29876 Analog Output 2nd Filter Channel 29877 Analog Output 1st Filter Channel 30878 Analog Output 2nd Filter Channel 30879 Analog Output 1st Filter Channel 31880 Analog Output 2nd Filter Channel 31881 Analog Output 1st Filter Channel 32882 Analog Output 2nd Filter Channel 32883 Analog Output 1st Filter Channel 33884 Analog Output 2nd Filter Channel 33885 Analog Output 1st Filter Channel 34886 Analog Output 2nd Filter Channel 34887 Analog Output 1st Filter Channel 35888 Analog Output 2nd Filter Channel 35889 Analog Output 1st Filter Channel 36890 Analog Output 2nd Filter Channel 36891 Analog Output 1st Filter Channel 37892 Analog Output 2nd Filter Channel 37893 Analog Output 1st Filter Channel 38894 Analog Output 2nd Filter Channel 38895 Analog Output 1st Filter Channel 39896 Analog Output 2nd Filter Channel 39897 Analog Output 1st Filter Channel 40898 Analog Output 2nd Filter Channel 40899 450 0.001mm 0900 451 0.001mm 20000901 452 0902 453 Angle 0.01deg 0903 454 Distance 0.001mm 0904 455 Pulse (Station) 0905 456 0906 457 Turn-back length of circular

interpolation4 point teachingfunction

mm 50

907 458 Initial pass pitch 4 point teaching mm 50908 459 1909 460 1910 461 1911 462 1912 463 1913 464 1914 465 1915 466 1916 467 % 20 to 100 0917 468 µm 1 to 999999 1000918 469 SYMOVJ model speed in

conveyor trackingµm/sec

919 470 SYMOVJ conveyor lower limitspeed

µm/sec

920 471 0: Disable, 1: Enable921 472 µm 1 to 999999922 473 Welder (DENGENSHA)

responce waiting time limitmsec 0

923 474 NENNET(NADEX) responcewaiting time limit

Frequency

0

924 475 Distance range 0.001mm 0

925 476 Angle range 0.01 deg 0

Circularity

FunctionCircularity

Regarded as "stop" if conveyormoves in more lower speed

Allowable value for restartdistance monitor after jogoperation in permission ofplayback continuative function

Path priority control (Standard)

[0.1m]

Current[1A]/Command value[0.01V]

Voltage[0.1V][%]/Commandvalue[0.01V]

Model speed when SYMOVJ isstarted

Path priority control (MG) Decel speed

[0.1mm/sec]

Weaving amplitude (press once)

Welding voltage (press once)Welding voltage (keep pressing)Welding speed (press once)Welding speed (keep pressing)

Welding condition adjustmentduring playback operation

Weaving amplitude (keep pressing)

Welding current (press once)Welding current (keep pressing)

Tool Data Automatic Setting Maximum Gap AmountCutting Width Comensation Value (Form Cut Function)

Allowable value for job positionchange in operation mode

HE0401120 36/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item926 477 Pulse range (Station) 0

927 478 Display selection in anomaly(NADEX)

0: Alarm display1: Message display

0

928 479 Angle of operation origin axisinterference

Angle range

0.01 deg

0: No settingOther than 0:Set angle checking axisinterference 31

0

929 480 Master task 0

930 481 Sub task 1 0

931 482 Sub task 2 0

932 483 Sub task 3 0

933 484 Sub task 4 0

934 485 Sub task 5 0

935 486 Sub task 6 0

936 487 Sub task 7 0

937 488 0938 489 0939 490 0940 491 0941 492 0942 493 0943 494 0944 495 0945 496 0946 497 0947 498 0948 499 0949 500 Mid blind sector of JS for

manipulator0 to 2047 200

950 501 End blind sector of JS formanipulator

0 to 2047 2000

951 502 0.01% 0 to 10000 8000

952 503 0.01% 0 to 10000 2000

953 504 0.01% 0 to 10000 6000

954 505 0.01% 0 to 10000 2000

955 506 0.01% 0 to 10000 7200

956 507 0.01% 0 to 10000 2000

957 508 Mid blind sector of tool speed 0 to 2047 50958 509 End blind sector of tool speed

VOL0 to 2047 2000

959 510 Tool speed D/A output: 10V/4096 0 to 4096 4095960 511 Tool speed D/A output: 10V/4096 0 to 4096 0961 512 JS tool normal rotation button 0 to 4095 3584

962 513 JS tool reverse rotation button 0 to 4095 512

963 514 End tool pressure in use oflow-pressure tool

0 to 2047 3871

964 515 Mid blind sector of JS for wincharm

0 to 2047 200

965 516 Enc blind sector of JS for wincharm

0 to 2047 2000

966 517 0 to 4095 0

Control group limitation inselecting start job(Individual control)

p y(when S2C339=2)

Specify selectable job in bitall 0: No limitd0: Robot 1d1: Robot 2d2: Robot 3d3: Robot 4d4: Station 1d5: Station 2d6: Station 3d7: Station 4d8: Station 5d9: Station 6d10: Station 7d11: Station 8d12: Station 9d13: Station 10d14: Station 11

Winch arm temporary support A/D input value in 100kg at loadcell 1

JS speed (posture) High speed (Percentage for maxspeed of PP jog speed)Low speed (Percentage for maxspeed of PP jog speed)Area of the specified value or less

JS speed (joint) High speed (Percentage for maxspeed of PP jog speed)Low speed (Percentage for maxspeed of PP jog speed)

JS speed (Cartesian) High speed (Percentage for maxspeed of PP jog speed)Low speed (Percentage for maxspeed of PP jog speed)

Max DA output value of toolpressure; 10V/4096Area of the specified value or less

Area of more than the specifiedvalue


DA output value when button ispressedDA output value when button ispressed

Area of the specified value or less


HE0401120 37/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item967 518 0 to 4095 0

968 519 Mid blind sector of JS for winch 0 to 2047 200969 520 Enc blind sector of JS for winch 0 to 2047 2000

970 521 Winch load 0 to 4095 0

971 522 0972 523 0973 524 mm 200974 525 mm 200975 526 mm 250976 527 mm 300977 528 mm 300978 529 mm 300979 530 mm 500980 531 mm 300981 532 mm 200982 533 mm 200983 534 mm 250984 535 mm 300985 536 mm 300986 537 mm 300987 538 mm 500988 539 mm 300989 540 mm 200990 541 mm 200991 542 mm 250992 543 mm 300993 544 mm 300994 545 mm 300995 546 mm 500996 547 mm 300997 548 mm 200998 549 mm 200999 550 mm 250

1000 551 mm 3001001 552 mm 3001002 553 mm 3001003 554 mm 5001004 555 mm 3001005 556 Winch arm weight load cell 1 01006 557 Winch arm weight load cell 2 01007 558 Winch arm weight load cell 1 01008 559 Winch arm weight load cell 2 01009 560 Sampling time for position

storage0

1010 561 Distributive servo powerinput time

0

to 1500-1700 TOYOTA unified TP 0

1500 RPS 0: Disable, 1: Enable 01501 JUMP_START output number 1-1024 01502 RPS_START output number 1-1024 01503 JUMP_ON signal input number 1-1024 01504 JUMP_OFF signal input group 1-1024 01505 RPS_ON signal input group 1-1024 015061507 RPS_ON signal input group 1-1024 01508 RPS program NO input group

number1-128 0

1509 Program reset signal inputnumber

1-1024 0

1510 RPS enable/disable outputnumber

1-1024 0

1511 Reserved 01512 Reserved 01513 Reserved 01514 Reserved 01515 Reserved 01516 Reserved 01517 Reserved 01518 Reserved 0

Arm interference check limitdistance

A/D input value in 100kg at loadcell 2Area of the specified value or lessArea of more than the specifiedvalueA/D input value in 490kg at loadcell 1

Own arm: 0 - Other arm: 2Own arm: 0 - Other arm: 3Own arm: 0 - Other arm: 4Own arm: 0 - Other arm: 5Own arm: 0 - Other arm: 6Own arm: 0 - Other arm: 7Own arm: 1 - Other arm: 0Own arm: 1 - Other arm: 1Own arm: 1 - Other arm: 2Own arm: 1 - Other arm: 3Own arm: 1 - Other arm: 4Own arm: 1 - Other arm: 5Own arm: 1 - Other arm: 6Own arm: 1 - Other arm: 7Own arm: 2 - Other arm: 0Own arm: 2 - Other arm: 1Own arm: 2 - Other arm: 2Own arm: 2 - Other arm: 3Own arm: 2 - Other arm: 4

Own arm: 3 - Other arm: 2Own arm: 3 - Other arm: 3Own arm: 3 - Other arm: 4

Own arm: 2 - Other arm: 5Own arm: 2 - Other arm: 6Own arm: 2 - Other arm: 7Own arm: 3 - Other arm: 0

Own arm: 3 - Other arm: 5Own arm: 3 - Other arm: 6Own arm: 3 - Other arm: 7

Own arm: 3 - Other arm: 1

Own arm: 0 - Other arm: 0Own arm: 0 - Other arm: 1

HE0401120 38/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item1519 Reserved 01520 0 0.01 sec 01521 1 0.01 sec 101522 2 0.01 sec 201523 3 0.01 sec 301524 4 0.01 sec 401525 5 0.01 sec 501526 6 0.01 sec 601527 7 0.01 sec 701528 8 0.01 sec 801529 9 0.01 sec 901530 0.01％ 401531 0.01％ 801532 0.01％ 1601533 0.01％ 3201534 0.01％ 6251535 0.01％ 12501536 0.01％ 25001537 0.01％ 50001538 0.01％ 75001539 0.01％ 100001540 0.1mm/s 601541 0.1mm/s 1201542 0.1mm/s 2501543 0.1mm/s 5001544 0.1mm/s 10001545 0.1mm/s 20001546 0.1mm/s 40001547 0.1mm/s 80001548 0.1mm/s 120001549 0.1mm/s 160001550 01551 01552 01553 01554 01555 01556 01557 01558 01559 01560 Robot 1 1-1024 01561 Robot 2 1-1024 01562 Robot 3 1-1024 01563 Robot 4 1-1024 01564 Robot 1 1-1024 01565 Robot 2 1-1024 01566 Robot 3 1-1024 01567 Robot 4 1-1024 01568 Robot 1 1-1024 01569 Robot 2 1-1024 01570 Robot 3 1-1024 01571 Robot 4 1-1024 01572 Robot 1 0.01sec 01573 Robot 2 0.01sec 01574 Robot 3 0.01sec 01575 Robot 4 0.01sec 01576 Robot 1 1-1024 01577 Robot 2 1-1024 01578 Robot 3 1-1024 01579 Robot 4 1-1024 01580 Robot 1 0.01sec 01581 Robot 2 0.01sec 01582 Robot 3 0.01sec 01583 Robot 4 0.01sec 01584 Gas-ON pulse time Time common to 0.01sec 01585 01586 01587 01588 01589 01590 01591 0

Insulation check waiting time

Input number for insulationcheck

23456

Output number for shield gas

Output number for insulationcheck

Insulation check signal time

Indirect reference timer value

Indirect reference joint speed(Provisional)

Indirect reference linear speed(Provisional)

Input number for arc ON zone

67

7

01

890

98

12345

HE0401120 39/76

NX100 / NXC100 S3C

NX XRC Main Item Unit Remarks Initial ValueSub Item1592 01593 01594 01595 01596 01597 01598 01599 01600 0～

2999

HE0401120 40/76

NX100 / NXC100 S4C

S4C 2 Byte Type (USHORT)

S4C Main Item Sub Item Unit Remarks Initial0 01 02 03 04 05 06 07 08 09 0

10 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 040 Auxiliary relay holding at power-

onBit setting0: Clear1: Store (on every 32-point basis)

0

(OG#065 to OG#080) (Bit setting)(OG#081 to OG#096) (Bit setting)(OG#097 to OG#112) (Bit setting)(OG#113 to OG#128) (Bit setting)




(IG#065 to IG#080) (Bit setting)(IG#081 to IG#096) (Bit setting)(IG#097 to IG#112) (Bit setting)(IG#113 to IG#128) (Bit setting)






Parity for general purpose inputgroup (8-bit value)

0: Disable parity check1: Enable parity check

Parity for general purposeoutput group (8-bit value)

0: Disable parity check1: Enable parity check

0: Binary data1: BCD data

Data for general purpose outputgroup (8-bit value)

0: Binary data1: BCD data

Initialization of general purposeoutput group in changing mode(8-bit value)


d00:#70010 to #70047d01:#70050 to #70087d02:#70090 to #70127d03:#70130 to #70167d04:#70170 to #70207d05:#70210 to #70247d06:#70250 to #70287d07:#70290 to #70327d08:#70330 to #70367d09:#70370 to #70407d10:#70410 to #70447d11:#70450 to #70487d12:#70490 to #70527d13:#70530 to #70567d14:#70570 to #70607d15:#70610 to #70647

Data for general purpose inputgroup (8-bit value)

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NX100 / NXC100 S4C

S4C Main Item Sub Item Unit Remarks Initial41 0

42 0

43 0

44 0





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NX100 / NXC100 S4C


46 0

47 0

48 0





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NX100 / NXC100 S4C


50 0

51 0

52 0





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NX100 / NXC100 S4C


54 0

55 0

56 Welder 1 057 Welder 2 058 Welder 3 059 Welder 4 060 Robot 1 061 Robot 2 062 Robot 3 063 Robot 4 064 Station 1 065 Station 2 066 Station 3 067 Station 4 068 Station 5 069 Station 6 070 Station 7 071 Station 8 072 Station 9 073 Station 10 074 Station 11 075 Station 12 076 Robot 1 077 Robot 2 078 Robot 3 079 Robot 4 080 Station 1 081 Station 2 082 Station 3 083 Station 4 084 Station 5 085 Station 6 0

General purpose input signal# (1 to 1024)



Control group unchuck signal*Related to S1D297


d00:#79610 to #79647d01:#79650 to #79687d02:#79690 to #79727d03:#79730 to #79767d04:#79770 to #79807d05:#79810 to #79847d06:#79850 to #79887d07:#79890 to #79927d08:#79930 to #79967d09:#79970 to #79997

Gun axis #1 selection signal

Subject control group signal


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NX100 / NXC100 S4C

S4C Main Item Sub Item Unit Remarks Initial86 Station 7 087 Station 8 088 Station 9 089 Station 10 090 Station 11 091 Station 12 092 Signal setting in thickness

measurement modeMotor gun General purpose output signal

# (1 to 1024)0

93 General purpose input signal# (1 to 1024)

0


0


0


0


0


0


0


0


0


0


0


0


0

106 Robot 1 0107 Robot 2 0108 Robot 3 0109 Robot 4 0110 Base 1 0111 Base 2 0112 Base 3 0113 Base 4 0114 Station 1 0115 Station 2 0116 Station 3 0117 Station 4 0118 Station 5 0119 Station 6 0120 Station 7 0121 Station 8 0122 Station 9 0123 Station 10 0124 Station 11 0125 Station 12 0126 Specified of general outputnunber generated of OUTOF RENGE (Drop value)

0: Disable1 to 1024: General purpose output #

0

127 Wrist axes unchuck signal(BT-axes)

0

128 Wrist axes unchuck signal(CW-axes)

0

129 Step # output during operation For MAZDA Bit settingd0: Master task => M380 :d7: SUB7 task => M377

0

130 WAIT general purpose input #output during waiting status

Bit settingd0: Master task => M370 :d7: SUB7 task => M377

0

131 Program (job) # output duringoperation

For MAZDA Bit settingd0: Master task => M380 :d5: SUB7 task => M387

0

132 System reserved (Robot 1) 0133 System reserved (Robot 2) 0134 System reserved (Robot 3) 0

Twin drive general purpose # General purpose input signal# 1 to 1024

Axis block general purposeinput #(Only in teach mode and axisoperation time)

Set general input # (1 to 1024)which blocks each axis.In case of not using thisfunction, set as "0".

Signal ON: Enable axisoperationSignal OFF: Block axisoperation

Only for UP200D General purpose output signal# (1 to 1024)

Station 9: during reservation, during start, during cessationStation 10: during reservation, duringstart,Station 11: during reservation, duringstart,

Reserved start (external signalspecification)Set the first number of generalpurpose signal

Inhibit reserved start, reserved reset, allresetStation 1: during reservation, during start, during cessationStation 2: during reservation, during start, during cessation

Station 7: during reservation, during start, during cessationStation 8: during reservation, during start, during cessation

Station 12: during reservation, duringstart,

Station 6: during reservation, during start, during cessation

Station 3: during reservation, during start, during cessationStation 4: during reservation, during start, during cessationStation 5: during reservation, during start, during cessation

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NX100 / NXC100 S4C

S4C Main Item Sub Item Unit Remarks Initial135 System reserved (Robot 4) 0136 Base 1 0137 Base 2 0138 Base 3 0139 Base 4 0140 Station 1 0141 Station 2 0142 Station 3 0143 Station 4 0144 Station 5 0145 Station 6 0146 Station 7 0147 Station 8 0148 Station 9 0149 Station 10 0150 Station 11 0151 Station 12 0152 General purpose output # for

"FWD/TEST START inindividual control"

0: Disable1 to 1024: General purpose output #

0

153 Specified of general groupnumber of speed override byI/O signal

1 to 24 0

154 Signal 1 % 0155 Signal 2 % 0156 Signal 3 % 0157 Signal 4 % 0158 Signal 5 % 0159 Signal 6 % 0160 Signal 7 % 0161 Signal 8 % 0162 General purpose output # for

job selecting operation0: Disable1 to 1024: General purpose output #

0

163 Error or warning signal(NADEX)

Welder 1 Specify error/warning signalin bit

6

164 Error code signal (NADEX) Welder 1 Specify position of error codesignal in bit

0

165 Reserved 0166 Reserved 0167 Reserved 0168 Reserved 0169 Reserved 0170 Reserved 0171 0172 0173 0174 Robot 1 0175 Robot 2 0176 Robot 3 0177 Robot 4 0178 0179 0180 Reference for weld complete

signal (MOTION)0

181 Setting 1 0182 Setting 2 0183 Setting 3 0184 Setting 4 0185 Setting 5 0186 Setting 6 0187 Setting 7 0188 Setting 8 0189 Setting 9 0190 Setting 10 0191 Setting 11 0192 Setting 12 0193 Setting 13 0194 Setting 14 0195 Setting 15 0196 Setting 16 0197 Setting 17 0198 Setting 18 0199 Setting 19 0200 Setting 20 0201 Setting 21 0202 Setting 22 0

General purpose output signalgroup # for weaving peaksynchronization

0: Disable1 and more: General purpose output group # (4 points)

Demonstration parameter for GMP(05/12/03) (To be deleted)

General purpose output signal#(1 to 1024)0: Disable

Operation relay # setting

Speed ratio for IO speedoverride

0 to 255

Signal input value 1 to 255 inS4C153 will be the speed ratiowhen S4C154 to S4C161=0.

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NX100 / NXC100 S4C

S4C Main Item Sub Item Unit Remarks Initial203 Setting 23 0204 Setting 24 0205 Setting 25 0206 Setting 26 0207 Setting 27 0208 Setting 28 0209 Setting 29 0210 Setting 30 0211 Setting 31 0212 Setting 32 0213 Setting 1 0214 Setting 2 0215 Setting 3 0216 Setting 4 0217 Setting 5 0218 Setting 6 0219 Setting 7 0220 Setting 8 0221 Setting 9 0222 Setting 10 0223 Setting 11 0224 Setting 12 0225 Setting 13 0226 Setting 14 0227 Setting 15 0228 Setting 16 0229 Setting 17 0230 Setting 18 0231 Setting 19 0232 Setting 20 0233 Setting 21 0234 Setting 22 0235 Setting 23 0236 Setting 24 0237 Setting 25 0238 Setting 26 0239 Setting 27 0240 Setting 28 0241 Setting 29 0242 Setting 30 0243 Setting 31 0244 Setting 32 0245 Bit setting

0: Store, 1: Clear0

246 0

247 0

248 0

249 0

d00:M016, d01:M017, d02:M018,d03:M019, d04:M020, d05:M021,d06:M022, d07:M023, d08:M024,d09:M025, d10:M026, d11:M027,d12:M028, d13:M029, d14:M030,d15:M031





Relay activation method INTERLOCK + SELECT keyoperation method0: Alternate operation Switch ON/OFF by pressing INTERLOCK + SELECT1: Momentary operation Turn ON while pressing INTERLOCK + SELECT

Clearing registered contents inpower-on

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NX100 / NXC100 S4C


251 0

252 0

253 0

254 0

255 0

256 0

257 0

258 0

259 0

260 0












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NX100 / NXC100 S4C


262 0263 0264 Register output in program end

statusFor MAZDA 0: Disable

X: Output to register X0

265 IO simulation function Waiting time to exit to the nextinstruction in WAIT instructionfor simulation signal

0.01sec 0 to 655.35 sec 0

266 0267 0268 0269 0270 0271 0272 0273 0274 0275 0276 0277 0

278 0

279 0

280 0

281 0

282 0

283 0

284 0

285 First register # for RPS code For TOYOTA 0 to 290: Register # 0286 First register # for RPS control For TOYOTA 0 to 290: Register # 0287 First register No. for robot No. &

unit No.For TOYOTA 0 to 499: Register # 0

288 0289 0290 0291 0292 0293 0294 0295 0296 0297 0298 0299 0300～

1999

Task 7: Channel # setting ofsupportive relay

Selected robot for each taskFor TOYOTA

0: No output1 to 999: Channel # of supportive relay

Task 2: Channel # setting ofsupportive relayTask 3: Channel # setting ofsupportive relayTask 4: Channel # setting ofsupportive relayTask 5: Channel # setting ofsupportive relay

Reserved




d00:M256, d01:M257, d02:M258,d03:M259Reserved

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NX100 / NXC100 RS

RS Byte Type (UCHAR)

RS Main Item Sub Item Unit Remarks Initial Value0 Standard port protocol XCP01 serial port 0: Unused, 2: BSC LIKE,

3: FC1, 5: OBARA,6: VISION,7: MOTOWELD

3

1 Reserved 02 Reserved 03 Device display Floppy disk/PC card sub

menu display1:FC1, 2:FC2, 3:PC,4:HD, 5:CF

5

4 05 Host control (Read only) 0: Disable, 1: Enable 06 Data transmission extension 0: Disable(ERC Compatible)

1: Enable(MRC Compatible)1

7 08 09 0

10 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 Job/variable loading during

playbackData transmission 0: Disable, 1: Enable 0

30 Data bits 7: 7 bits, 8: 8 bits 831 Stop bits 0: 1 bit, 1: 1.5 bits, 2: 2 bits 032 Parity 0: None, 1: Odd, 2: Even 233 Transmission speed

(Baud rate)1: 150, 2: 300, 3: 600,4: 1200, 5: 2400,6: 4800, 7: 9600,8: 19200

7

34 Response timer (Timer A) 0.1sec 0 to 100when no response orinvalid response

30

35 Text end monitoring timer(Timer B)

0.1sec 0 to 255when the text end charactersare not received

200

36 ENQ retry count 0 to 30when no response or invalidresponse

10

37 Data transmission retrycount

0 to 10when text block check error(NAK receiving)

3

38 Block check method 0: Check sum 039 Transmission alarm generating

methodSetting for transmissionalarm generation0: Alarm out1 to 254: Continue specified counts255: Continue infinitely

0

40 MAC address 1 to 99 0

BSC protocol configuration

ControlNet configuration

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NX100 / NXC100 RS

RS Main Item Sub Item Unit Remarks Initial Value41 Sec Waiting time until alarm

occurrence0: Infinite (No alarm)1 to 255: Waiting time

0

42 Sec Control for nonrespondingmessage data monitoringtimer (high: 0-255)

0

43 0.01sec Control for nonrespondingmessage data monitoringtimer (low: 0-255)

0

44 0.01sec Transmission interval to HMI0: No transmission1 to 255: Specified time

0

45 Valid read retry count in errorstatus

0

46 047 048 049 050 Data bits 7: 7bits, 8: 8bits 851 Stop bits 0: 1bit, 1: 1.5bits, 2: 2bits 052 Parity 0: None, 1: Odd, 2: Even 253 Transmission speed (Baud

rate)1: 150, 2: 300, 3: 600,4: 1200, 5: 2400,6: 4800, 7: 9600

6

54 Response timer (Timer A) 0 to 100when no response or invalidresponse

0

55 Text end monitoring timer(Timer B))

0 to 255when the text end charactersare not received

0

56 ENQ retry count 0 to 30when no response or invalidresponse

0

57 Data transmission retrycount

0 to 10when text block check error(NAK receiving)

0

58 0: 640KB, 1: 720KB,2: 1.2MB, 3: 1.44MB

3

59 0: Disable, 1: Enable 0

60 Waiting time in all files/jobs(Reserved for system)

20 to 100: 10 msec unit 0

61 062 063 064 065 066 067 068 069 070 IP address 1 071 IP address 2 072 IP address 3 073 IP address 4 074 Subnet mask 1 075 Subnet mask 2 076 Subnet mask 3 077 Subnet mask 4 078 GW IP address 1 079 GW IP address 2 080 GW IP address 3 081 GW IP address 4 082 Server address 1 083 Server address 2 084 Server address 3 085 Server address 4 086 ＭＴＵ X 10 15087 LAN port 0: LAN0, 1: LAN1 088 089 0

Ethernet protocol configuration

FC1 protocol configuration

FC2 Format

Job overwrite on external memorydevice

Stack job read retry count

Message transaction timeoutperiod (high)

Message transaction timeoutperiod (low)

Scheduled connectionestablishment waiting time

Message data update interval

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NX100 / NXC100 RS

RS Main Item Sub Item Unit Remarks Initial Value90 ME-NET timer A Sec For data link monitoring 6091 ME-NET timer B Sec For computer link monitoring 25592 093 094 095 ARCNET protocol configuration

(NCP01)Node ID 0

96 097 098 099 0

100 VISION protocol configuration Data bits 7: 7bits, 8: 8bits 8101 (NCP01) Stop bits 0: 1bit, 1: 1.5bits, 2: 2bits 2102 Parity 0: None, 1: Odd, 2: Even 0103 Transmission speed

(Baud rate)1: 150, 2: 300, 3: 600,4: 1200, 5: 2400,6: 4800, 7: 9600,8: 19200

8

104 0.1sec 100105 0.1sec 20106 0.1sec 100107 Data transmission retry 3108 VISION menu operation with P.P Data transmission interval msec 100

109 VISION protocol configuration（NCP01）

Protocol type 0: Standard, 1: Reserved2: For SIA

0

110 Data bits 7: 7bits, 8: 8bits 8111 Stop bits 0: 1bit, 1: 1.5bits, 2: 2bits 0112 Parity 0: None, 1: Odd, 2: Even 0113 Transmission speed

(Baud rate)1: 150, 2: 300, 3: 600,4: 1200, 5: 2400,6: 4800, 7: 9600,8: 19200

8

114 Response wait timer 1 1 msec 10115 Data transmission retry 3116 Interval between data 1 msec 10117 Transmission type 0: Conventional type

1: High speed (TYPE 1)2: High speed (TYPE 2)

0

118 0119 0120 Automatic backup d0: Backup in specified time

d1: Backup of mode change0

121 Base time （hour） hr 0 to 23 0122 Base time (minute) min 0 to 59 0123 Backup cycle (hour) hr 0 to 166 (10 to 9999 mins) 0124 Backup cycle (minute) min 10 to 59（if RS123=0）

　0 to 59（if RS123=1 to 165）0 to 39（if RS123=166）

0

125 Retry cycle (minute) min 0 to 255(Retry cycle < Backup cycle)

0

126 0127 0128 0129 0130 Data bits 7: 7bits, 8: 8bits 8131 Stop bits 0: 1bit, 1: 1.5bits, 2: 2bits 0132 Parity 0: None, 1: Odd, 2: Even 0133 Transmission speed

(Baud rate)1: 150, 2: 300, 3: 600,4: 1200, 5: 2400,6: 4800, 7: 9600,8: 19200

７

134 Response wait timer 0.1sec 10135 First data storage variable

number (B variable)2

136 First data storage variablenumber (D variable)

0

137 0138 0139 0140 IP address 1 192 0141 IP address 2 168 0142 IP address 3 250 0

Response wait timer 1(SELCND)Response wait timer 2(FIND)Response wait timer 3(FIND)

MOTOWELD ProtocolConfiguration (NCP01)

Automatic backup protocolconfiguration

ME-NET protocol configuration

LG PHILLIPS protocolconfiguration (NCP01)

FL-net protocol configuration

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NX100 / NXC100 RS

RS Main Item Sub Item Unit Remarks Initial Value143 IP address 4 0: Prioritize node number

1 to 254: Addressing0

144 Subnet mask 1 255 0145 Subnet mask 2 255 0146 Subnet mask 3 255 0147 Subnet mask 4 0 0148 Upper layer status change * Config default: 1

0: Discontinue IO transfer1: IO transfer from CP01

0

149 Alarm output control * Config default: 0x011) Alarm output in link pullout (OFF: Enable, ON: Disable): 0x012) Alarm output in address duplication (OFF: Enable, ON: Disable): 0x023) Alarm output in node duplication (OFF: Enable, ON: Disable): 0x044) Alarm output in token keep time over by 3 times countinuously (OFF: Enable, ON: Disable): 0x08

0

150 Data bits 7: 7bits, 8: 8bits 8151 Stop bits 0: 1bit, 1: 1.5bits, 2: 2bits 0152 Parity 0: None, 1: Odd, 2: Even 0153 Transmission speed

(Baud rate)1: 150, 2: 300, 3: 600,4: 1200, 5: 2400,6: 4800, 7: 9600

7

154 Reserved 0155 Reserved 0156 Reserved 0157 Reserved 0158 Reserved 0159 Reserved 0160 ACKN command For KLA 0: Unused, 1: Enable 0161 ACKN command timeout

monitoring timeFor KLA Specified by 0.1 sec unit 0

162 ACKN command retry count For KLA 0163164165166167168169170 Reserved171 Reserved172 Reserved173 Reserved174 Reserved175 Reserved176 Reserved177 Reserved178 Reserved179 Reserved180 Reserved181 Reserved182 Reserved183 Reserved184 Reserved185 Reserved186 Reserved187 Reserved188 Reserved189 Reserved190 Reserved191 Reserved192 Reserved193 Reserved

Transmission instructionprotocol configuration

PCI_DeviceNet protocolconfiguration

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NX100 / NXC100 RS

RS Main Item Sub Item Unit Remarks Initial Value194 Reserved195 Reserved196 Reserved197 Reserved198 Reserved199 Reserved200 Reserved201 Reserved202 Reserved203 Reserved204 Reserved205 Reserved206 Reserved207 Reserved208 Reserved209 Reserved210 Ethernet response waiting

timesec Default: 30 sec (default value

in case of "0")0

211 Permit use of Ethernet MPUCF

0

212 Permit use of Ethernet PPCF

0

213 Ethernet cycle time ms Default: 10 msec (defaultvalue in case of "0")

0

214 Permit Ethernet job overwrite 0215 Reserved216 Reserved217 Reserved218 Reserved219 Reserved220 Reserved221 Reserved222 Reserved223 Reserved224 Reserved225 Reserved226 Reserved227 Reserved228 Reserved229 Reserved230～

499

Reserved for Ethernet

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NX100 / NXC100 CIO

CIO 2 Byte Type (USHORT)

NX XRC Main Item Sub Item Remarks Remarks 2 Initial Value0 DIN configuration NCP01 Channel 0 Function setting (DIN) Fixed NIO01 51 0 Channel 1 Function of the IO Modules installed in each channels 02 1 Channel 2 is specified. DIN count is specified with a code. 03 2 Channel 3 0 indicates no install. 04 3 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 05 4 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 06 5 Channel 6 07 6 Channel 7 08 7 Channel 8 09 8 Channel 9 0

10 9 Channel 10 011 10 Channel 11 012 11 Channel 12 013 12 Channel 13 014 13 Channel 14 015 14 Channel 15 016 PCI 1 017 PCI 2 018 DOUT configuration NCP01 Channel 0 Function setting (DOUT) Fixed NIO01 519 15 Channel 1 Function of the IO Modules installed in each channels 020 16 Channel 2 is specified. DOUT count is specified with a code. 021 17 Channel 3 0 indicates no install. 022 18 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 023 19 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 024 20 Channel 6 025 21 Channel 7 026 22 Channel 8 027 23 Channel 9 028 24 Channel 10 029 25 Channel 11 030 26 Channel 12 031 27 Channel 13 032 28 Channel 14 033 29 Channel 15 034 PCI 1 035 PCI 2 036 AIN configuration NCP01 Channel 0 Function setting (AIN) Fixed NIO01 037 30 Channel 1 Function of the IO Modules installed in each channels 038 31 Channel 2 is specified. Analog input count is specified with a 039 32 Channel 3 code. 0 indicates no install. 040 33 Channel 4 (1) AIN channel count (d5d4d3d2d1d0) 041 34 Channel 5 0 to 40 points 042 35 Channel 6 043 36 Channel 7 (2) AIN accuracy bit count (d12) 044 37 Channel 8 0: 8 bits, 1: 12, 16 bits 045 38 Channel 9 046 39 Channel 10 047 40 Channel 11 048 41 Channel 12 049 42 Channel 13 050 43 Channel 14 051 44 Channel 15 052 PCI 1 053 PCI 2 054 AOUT configuration NCP01 Channel 0 Function setting (AOUT) Fixed NIO01 055 45 Channel 1 Function of the IO Modules installed in each channels 056 46 Channel 2 is specified. Analog output count is specified with a 057 47 Channel 3 code. 0 indicates no install. 058 48 Channel 4 (1) AOUT channel count (d5d4d3d2d1d0) 059 49 Channel 5 0 to 40 points 060 50 Channel 6 061 51 Channel 7 (2) AOUT accuracy bit count (d12) 062 52 Channel 8 0: 8 bits, 1: 12, 16 bits 063 53 Channel 9 064 54 Channel 10 065 55 Channel 11 066 56 Channel 12 067 57 Channel 13 068 58 Channel 14 069 59 Channel 15 070 PCI 1 071 PCI 2 072 DIN assignment NCP01 Channel 0 DIN setting 173 60 Channel 1 DI number of the IO Modules installed in each channels 074 61 Channel 2 is specified. 075 62 Channel 3 Double assignment of the IO group on two or more IO 076 63 Channel 4 modules is not allowed. 077 64 Channel 5 0 indicates no DI functioned IO module. 078 65 Channel 6 DI group is specified with a number 1 to 128. 079 66 Channel 7 (1024 points) 0

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NX100 / NXC100 CIO

80 67 Channel 8 081 68 Channel 9 082 69 Channel 10 083 70 Channel 11 084 71 Channel 12 085 72 Channel 13 086 73 Channel 14 087 74 Channel 15 088 PCI 1 089 PCI 2 090 DOUT assignment NCP01 Channel 0 DOUT setting 191 75 Channel 1 DO number of the IO Modules installed in each channels 092 76 Channel 2 is specified. 093 77 Channel 3 Double assignment of the IO group on two or more IO 094 78 Channel 4 modules is not allowed. 095 79 Channel 5 0 indicates no DO functioned IO module. 096 80 Channel 6 DO group is specified with a number 1 to 128. 097 81 Channel 7 (1024 points) 098 82 Channel 8 099 83 Channel 9 0

100 84 Channel 10 0101 85 Channel 11 0102 86 Channel 12 0103 87 Channel 13 0104 88 Channel 14 0105 89 Channel 15 0106 PCI 1 0107 PCI 2 0108 AIN assignment NCP01 Channel 0 AIN setting 0109 90 Channel 1 Analog input number of the IO Modules installed in 0110 91 Channel 2 each channels is specified. 0111 92 Channel 3 Double assignment of the analog input on two or more 0112 93 Channel 4 IO modules is not allowed. 0113 94 Channel 5 0 indicates no analog input functioned IO module. 0114 95 Channel 6 Analog input is specified with a number 1 to 40. 0115 96 Channel 7 0116 97 Channel 8 0117 98 Channel 9 0118 99 Channel 10 0119 100 Channel 11 0120 101 Channel 12 0121 102 Channel 13 0122 103 Channel 14 0123 104 Channel 15 0124 PCI 1 0125 PCI 2 0126 AOUT assignment NCP01 Channel 0 AOUT setting 0127 105 Channel 1 Analog output number of the IO Modules installed in 0128 106 Channel 2 each channels is specified. 0129 107 Channel 3 Double assignment of the analog output on two or 0130 108 Channel 4 more IO modules is not allowed. 0131 109 Channel 5 0 indicates no analog output functioned IO module. 0132 110 Channel 6 Analog output is specified with a number 1 to 40. 0133 111 Channel 7 0134 112 Channel 8 0135 113 Channel 9 0136 114 Channel 10 0137 115 Channel 11 0138 116 Channel 12 0139 117 Channel 13 0140 118 Channel 14 0141 119 Channel 15 0142 PCI 1 0143 PCI 2 0144 DIN configuration AXA01#1 Channel 0 Function setting (DIN) 0145 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0146 Channel 2 is specified. DIN count is specified with a code. 0147 Channel 3 0 indicates no install. 0148 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0149 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0150 Channel 6 0151 Channel 7 0152 Channel 8 0153 Channel 9 0154 Channel 10 0155 Channel 11 0156 Channel 12 0157 Channel 13 0158 Channel 14 0159 Channel 15 0160 PCI 0161 DOUT configuration AXA01#1 Channel 0 Function setting (DOUT) 0162 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0163 Channel 2 is specified. DOUT count is specified with a code. 0164 Channel 3 0 indicates no install. 0165 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0166 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0167 Channel 6 0

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NX100 / NXC100 CIO

168 Channel 7 0169 Channel 8 0170 Channel 9 0171 Channel 10 0172 Channel 11 0173 Channel 12 0174 Channel 13 0175 Channel 14 0176 Channel 15 0177 PCI 0178 AIN configuration AXA01#1 Channel 0 Function setting (AIN) 0179 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0180 Channel 2 is specified. Analog input count is specified with a 0181 Channel 3 code. 0 indicates no install. 0182 Channel 4 (1) AIN channel count (d5d4d3d2d1d0) 0183 Channel 5 0 to 40 points 0184 Channel 6 0185 Channel 7 (2) AIN accuracy bit count (d12) 0186 Channel 8 0: 8 bits, 1: 12, 16 bits 0187 Channel 9 0188 Channel 10 0189 Channel 11 0190 Channel 12 0191 Channel 13 0192 Channel 14 0193 Channel 15 0194 PCI 0195 AOUT configuration AXA01#1 Channel 0 Function setting (AOUT) 0196 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0197 Channel 2 is specified. Analog output count is specified with a 0198 Channel 3 code. 0 indicates no install. 0199 Channel 4 (1) AOUT channel count (d5d4d3d2d1d0) 0200 Channel 5 0 to 40 points 0201 Channel 6 0202 Channel 7 (2) AOUT accuracy bit count (d12) 0203 Channel 8 0: 8 bits, 1: 12, 16 bits 0204 Channel 9 0205 Channel 10 0206 Channel 11 0207 Channel 12 0208 Channel 13 0209 Channel 14 0210 Channel 15 0211 PCI 0212 DIN assignment AXA01#1 Channel 0 DIN setting 0213 (Servo) Channel 1 DI number of the IO Modules installed in each channels 0214 Channel 2 is specified. 0215 Channel 3 Double assignment of the IO group on two or more IO 0216 Channel 4 modules is not allowed. 0217 Channel 5 0 indicates no DI functioned IO module. 0218 Channel 6 DI group is specified with a number 1 to 128. 0219 Channel 7 (1024 points) 0220 Channel 8 0221 Channel 9 0222 Channel 10 0223 Channel 11 0224 Channel 12 0225 Channel 13 0226 Channel 14 0227 Channel 15 0228 PCI 0229 DOUT assignment AXA01#1 Channel 0 DOUT setting 0230 (Servo) Channel 1 DO number of the IO Modules installed in each channels 0231 Channel 2 is specified. 0232 Channel 3 Double assignment of the IO group on two or more IO 0233 Channel 4 modules is not allowed. 0234 Channel 5 0 indicates no DO functioned IO module. 0235 Channel 6 DO group is specified with a number 1 to 128. 0236 Channel 7 (1024 points) 0237 Channel 8 0238 Channel 9 0239 Channel 10 0240 Channel 11 0241 Channel 12 0242 Channel 13 0243 Channel 14 0244 Channel 15 0245 PCI 0246 AIN assignment AXA01#1 Channel 0 AIN setting 0247 (Servo) Channel 1 Analog input number of the IO Modules installed in 0248 Channel 2 each channels is specified. 0249 Channel 3 Double assignment of the analog input on two or more 0250 Channel 4 IO modules is not allowed. 0251 Channel 5 0 indicates no analog input functioned IO module. 0252 Channel 6 Analog input is specified with a number 1 to 40. 0253 Channel 7 0254 Channel 8 0255 Channel 9 0

HE0401120 58/76

NX100 / NXC100 CIO

256 Channel 10 0257 Channel 11 0258 Channel 12 0259 Channel 13 0260 Channel 14 0261 Channel 15 0262 PCI 0263 AOUT assignment AXA01#1 Channel 0 AOUT setting 0264 (Servo) Channel 1 Analog output number of the IO Modules installed in 0265 Channel 2 each channels is specified. 0266 Channel 3 Double assignment of the analog output on two or 0267 Channel 4 more IO modules is not allowed. 0268 Channel 5 0 indicates no analog output functioned IO module. 0269 Channel 6 Analog output is specified with a number 1 to 40. 0270 Channel 7 0271 Channel 8 0272 Channel 9 0273 Channel 10 0274 Channel 11 0275 Channel 12 0276 Channel 13 0277 Channel 14 0278 Channel 15 0279 PCI 0280 DIN configuration AXA01#2 Channel 0 Function setting (DIN) 0281 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0282 Channel 2 is specified. DIN count is specified with a code. 0283 Channel 3 0 indicates no install. 0284 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0285 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0286 Channel 6 0287 Channel 7 0288 Channel 8 0289 Channel 9 0290 Channel 10 0291 Channel 11 0292 Channel 12 0293 Channel 13 0294 Channel 14 0295 Channel 15 0296 PCI 0297 DOUT configuration AXA01#2 Channel 0 Function setting (DOUT) 0298 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0299 Channel 2 is specified. DOUT count is specified with a code. 0300 Channel 3 0 indicates no install. 0301 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0302 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0303 Channel 6 0304 Channel 7 0305 Channel 8 0306 Channel 9 0307 Channel 10 0308 Channel 11 0309 Channel 12 0310 Channel 13 0311 Channel 14 0312 Channel 15 0313 PCI 0314 AIN configuration AXA01#2 Channel 0 Function setting (AIN) 0315 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0316 Channel 2 is specified. Analog input count is specified with a 0317 Channel 3 code. 0 indicates no install. 0318 Channel 4 (1) AIN channel count (d5d4d3d2d1d0) 0319 Channel 5 0 to 40 points 0320 Channel 6 0321 Channel 7 (2) AIN accuracy bit count (d12) 0322 Channel 8 0: 8 bits, 1: 12, 16 bits 0323 Channel 9 0324 Channel 10 0325 Channel 11 0326 Channel 12 0327 Channel 13 0328 Channel 14 0329 Channel 15 0330 PCI 0331 AOUT configuration AXA01#2 Channel 0 Function setting (AOUT) 0332 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0333 Channel 2 is specified. Analog output count is specified with a 0334 Channel 3 code. 0 indicates no install. 0335 Channel 4 (1) AOUT channel count (d5d4d3d2d1d0) 0336 Channel 5 0 to 40 points 0337 Channel 6 0338 Channel 7 (2) AOUT accuracy bit count (d12) 0339 Channel 8 0: 8 bits, 1: 12, 16 bits 0340 Channel 9 0341 Channel 10 0342 Channel 11 0343 Channel 12 0

HE0401120 59/76

NX100 / NXC100 CIO

344 Channel 13 0345 Channel 14 0346 Channel 15 0347 PCI 0348 DIN assignment AXA01#2 Channel 0 DIN setting 0349 (Servo) Channel 1 DI number of the IO Modules installed in each channels 0350 Channel 2 is specified. 0351 Channel 3 Double assignment of the IO group on two or more IO 0352 Channel 4 modules is not allowed. 0353 Channel 5 0 indicates no DI functioned IO module. 0354 Channel 6 DI group is specified with a number 1 to 128. 0355 Channel 7 (1024 points) 0356 Channel 8 0357 Channel 9 0358 Channel 10 0359 Channel 11 0360 Channel 12 0361 Channel 13 0362 Channel 14 0363 Channel 15 0364 PCI 0365 DOUT assignment AXA01#2 Channel 0 DOUT setting 0366 (Servo) Channel 1 DO number of the IO Modules installed in each channels 0367 Channel 2 is specified. 0368 Channel 3 Double assignment of the IO group on two or more IO 0369 Channel 4 modules is not allowed. 0370 Channel 5 0 indicates no DO functioned IO module. 0371 Channel 6 DO group is specified with a number 1 to 128. 0372 Channel 7 (1024 points) 0373 Channel 8 0374 Channel 9 0375 Channel 10 0376 Channel 11 0377 Channel 12 0378 Channel 13 0379 Channel 14 0380 Channel 15 0381 PCI 0382 AIN assignment AXA01#2 Channel 0 AIN setting 0383 (Servo) Channel 1 Analog input number of the IO Modules installed in 0384 Channel 2 each channels is specified. 0385 Channel 3 Double assignment of the analog input on two or more 0386 Channel 4 IO modules is not allowed. 0387 Channel 5 0 indicates no analog input functioned IO module. 0388 Channel 6 Analog input is specified with a number 1 to 40. 0389 Channel 7 0390 Channel 8 0391 Channel 9 0392 Channel 10 0393 Channel 11 0394 Channel 12 0395 Channel 13 0396 Channel 14 0397 Channel 15 0398 PCI 0399 AOUT assignment AXA01#2 Channel 0 AOUT setting 0400 (Servo) Channel 1 Analog output number of the IO Modules installed in 0401 Channel 2 each channels is specified. 0402 Channel 3 Double assignment of the analog output on two or 0403 Channel 4 more IO modules is not allowed. 0404 Channel 5 0 indicates no analog output functioned IO module. 0405 Channel 6 Analog output is specified with a number 1 to 40. 0406 Channel 7 0407 Channel 8 0408 Channel 9 0409 Channel 10 0410 Channel 11 0411 Channel 12 0412 Channel 13 0413 Channel 14 0414 Channel 15 0415 PCI 0416 DIN configuration AXA01#3 Channel 0 Function setting (DIN) 0417 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0418 Channel 2 is specified. DIN count is specified with a code. 0419 Channel 3 0 indicates no install. 0420 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0421 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0422 Channel 6 0423 Channel 7 0424 Channel 8 0425 Channel 9 0426 Channel 10 0427 Channel 11 0428 Channel 12 0429 Channel 13 0430 Channel 14 0431 Channel 15 0

HE0401120 60/76

NX100 / NXC100 CIO

432 PCI 0433 DOUT configuration AXA01#3 Channel 0 Function setting (DOUT) 0434 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0435 Channel 2 is specified. DOUT count is specified with a code. 0436 Channel 3 0 indicates no install. 0437 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0438 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0439 Channel 6 0440 Channel 7 0441 Channel 8 0442 Channel 9 0443 Channel 10 0444 Channel 11 0445 Channel 12 0446 Channel 13 0447 Channel 14 0448 Channel 15 0449 PCI 0450 AIN configuration AXA01#3 Channel 0 Function setting (AIN) 0451 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0452 Channel 2 is specified. Analog input count is specified with a 0453 Channel 3 code. 0 indicates no install. 0454 Channel 4 (1) AIN channel count (d5d4d3d2d1d0) 0455 Channel 5 0 to 40 points 0456 Channel 6 0457 Channel 7 (2) AIN accuracy bit count (d12) 0458 Channel 8 0: 8 bits, 1: 12, 16 bits 0459 Channel 9 0460 Channel 10 0461 Channel 11 0462 Channel 12 0463 Channel 13 0464 Channel 14 0465 Channel 15 0466 PCI 0467 AOUT configuration AXA01#3 Channel 0 Function setting (AOUT) 0468 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0469 Channel 2 is specified. Analog output count is specified with a 0470 Channel 3 code. 0 indicates no install. 0471 Channel 4 (1) AOUT channel count (d5d4d3d2d1d0) 0472 Channel 5 0 to 40 points 0473 Channel 6 0474 Channel 7 (2) AOUT accuracy bit count (d12) 0475 Channel 8 0: 8 bits, 1: 12, 16 bits 0476 Channel 9 0477 Channel 10 0478 Channel 11 0479 Channel 12 0480 Channel 13 0481 Channel 14 0482 Channel 15 0483 PCI 0484 DIN assignment AXA01#3 Channel 0 DIN setting 0485 (Servo) Channel 1 DI number of the IO Modules installed in each 0486 Channel 2 channels is specified. 0487 Channel 3 Double assignment of the IO group on two or more IO 0488 Channel 4 modules is not allowed. 0489 Channel 5 0 indicates no DI functioned IO module. 0490 Channel 6 DI group is specified with a number 1 to 128. 0491 Channel 7 (1024 points) 0492 Channel 8 0493 Channel 9 0494 Channel 10 0495 Channel 11 0496 Channel 12 0497 Channel 13 0498 Channel 14 0499 Channel 15 0500 PCI 0501 DOUT assignment AXA01#3 Channel 0 DOUT setting 0502 (Servo) Channel 1 DO number of the IO Modules installed in each 0503 Channel 2 channels is specified. 0504 Channel 3 Double assignment of the IO group on two or more 0505 Channel 4 IO modules is not allowed. 0506 Channel 5 0 indicates no DO functioned IO module. 0507 Channel 6 DO group is specified with a number 1 to 128. 0508 Channel 7 (1024 points) 0509 Channel 8 0510 Channel 9 0511 Channel 10 0512 Channel 11 0513 Channel 12 0514 Channel 13 0515 Channel 14 0516 Channel 15 0517 PCI 0

HE0401120 61/76

NX100 / NXC100 CIO

518 AIN assignment AXA01#3 Channel 0 AIN setting 0519 (Servo) Channel 1 Analog input number of the IO Modules installed in 0520 Channel 2 each channels is specified. 0521 Channel 3 Double assignment of the analog input on two or 0522 Channel 4 more IO modules is not allowed. 0523 Channel 5 0 indicates no analog input functioned IO module. 0524 Channel 6 Analog input is specified with a number 1 to 40. 0525 Channel 7 0526 Channel 8 0527 Channel 9 0528 Channel 10 0529 Channel 11 0530 Channel 12 0531 Channel 13 0532 Channel 14 0533 Channel 15 0534 PCI 0535 AOUT assignment AXA01#3 Channel 0 AOUT setting 0536 (Servo) Channel 1 Analog output number of the IO Modules installed in 0537 Channel 2 each channels is specified. 0538 Channel 3 Double assignment of the analog output on two or 0539 Channel 4 more IO modules is not allowed. 0540 Channel 5 0 indicates no analog output functioned IO module. 0541 Channel 6 Analog output is specified with a number 1 to 40. 0542 Channel 7 0543 Channel 8 0544 Channel 9 0545 Channel 10 0546 Channel 11 0547 Channel 12 0548 Channel 13 0549 Channel 14 0550 Channel 15 0551 PCI 0552 DIN configuration AXA01#4 Channel 0 Function setting (DIN) 0553 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0554 Channel 2 is specified. DIN count is specified with a code. 0555 Channel 3 0 indicates no install. 0556 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0557 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0558 Channel 6 0559 Channel 7 0560 Channel 8 0561 Channel 9 0562 Channel 10 0563 Channel 11 0564 Channel 12 0565 Channel 13 0566 Channel 14 0567 Channel 15 0568 PCI 0569 DOUT configuration AXA01#4 Channel 0 Function setting (DOUT) 0570 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0571 Channel 2 is specified. DOUT count is specified with a code. 0572 Channel 3 0 indicates no install. 0573 Channel 4 (1) IO group count (d7d6d5d4d3d2d1d0) 0574 Channel 5 (DIN count)/8 -> 0 to 128 (0 to 1024 points) 0575 Channel 6 0576 Channel 7 0577 Channel 8 0578 Channel 9 0579 Channel 10 0580 Channel 11 0581 Channel 12 0582 Channel 13 0583 Channel 14 0584 Channel 15 0585 PCI 0586 AIN configuration AXA01#4 Channel 0 Function setting (AIN) 0587 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0588 Channel 2 is specified. Analog input count is specified with a 0589 Channel 3 code. 0 indicates no install. 0590 Channel 4 (1) AIN channel count (d5d4d3d2d1d0) 0591 Channel 5 0 to 40 points 0592 Channel 6 0593 Channel 7 (2) AIN accuracy bit count (d12) 0594 Channel 8 0: 8 bits, 1: 12, 16 bits 0595 Channel 9 0596 Channel 10 0597 Channel 11 0598 Channel 12 0599 Channel 13 0600 Channel 14 0601 Channel 15 0602 PCI 0

HE0401120 62/76

NX100 / NXC100 CIO

603 AOUT configuration AXA01#4 Channel 0 Function setting (AOUT) 0604 (Servo function) Channel 1 Function of the IO Modules installed in each channels 0605 Channel 2 is specified. Analog output count is specified with a 0606 Channel 3 code. 0 indicates no install. 0607 Channel 4 (1) AOUT channel count (d5d4d3d2d1d0) 0608 Channel 5 0 to 40 points 0609 Channel 6 0610 Channel 7 (2) AOUT accuracy bit count (d12) 0611 Channel 8 0: 8 bits, 1: 12, 16 bits 0612 Channel 9 0613 Channel 10 0614 Channel 11 0615 Channel 12 0616 Channel 13 0617 Channel 14 0618 Channel 15 0619 PCI 0620 DIN assignment AXA01#4 Channel 0 DIN setting 0621 (Servo) Channel 1 DI number of the IO Modules installed in each 0622 Channel 2 channels is specified. 0623 Channel 3 Double assignment of the IO group on two or more 0624 Channel 4 IO modules is not allowed. 0625 Channel 5 0 indicates no DI functioned IO module. 0626 Channel 6 DI group is specified with a number 1 to 128. 0627 Channel 7 (1024 points) 0628 Channel 8 0629 Channel 9 0630 Channel 10 0631 Channel 11 0632 Channel 12 0633 Channel 13 0634 Channel 14 0635 Channel 15 0636 PCI 0637 DOUT assignment AXA01#4 Channel 0 DOUT setting 0638 (Servo) Channel 1 DO number of the IO Modules installed in each 0639 Channel 2 channels is specified. 0640 Channel 3 Double assignment of the IO group on two or more 0641 Channel 4 IO modules is not allowed. 0642 Channel 5 0 indicates no DO functioned IO module. 0643 Channel 6 DO group is specified with a number 1 to 128. 0644 Channel 7 (1024 points) 0645 Channel 8 0646 Channel 9 0647 Channel 10 0648 Channel 11 0649 Channel 12 0650 Channel 13 0651 Channel 14 0652 Channel 15 0653 PCI 0654 AIN assignment AXA01#4 Channel 0 AIN setting 0655 (Servo) Channel 1 Analog input number of the IO Modules installed in 0656 Channel 2 each channels is specified. 0657 Channel 3 Double assignment of the analog input on two or 0658 Channel 4 more IO modules is not allowed. 0659 Channel 5 0 indicates no analog input functioned IO module. 0660 Channel 6 Analog input is specified with a number 1 to 40. 0661 Channel 7 0662 Channel 8 0663 Channel 9 0664 Channel 10 0665 Channel 11 0666 Channel 12 0667 Channel 13 0668 Channel 14 0669 Channel 15 0670 PCI 0671 AOUT assignment AXA01#4 Channel 0 AOUT setting 0672 (Servo) Channel 1 Analog output number of the IO Modules installed in 0673 Channel 2 each channels is specified. 0674 Channel 3 Double assignment of the analog output on two or 0675 Channel 4 more IO modules is not allowed. 0676 Channel 5 0 indicates no analog output functioned IO module. 0677 Channel 6 Analog output is specified with a number 1 to 40. 0678 Channel 7 0679 Channel 8 0680 Channel 9 0681 Channel 10 0682 Channel 11 0683 Channel 12 0684 Channel 13 0685 Channel 14 0686 Channel 15 0687 PCI 0

HE0401120 63/76

NX100 / NXC100 CIO

688～

699700 120 #8201X, #8202X Parameter which mimically inputs signal to ladder 64701 121 #8203X, #8204X Valid from d0 to d15 bits 0702 122 #8205X, #8206X (Define according to applications） 0703 123 #8207X, #8208X 0704 #8209X, #8210X705 #8211X, #8212X706 System 1 #S821X, #822X707 User 1 #S823X, #824X708 System 2 #S821X, #822X709 User 2 #S823X, #824X710 System 3 #S821X, #822X711 User 3 #S823X, #824X712 System 4 #S821X, #822X713 User 4 #S823X, #824X714 124 Filtering d0: Group 1 filtering

d1: Group 2 filtering　　 :d15: Group 16 filtering(0: Enable, 1: Disable）

0

715 125 d0: Group 17 filteringd1: Group 18 filtering　　 :d15 Group 32 filtering(0: Enable, 1: Disable）

0

716 126 d0: Group 33 filteringd1: Group 34 filtering　　 :d15: Group 48 filtering(0: Enable, 1: Disable）

0

717 127 d0: Group 49 filteringd1: Group 50 filtering　　 :d15: Group 64 filtering(0: Enable, 1: Disable）

0

718 d0: Group 65 filteringd1: Group 66 filtering :d15: Group 80 filtering(0: Enable, 1: Disable）

0

719 d0: Group 81 filteringd1: Group 82 filtering　　 :d15: Group 96 filtering(0: Enable, 1: Disable）

0


0


0

722 128 CIO command execution 0: Execute whenever the input is ON.1: Execute once when the input turns ON (OFF->ON)

0

723 129 CIO loop back test 0: Enable (Alarm), 1: Disable 0724 130 Number of TMR/CNT/arithmetic

instructions0: 100Other than 0: Qty

0

725726 131

d0: Channel 0 to d15: Channel 150

727d0:PCI1, d1:PCI2

0

728d0: Channel 0 to d15: Channel 15

0

729d0:PCI

0


731d0:PCI


733d0:PCI


735d0:PCI

User

SystemPseudo input (System)

Pseudo input (Servo)

Omission of servo board #1 statusSubtract 1 from IO Groupnumber of DIN and DOUT fromCIO000 to 029

Omission of system board status




Subtract 1 from IO Groupnumber of DIN and DOUT fromCIO000 to 029

HE0401120 64/76

NX100 / NXC100 CIO

736～

798 Filtering in NXC100-CIO Enable when CIO798=0 0: Enable (4 msec), Other than 0: Disable (2 msec) For KLA only 0799 NXC100-CIO scan time 0: 2msec, Other than 0: Segment clock For KLA only 0800 135 Circuit board type NCP01 Channel 0 d0 to d6: XRC board *801 136 (For IO module configuration) Channel 1 d7: MRC board *802 137 Channel 2 *803 138 Channel 3 *804 139 Channel 4 *805 140 Channel 5 *806 141 Channel 6 *807 142 Channel 7 *808 143 Channel 8 *809 144 Channel 9 *810 145 Channel 10 *811 146 Channel 11 *812 147 Channel 12 *813 148 Channel 13 *814 149 Channel 14 *815 Channel 15 *816 PCI 1 *817 PCI 2 *818 Circuit board type AXA01#1 Channel 0 *819 (For IO module configuration) Channel 1 *820 Channel 2 *821 Channel 3 *822 Channel 4 *823 Channel 5 *824 Channel 6 *825 Channel 7 *826 Channel 8 *827 Channel 9 *828 Channel 10 *829 Channel 11 *830 Channel 12 *831 Channel 13 *832 Channel 14 *833 Channel 15 *834 PCI 1 *835 Circuit board type AXA01#2 Channel 0 *836 (For IO module configuration) Channel 1 *837 Channel 2 *838 Channel 3 *839 Channel 4 *840 Channel 5 *841 Channel 6 *842 Channel 7 *843 Channel 8 *844 Channel 9 *845 Channel 10 *846 Channel 11 *847 Channel 12 *848 Channel 13 *849 Channel 14 *850 Channel 15 *851 PCI 1 *852 Circuit board type AXA01#3 Channel 0 *853 (For IO module configuration) Channel 1 *854 Channel 2 *855 Channel 3 *856 Channel 4 *857 Channel 5 *858 Channel 6 *859 Channel 7 *860 Channel 8 *861 Channel 9 *862 Channel 10 *863 Channel 11 *864 Channel 12 *865 Channel 13 *866 Channel 14 *867 Channel 15 *868 PCI 1 *869 Circuit board type AXA01#4 Channel 0 *870 (For IO module configuration) Channel 1 *871 Channel 2 *872 Channel 3 *873 Channel 4 *874 Channel 5 *875 Channel 6 *876 Channel 7 *877 Channel 8 *878 Channel 9 *879 Channel 10 *880 Channel 11 *881 Channel 12 *

HE0401120 65/76

NX100 / NXC100 CIO

882 Channel 13 *883 Channel 14 *884 Channel 15 *885 PCI 1 *886 Reserved for circuit board type, etc.～ Detailed circuit board type data is

999 considered

HE0401120 66/76

NX100 / NXC100 CIO

1. Function Parameter

d7 d6 d5 d4 d3 d2 d1d0

MSB

d7 d6 d5 d4 d3 d2 d1d0

d7 d6 d5 d4 d3 d2 d1d0

d7 d6 d5 d4 d3 d2 d1d0

(1) MRC FunctionParameter CIO000 to CIO004 DIO Group Count

(DIO Counts)/8

AIN/AOUT Accuracy 0: 8bits, 1: 12, 16bits

AIN/AOUT Channel Count 1: 2 Channls 2: 4 Channls 3: 6 Channls

AIN/AOUT Selection 0: Analog Output 1: Analog Input

(2) XRC Each of DIN, DOUT, AIN, AOUT for XRC function parameters is devided up to give an extendibility (distributed IO,

t )DIN FunctionCIO000 to CIO0014

DIN Group Count (DIN Counts)/8

IO Type Selection 0: MRC IO 1: XRC IO 2: Distributed IO

MSB

MSB

MSB

DOUT FunctionCIO015 toCIO0029

DOUT Group Count (DOUT Counts)/8


AIN FunctionCIO030 toCIO0044

AIN Channel Count 1: 1 Channel 2: 2 Channels | 12: 12 Channels

AIN Accuracy 0: 8bits, 1: 12, 16bits


HE0401120 67/76

NX100 / NXC100 CIO

d7 d6 d5 d4 d3 d2 d1d0

MSB d15 d14 d13 ···· d5 d4 d3 d2 d1d0

d15 d14 d13 ···· d5 d4 d3 d2 d1d0

d15 d14 d13 d12 ···· d5 d4 d3 d2 d1d0

d15 d14 d13 d12 ···· d5 d4 d3 d2 d1d0

AOUT FunctionCIO045 toCIO0059

AOUT Channel Count 1: 1 Channel 2: 2 Channels | 12: 12 Channels

AOUT Accuracy 0: 8bits, 1: 12, 16bits


MSB

(3) NX1/NX3 Each of DIN, DOUT, AIN, AOUT for NX1/NX3 function parameters is devided up to give an extendibility

DIN FunctionCIO000 to CIO0016(NCP01)

CIO136 to CIO151 (AXA01)

MSB

MSB

MSB

DOUT FunctionCIO017 to CIO0033(NCP01)

CIO152 to CIO167 (AXA01)CIO152 or more

AIN FunctionCIO034 to CIO0050(NCP01)

CIO168 to CIO183 (AXA01)

AOUT FunctionCIO051 to CIO0067(NCP01)

DIN Group Count (DIN Counts)/8

DOUT Group Count (DOUT Counts)/8

AIN Channel Count 1: 1 Channel 2: 2 Channels | 40: 40 Channels

AIN Accuracy0: 8bits 1: 12 16bits

AIOUT Channel Count 1: 1 Channel 2: 2 Channels | 12: 12 Channels

AOUT Accuracy

HE0401120 68/76

NX100 / NXC100 CIO

2. IO Module Assignment

(1) XCP01, 15 channels, XIO02 fixed, first

(2) IO Module Assignment Count IO Max Count: 256 Points AIN/AOUT Max Count: 12 Channels

(3) IO modules are sequentially assigned from channel 1 to 14. (Channel 15 is exception.)

(4) EW boards are sequentially assigned from channel 1 to 14. (MRC is in reverse.) EW IO Max Points: 8 Points X 3 Boards = 24 Points Initial Value Exp) CIO002 3 Channels 30 XEW01(1st) CIO003 4 Channels 31 XEW01(2nd) CIO004 5 Channels 32 XEW01(3rd) (Assigned data (initial value) of XEW* board is: 1st board: 30, 2nd board: 31, 3rd board: 32.)

NX01/NX03

(1) NCP01, 0 channel, NIO01 fixed, fist

(2) IO Module Assignment Count IO max count: 1024 points AIN/AOUT max count: 40 channels

(3) IO modules are sequentially assigned from channel 0 to 15. (In case of XRC, channel 1 to 14: channel 15 on top.)

(4) EW boards are sequentially assigned from channel 0 to 15 as described in (3). However, assignment number are in descending order. Initial Value Exp) CIO002 3 Channels 127 XEW01 (1st) CIO003 4 Channels 125 XEW01 (2nd) CIO004 5 Channels 123 XEW01 (3rd) CIO005 6 Channels 121 XEW01 (4th) (Assigned data (initial value) of XEW*/NEW* board is: 1st board: 127, 2nd board: 125, 3rd board: 123, 4th board: 121.)

HE0401120 69/76

NX100 / NXC100 AP (ARC)

AP 4 Byte Type (LONG)

ARC WELDINGAxP Main Item Sub Item Unit Remarks Initial Value

0 Application type Arc welding application Same as S3D119 to 122 01 System reserved 02 Discontinued 03 Condition file No for welder 2 Arc: 397

Arc+Arc: 1993 arc: 1334 arc: 100

4 Condition file No for welder 2 Arc: 397Arc+Arc: 199

3 arc: 1334 arc: 100

5 Welding speed priority 0: MOV Instruction (Local Speed)1: Welding Condition File (Global Speed)

0

6 07 Welder assignment of multi

layer condition file (Unused)Top condition No of multi layerfile for welder 2

Arc: 51Arc+Arc: 26

8 System reserved Speed data input mode 19 Work continuation 0: Enable, 1: Disable 0

10 Welding instruction outputchannel

If XEW board is mounted Top analog output channel Nofor welder

Arc: 1Arc+Arc: 3

3 arc: 54 arc: 7

11 Low speed directive (0 to100)

% 20

12 High speed directive (0 to100)

% 80

13 Chip replacement time min When specific output (chipreplacement request 5273, 5313,5353) is:0: Cumulative time < Specified time1: Cumulative time

>= Specified time

180

14 Nozzle cleaning time min When specific output (nozzlecleaning request 5274, 5314,5354) is:0: Cumulative time < Specified time1: Cumulative time

>= Specified time

30

15 Retry count When specific output (excessiveretry count 5284, 5324, 5364) is:0: Cumulative time < Specified time1: Cumulative time

>= Specified time

10

16 Arc shortage restart count When specific output (excessivearc shortage restart count 5285,5325, 5365) is:0: Cumulative time < Specified time1: Cumulative time

>= Specified time

10

17 Automatic anti-sticking count When specific output (excessiveautomatic anti-sticking count5286, 5326, 5366) is:0: Cumulative time < Specified time1: Cumulative time

>= Specified time

10

18 Condition file No for welder 3 Arc: 0Arc+Arc: 03 arc: 2654 arc: 199

19 Condition file No for welder 3 Arc: 0Arc+Arc: 03 arc: 2654 arc: 199

Work level

Welder assignment of arc start condition file

Welder assignment of arc end condition file


Manual wire feeding speed Rate for maxmum directive.Polarity is specified in WelderCondition File.

Welding management time

Welding management count


HE0401120 70/76

NX100 / NXC100 AP (ARC)

ARC WELDINGAxP Main Item Sub Item Unit Remarks Initial Value

20 Reserved For welding conditionchange function

0

21 022 023 024 025 026 Hand 1 open signal 1 to 192 927 Hand 1 open signal 1 to 192 1028 Hand 2 open signal 1 to 192 1129 Hand 2 open signal 1 to 192 1230 Condition file No for welder 4 Arc: 0

Arc+Arc: 03 arc: 0

4 arc: 298

31 Condition file No for welder 4 Arc: 0Arc+Arc: 0

3 arc: 04 arc: 298

32 Voltage(Register data type: AxP40)

0.1V -1

33 Voltage(Register data type: AxP40)

A -1

34 Voltage(Register data type: BCD)

0.1V -1

35 Voltage(Register data type: BCD)

A -1

36 Reserved 037 Reserved 038 Reserved 039 Reserved 040 Command value register output

format0: Binary, 1: BCD 0

41 Output source No for method ofcontinuing restart

Register No 0 to 499 A1P:410A2P:420A3P:430A4P:440

42 043 044 045 046 047 048 049 050 (Reserved) For digital welding

power source1: Enable, 0: Disable 0

51 052 053 054 055 056 057 058 059 060 0～99

Universal output No of handopen/close signal for jigless(arc) application

Arc monitor: analog input source(Register specification)

Register No 0 to 299Other than the above: A1P toA4P for each EW board analoginput application (welder)

Arc monitor: analog outputsource (Register specification)

Register No 0 to 299Other than the above: A1P toA4P for each EW board analogoutput application (welder)



HE0401120 71/76

NX100 / NXC100 AP (Handling)


HANDLINGAxP Main Item Sub Item Unit Remarks Initial Value

0 Application type Handling application Same as S3D119 to 122 11 System reserved 02 F1 key function 0: Disable

1 to 4: Hand (1 to 4)-1 specific output5: AxP004 specified

universal output

0

3 F2 key function 0: Disable1 to 4: Hand (1 to 4)-2 specific output5: AxP004 specified

universal output

0

4 F1 key function Universal output No Enable when AxP002 is 5 15 F2 key function Universal output No Enable when AxP003 is 5 16 07 Pulse output time for hand valve

control0.01sec 0 to 65535

Over 65535 is regarded as65535.0 indicates infinity (same aslevel output)

0

8 System reserved Speed data input mode 09 System reserved 0

10 Hand shock sensor 0: Disable, 1: Enable 0

11 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 048 049 050 0～99

Work level

Work continuation

Hand 1 to 4, common in use ofuniversal output

Interlock with specific output(#5276,5316,5356)

HE0401120 72/76

NX100 / NXC100 AP(General)


GENERAL PURPOSEAxP Main Item Sub Item Unit Remarks Initial Value

0 Application type General purpose application Same as S3D119 to 122 71 System reserved 02 03 04 05 06 07 08 System reserved Speed data input mode 09 Work continuation 0: Enable, 1: Disable 1

10 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 048 049 050 0～99

Work level

HE0401120 73/76

NX100 / NXC100 AP(Spot)


SPOT (AIR GUN / MOTOR GUN)AxP Main Item Sub Item Unit Remarks Initial Value

0 Application type Spot welding application Same as S3D119 to 122 Spot: Motor gun:

29

1 System reserved 02 03 Connected welder (Max count) Spot: 1 to 4

Motor gun: 1 to 441

4 Stroke change signal at full open ON/OFF output 0: OFF, 1: ONGun No. (bit)d0:1, d1:2, d2:3, d3:4, d4:5,d5:6, d6:7, d7:8

0

5 Stroke change response time 0.1 sec 0 to 9.9 sec 06 Welder parity Bit setting for each welder 0: Odd, 1: Even

d0: Welder 1d1: Welder 2d2: Welder 3d3: Welder 4

0

7 Anticipator condition time sec 08 Welding completion signal

detection0: Rise detection (wait until SPOT Instruction completion signal turns OFF if it is ON)1: State detection

0

9 System reserved 010 Wear amount tolerance Spot

Motor gun0

1011 Positioning in ＳＶＳＰＯＴ 0: Monitor positioning zone

without waiting for moving average time1: Monitor positioning zone after waiting for moving

average time

0

12 Individual output of tip replacement request

0: Same signal of movableand fixed side1: Indivisual output formovable and fixed side

Continuative output in theorder of movable tip to fixedtip from Tip ReplacementRequest

0

13 014 Wear compensation teaching

method0: Message1: Dialog + Message2: No message

0

15 Welding error reset signal outputtime

0.1 sec Spot:Motor gun:Signal output time to welder.No output in case of 0.

100

16 Electrode wear amount warningvalve

Movable side (upper) 0.001mm 0

17 Electrode wear amount warningvalve

Fixed side (Lower) 0.001mm 0

18 Position monitoring for SVSPOT Motor gun 0: Enable, 1: Disable 019 Movable side µｍ 020 Fixed side µｍ 021 Movable side µｍ 022 Fixed side µｍ 023 Movable side µｍ 024 Fixed side µｍ 025 Movable side µｍ 026 Fixed side µｍ 027 Wear detection method 0: DIRECT IN

1: TOUCH PRESS0

Work level

Work continuation

Threshold after electrode wearamount replacement

Differential threshold ofelectrode wear amountThreshold after electrode wearamount replacement

Minus threshold of electrodewear amount

HE0401120 74/76



28 Deflection compensationexecution timing

0: After touch motion1: After changing to speed control2: After touch motion moving time from electrode to

workpiece

0

29 Touch motion start delay time msec 030 Welding group count (Output

group)Setting range: 0 to 16 0

31 Welding group output start 0: 1 to 161: 0 to 15 (For DAIHATSU)

0

32 033 Pressure force setting for

SVSPOT0: Pressure file and pressrue value (switchable) Default config: pressure file1: Pressure value only

0

34 SVSPOT/SVSPOTMOVinstruction tag omission

Bit settingd0: Disable WST selection (nondisplayed): forMAZDAd1: Disable PRESS#() selection (nondisplayed): for DAIHATSUd2: Disable WGO selection when AxP30=0

(nondisplayed):

0

35 Automatic operation for pressureforce compensation amount

0: Nondisplay operation window1: Display operation window

0

36 Touch motion speed 0: Set in pressure file1: Set in gun cond file

0

37 Manual stop operation 0: Stop1: Decelerate and stop

0

38 Overwrite of wear amountreference position

0: Wear amount detection1: Enable

0

39 SVSPOTMOV auto-display inoperating manual pressureINTERLOCK + 8

0: Disable; current condition (nondisplay)1: Enable

0

40 Wear amount calculation forwear detection

0: Calculated from total wear amount1: Added on the last wear amount

0

41 Full open/short open operation 0: Enable only in full/short open window1: Enable in any window

0

42 Pressure file pre cut time setting 0: Editable in operationmode or more1: Editable in edit mode or more2: Editable in management

Enable when AxP46=1 orFD159=1

0

43 Pressure file end cut time setting 0: Editable in operationmode or more1: Editable in edit mode or more2: Editable in management


0

44 Pressure file pressure setting 0: Editable in operationmode or more1: Editable in edit mode or more2: Editable in management


0

45 Pressure file output signalsetting

0: Editable in operationmode or more1: Editable in edit mode or more2: Editable in management


0

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46 Pressure file display 0: Display and edit in edit mode or more (Standard)1: Display in operation mode or more Refer to AxP42 to 45 for

edition

0

47 Setting change of clearanceteaching method

0: Enable in edit mode(same as the current method)1: Enable edition in

management mode;

0

48 Pressure graviationcompensation for touch


49 Position detection timing oftouch motion in wear detection

0: At the end of TOUCH PRESS (Conventional manner)1: At the end of 1st pressure

0

50 Output signal for wear standardregistration status

Universal output NOContinuous output innumeric order of Gun 1 to

0

51 Output NO for wear detectionerror (level)

Universal output NOContinuous output innumeric order of Gun 1 to

0

52 Pressure force display 0: Disable, 1: Enable 053 Deflection compensation in

touch motion0: Disable, 1: Enable 0

54 Reserved 055 Reserved 056 Reserved 057 058 059 060 061 062 063 064 065 066 067 068 069 070 0～99

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nx100 parameter list

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