YASKAWA Motoman DX200 User manual

MANUAL NO.
0
HW1482025
Part Number: 166343-1CD
Revision: 0
DX200 OPTIONS
INSTRUCTIONS
FOR WELDING CONDITION GUIDE FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL
DX200 MAINTENANCE MANUAL
The DX200 operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
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Welding Condition Guide
MANDATORY
• This manual explains the welding condition guide function of the
DX200 system and general operations. Read this manual carefully
and be sure to understand its contents before handling the DX200.
• General items related to safety are listed in Chapter 1: Safety of the
DX200 Instructions. To ensure correct and safe operation, carefully
read the DX200 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product’s warranty.
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Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the DX200.
In this manual,the Notes for Safe Operation are classified as “WARNING,”
“CAUTION,” “MANDATORY,” or ”PROHIBITED.”
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnelanddamagetoequipment.
It may also be used to alert against
unsafe practices.
MANDATORY
Always be sure to follow explicitly the
items listed under this heading.
PROHIBITED
Must never be performed.
NOTE
To ensure safe and efficient operation at all times, be sure
to follow all instructions, even if not designated as
“CAUTION” and “WARNING.”
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Welding Condition Guide
.
WARNING
• Before operating the manipulator, check that servo power is turned
OFF pressing the emergency stop buttons on the front door of the
DX200 and the programming pendant.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the emergency stop buttons do not function.
Figure 1: Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2: Release of Emergency Stop
TURN
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning ON the power for the DX200.
– Moving the manipulator with the programming pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an emergency stop button
immediately if there is a problem.
The emergency stop buttons are located on the right of front door of the
DX200 and the programming pendant.
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Definition of Terms Used Often in This Manual
The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the programming
pendant, and supply cables.
In this manual, the equipment is designated as follows.
CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately, and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the DX200
cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum
envelope of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the
DX200 Instructions before operating the manipulator.
Equipment Manual Designation
DX200 Controller DX200
DX200 Programming Pendant Programming Pendant
Cable between the manipulator and DX200 Manipulator Cable
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Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indication of (R) and ™ are omitted.
Equipment Manual Designation
Programming
Pendant Character Keys Symbol Keys The keys which have characters printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys
Numeric Keys “Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and
number input.
Keys pressed
simultaneously When two keys are to be pressed simultaneously, the keys are shown with a “+”
sign between them, ex. [SHIFT]+[COORD]
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
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Table of Contents
1 Outline ............................................................................................................................................1-1
2 Operation Procedures.....................................................................................................................2-1
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1 Outline
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1 Outline
“Welding condition guide” is a function that calculates the current value
and the voltage by using the welding conditions ,such as the welding
position and the joint, and sets the values into the the displaying arc start
condition file.
CAUTION
• The calculated current value and voltage by the welding condition
guide are the estimated value.
The welding condition guide may not to reach the optimal condition
because of the differences, such as a real material, wire stickout,
gas or welding waveform. Therefore, adjust the conditions while
confirming the weld bead by performing the actual welding.
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Welding Condition Guide 2 Operation Procedures
2 Operation Procedures
1. Select {START GUIDE}, and the guide window appears.
2. Enter the each condition in the guide.
• The each tolerance value is shown below the entering section
while focus on the each item.
• If the value of the desired condition or the actual condition are
outside the tolerance values, enter the value as close as possible
to the tolerance values to adjust the command value by reviewing
the calculated command value.
3. Press the [Calc] button to calculate the value.
• When calculated value is abnormal, “---A(NG)” or ”---V (NG)” is
displayed.
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2 Operation Procedures
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Welding Condition Guide
4. When pressing the [Write] button, the confirmation dialog appears.
• When pressing the [Yes] button, the calculated command values for
the current and voltage of the displaying arc start condition file are
written if the entering values do not have any errors.
• In the case of the synergic power supply, the message “With the
synergic power supply, voltage isn’t updated.” is displayed, and the
voltage cannot be changed even though press the [Write] button.
5. Press [Yes], and the calculated current and voltage are written in the
{MAIN COND.} tab.
NOTE
The welding condition guide function can calculate the
values for the current and voltage regardless of the voltage
command method of the welding condition. However, in the
case of the “synergic power supply” (%), only the current
value is set in the arc start condition file, and the voltage
value is not set in the file.
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