YASKAWA DX100 Instructions Manual
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YASKAWA DX100 Instructions Manual

Options, for multi-layer welding function
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See also: Instruction Manual
DX100 OPTIONS
INSTRUCTIONS
FOR MULTI-LAYER WELDING FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 Operator's instructions above corresponds to specific usage.
Be sure to use the appropriate instruction.
Part Number:
156446-1CD
Revision:
0
MANUAL NO.
HW0485806
0

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Summary of Contents for YASKAWA DX100

  • Page 1 Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 Operator’s instructions above corresponds to specific usage. Be sure to use the appropriate instruction. Part Number: 156446-1CD Revision: MANUAL NO.
  • Page 2 If modification occur, the revision number changes on the manual. • 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.
  • Page 3 156446-1CD DX100 Notes for Safe Operation Read this manual carefully using the DX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”. Indicates a potentially hazardous WARNING situation which, if not avoided, could result in death or serious injury to personnel.
  • Page 4 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 the front door of the DX100 and the programming pendant. HW0485806...
  • Page 5 – 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 DX100 cabinet after use. Damage to the programming pendant can occur if left .in the manipulator’s work area, on the floor, or near fixtures.
  • Page 6 156446-1CD DX100 Descriptions of the programming pendant, buttons, and displays are shown as follows: Equipment Manual Designation Programming Character [ ] indicate keys with characters printed on them. Pendant Keys ex. [ENTER] Symbol The keys which have a symbol printed on them...

  • Page 7: Table Of Contents

    156446-1CD DX100 1 Outline ............................1-1 1.1 Multi-layer Welding Function ..................... 1-1 1.2 Features ..........................1-1 1.3 Customer Support Information................... 1-2 2 Basic Operations..........................2-1 2.1 Robot Posture Control by Euler Angles ................2-1 2.1.1 Outline ........................2-1 2.1.2 Operation......................2-2 2.1.2.1 Cartesian coordinate system..............
  • Page 8 156446-1CD DX100 2.6 Search Function for Sticking .................... 2-24 2.6.1 Outline ........................2-24 2.6.2 Items to be Set for SRSTCK Instruction ............. 2-24 2.6.3 Registering......................2-26 2.7 Shift Function ........................2-28 2.7.1 Outline ........................2-28 2.7.2 Continuity of Shift Function................. 2-29 2.7.3 Shift Amount Display ..................2-30 2.8 Beveling Width Measuring Function ................

  • Page 9: Outline

    Multi-layer Welding Function Outline Multi-layer Welding Function The DX100 is used to weld a workpiece with multiple layers which, otherwise, cannot be satisfactorily welded with a single layer. The first layer is welded while the COMARC instruction executes the arc sensing for correcting the path.

  • Page 10: Customer Support Information

    Outline DX100 Customer Support Information Customer Support Information If you need assistance with any aspect of your DX100 system, please contact Yaskawa Motoman Customer Support at the following 24-hour telephone number: (937) 847-3200 For routine technical inquiries, you can also contact Yaskawa Motoman Customer Support at the following e-mail address: techsupport@motoman.com...

  • Page 11: Basic Operations

    156446-1CD Basic Operations DX100 Robot Posture Control by Euler Angles Basic Operations Robot Posture Control by Euler Angles 2.1.1 Outline Different from the robot control of the ordinary coordinate systems, Euler angles control the robots optimum posture for welding. See fig. 2-1 for the robot posture using Euler angles.

  • Page 12: Operation

    156446-1CD Basic Operations DX100 Robot Posture Control by Euler Angles 2.1.2 Operation 2.1.2.1 Cartesian coordinate system When selecting the Cartesian coordinate system , pressing X, Y, or Z key moves the tool in parallel to the X, Y, or Z axis in the base coordinate system.

  • Page 13: Tool Coordinate System

    156446-1CD Basic Operations DX100 Point Variables 2.1.2.2 Tool coordinate system When selecting the tool coordinate system through the programming pendant, the robot moves as shown in fig. 2-3. Changing the posture is the same .as the Cartesian coordinate system. Fig. 2-3: Jog Motion in Tool Coordinate System Point Variables 2.2.1 Outline...

  • Page 14: Registering Point Variables

    156446-1CD Basic Operations DX100 Point Variables 2.2.2 Registering Point Variables Replacing the taught position data of the move instruction with the point variable. 1. Move the cursor to the instruction area, and press [SELECT] twice on the desired move instruction –...

  • Page 15: Changing The Number Of The Point Variable

    156446-1CD Basic Operations DX100 Point Variables 5. Press [ENTER] – The entered contents are registered in the job. If another point variable with the same number has been already used in the same job, the already used point variable, even if no taught position data is specified in the point variable, is registered.
  • Page 16 156446-1CD Basic Operations DX100 Point Variables 4. Press [ENTER] – The entered point variable number (T0011) appears in the input buffer line. 5. Press [ENTER] – The entered contents are registered in the job. If another point variable with the same number has been already used in the same job, the already used point variable, even if no taught position data is specified in the point variable, is registered.
  • Page 17 156446-1CD Basic Operations DX100 Point Variables Operation method 2 for changing number of point variables  1. Move the cursor to the instruction area, and press [SELECT] twice on the desired move instruction – The detail edit display of the move instruction appears.

  • Page 18: Registering A Move Instruction Together With A Point Variable

    156446-1CD Basic Operations DX100 Point Variables 4. Press [ENTER] – The entered contents are registered in the job. If another point variable with the same number has been already used in the same job, the already used point variable, even if no taught position data is specified in the point variable, is registered.
  • Page 19 156446-1CD Basic Operations DX100 Point Variables 2. Press [SELECT] – The detail edit display of the selected move instruction appears. 3. Select “UNUSED” of “POINT VARIABLE,” and select “T” 4. Enter a point variable number 5. Press [ENTER] – The entered point variable number appears in the input buffer line.

  • Page 20: Deleting A Point Variable

    156446-1CD Basic Operations DX100 Point Variables 6. Press [ENTER] – The entered contents are registered in the job. If another point variable with the same number has been already used in the same job, the already used point variable, even if no taught position data is specified in the point variable, is registered.

  • Page 21: Deleting The Point Variable Designation

    156446-1CD Basic Operations DX100 Point Variables 2. Press [DELETE] and [ENTER] 2.2.3.2 Deleting the point variable designation • When the deleted point variable is not used for other move instructions in the same job, it becomes in unused status, but retains the taught position data. However, the point...
  • Page 22 156446-1CD Basic Operations DX100 Point Variables 3. Press [ENTER] – The modified contents appears in the input buffer line. 4. Press [ENTER] – The entered modification is registered in the job. The taught position data of the deleted point variable is reregistered.

  • Page 23: Editing The Point Variable (Taught Position Data)

    Point Variables 2.2.4 Editing the Point Variable (Taught Position Data) The taught position data can be edited by entering a numerical value. Refer to DX100 OPTIONS INSTRUCTIONS FOR TEACHING POINT ADJUSTMENT FUNCTION WITH PROGRAMMING PENDANT (manual No.: HW0485569). 1. In JOB CONTENT display, select {POSITION ADJUSTMENT} from the pull-down menu of {UTILITY} –...

  • Page 24: Memory And Playback Function

    156446-1CD Basic Operations DX100 Memory and Playback Function Memory and Playback Function 2.3.1 Outline The memory and playback function is used to correct the robot motion path for the correction amount measured by COMARC sensor and saved every sampling time set in the parameter. At the welding of the first layer,...

  • Page 25: Application Example

    156446-1CD Basic Operations DX100 Memory and Playback Function 2.3.3 Application Example Create a welding job with two layers and three paths. Execute the sensing by using the COMARC function while welding the first layer, and weld the first path of the second layer in the reverse direction of the welding on the first layer, then weld the second path of the second layer in the same direction of the welding on the first layer.
  • Page 26 156446-1CD Basic Operations DX100 Memory and Playback Function MOVL T0000 MEMOF ARCOF AC=180 AV=20 T=0.1 SFTOF Cancels the shift function. '2Layer 2path (Welding on 2nd path of 2nd layer) MOVL V=200 Move the robot to the approach position for 2nd layer.

  • Page 27: Multi-Layer Welding Tool Shift Function

    156446-1CD Basic Operations DX100 Multi-layer Welding Tool Shift Function T0000 T0001 T0002 T0003 T0005 T0004 2nd path of 2nd layer 1st path of 2nd layer 1st path of 1st layer Multi-layer Welding Tool Shift Function 2.4.1 Outline For multi-layer welding, teaching the welding path on the 1st layer and shifting the taught positions to weld on the second and following layers can largely reduce the time required for teaching.

  • Page 28: Registering

    156446-1CD Basic Operations DX100 Multi-layer Welding Tool Shift Function Multi-layer welding tool shift coordinate B: The posture angle from X-axis of the multi-layer welding tool shift coordinate in the direction to Z-axis • Posture angle setting With the multi-layer tool shift function, the multi-layer tool...

  • Page 29: Search And Shift Function

    156446-1CD Basic Operations DX100 Search and Shift Function Search and Shift Function 2.5.1 Outline The search and shift function (SRSFT) detects the workpiece position error by using the search sensor and correct the taught position. SRSFT instruction starts searching the tool end from the point the tool ends is not in contact with the workpiece and stops searching when the tool end contacts the workpiece.

  • Page 30: Items To Be Set For Srsft Instruction

    156446-1CD Basic Operations DX100 Search and Shift Function 2.5.2 Items to be Set for SRSFT Instruction Set the following items for SRSFT instruction. Item Contents PATTERN Search motion pattern 1 to 4 (The numbers correspond to the patterns shown below)

  • Page 31: Registering

    156446-1CD Basic Operations DX100 Search and Shift Function 2.5.3 Registering 1. Move the cursor to the address area 2. Press [INFORM LIST] 3. Select “MACRO” – The macro instruction list appears. 4. Select “SRSFT” – The argument setting display for SRSFT instruction appears.
  • Page 32 156446-1CD Basic Operations DX100 Search and Shift Function 5. Move the manipulator to the travel start point (P1), and press [MODIFY] with the cursor on “UNREGIST” of P1, then press [ENTER] to register the position of P1. 6. Move the manipulator to the travel end point (P2), and press [MODIFY] with the cursor on “UNREGIST”...

  • Page 33: Application Example Of Srsft Instruction

    156446-1CD Basic Operations DX100 Search and Shift Function 2.5.4 Application Example of SRSFT Instruction SFTOF3D Cancels the 3-dimension shift. MOVJ VJ=60 SRSFT PTN=3 SFT=1 V=360•• Searches for 1st point (Shift in parallel). MOVJ VJ=60 SRSFT PTN=3 SFT=2 V=360•• Searches for 2nd point (Shift in rotation). ...

  • Page 34: Search Function For Sticking

    156446-1CD Basic Operations DX100 Search Function for Sticking Search Function for Sticking 2.6.1 Outline The search function for sticking (SRSTCK) detects the edge face of the workpiece. There are 6 searching patterns. 2.6.2 Items to be Set for SRSTCK Instruction Set the following items for SRSTCK instruction.
  • Page 35 156446-1CD Basic Operations DX100 Search Function for Sticking Pattern 1 Pattern 11 Pattern 12 Pattern 2 Pattern 3 Pattern 13 2-25 HW0485806...

  • Page 36: Registering

    156446-1CD Basic Operations DX100 Search Function for Sticking 2.6.3 Registering 1. Move the cursor to the address area 2. Press [INFORM LIST] Pattern 1 Pattern 11 Pattern 2 Pattern 12 Pattern 3 Pattern 13 2-26 HW0485806...
  • Page 37 156446-1CD Basic Operations DX100 Search Function for Sticking – The macro instruction list appears. 3. Select “MACRO” 4. Select “SRSTCK” – The argument setting display for SRSTCK instruction appears. 5. Move the manipulator to the travel start point (P1), and press [MODIFY] with the cursor on “UNREGIST”...

  • Page 38: Shift Function

    156446-1CD Basic Operations DX100 Shift Function 6. Move the manipulator to the travel end point (P2), and press [MODIFY] with the cursor on “UNREGIST” of P2, then press [ENTER] to register the position of P2. 7. Press [ENTER] twice to return to the job content display.

  • Page 39: Continuity Of Shift Function

    156446-1CD Basic Operations DX100 Shift Function When two SFTON instructions with the same coordinate system specified are executed, the last STFON instruction is valid. Example: SFTON P000 BF (100.000 mm to X direction is specified in P000.) SFTON P001 BF (100.000 mm to Y direction is specified in P001.)

  • Page 40: Shift Amount Display

    156446-1CD Basic Operations DX100 Shift Function 2.7.3 Shift Amount Display 1. Select {ROBOT} from the top menu 2. Select {SHIFT} from the sub menu – The shift amount display appears. 3. Select a shift type – Selecting a shift type, “PARALLEL” or “3D,” and a coordinate, “BASE,”...

  • Page 41: Beveling Width Measuring Function

    156446-1CD Basic Operations DX100 Beveling Width Measuring Function Beveling Width Measuring Function 2.8.1 Outline The beveling width measuring function measures the beveling width by using the search function. The measured width is stored in the specified variable number by using SRGAP instruction. According to the measured beveling width, the welding conditions will be changed.

  • Page 42: Registering

    156446-1CD Basic Operations DX100 Beveling Width Measuring Function 2.8.3 Registering 1. Move the cursor to the address area 2. Press [INFORM LIST] 3. Select “MACRO” – The macro instruction list appears. 4. Select “SRGAP” – The argument setting display for SRGAP instruction appears.
  • Page 43 156446-1CD Basic Operations DX100 Beveling Width Measuring Function 5. Move the manipulator to the travel start point (P1), and press [MODIFY] with the cursor on “UNREGIST” of P1, then press [ENTER] to register the position of P1. 6. Move the manipulator to the travel end point (P2), and press [MODIFY] with the cursor on “UNREGIST”...

  • Page 44: Overriding Welding Condition Function

    156446-1CD Basic Operations DX100 Overriding Welding Condition Function Overriding Welding Condition Function 2.9.1 Outline • During welding, each welding condition such as welding current, welding voltage, speed, weaving single amplitude, and sensing con- dition can be adjusted individually by using the specific keys shown below on the programming pendant.

  • Page 45: Welding Condition Adjustment Display

    156446-1CD Basic Operations DX100 Overriding Welding Condition Function 5. Press [CANCEL] – The job content display appears. • Only the welding condition data that have been set are displayed. For example, when the weaving operation is not set, “***” is displayed for “WEAV AMPLITUDE.”...
  • Page 46 156446-1CD Basic Operations DX100 Overriding Welding Condition Function VOLTAGE Move the cursor to the data and press the TUNING key to adjust the welding voltage value. The welding voltage is specified by the following instructions: • The instruction items (AV=, and AVP=) to ARCON instruction •...
  • Page 47 156446-1CD Basic Operations DX100 Overriding Welding Condition Function • The instruction item (U/D=) to COMARCSET(SCOMARCST) instruction When COMARCOF (SCOMARCOF) is executed, the upward/downward sensing adjustment is disabled. L/R CONDITION Move the cursor to the data and press the specific keys to adjust the sensing condition (left/right).

  • Page 48: Parameters For The Units To Adjust Conditions

    156446-1CD Basic Operations DX100 Overriding Welding Condition Function 2.9.4 Parameters for the Units to Adjust Conditions When using the specific keys to adjust a condition, the units for each condition can be set by the following parameters. Set the multiplication of the minimum unit of each condition.

  • Page 49: Confirm The Welding Operation In Teach Mode

    156446-1CD Basic Operations DX100 2.10 Confirm the Welding Operation in Teach Mode 2.10 Confirm the Welding Operation in Teach Mode 2.10.1 Outline ARCON/ARCOF instructions can be executed by TEST RUN in the teach mode. By this operation, it is possible to confirm the welding conditions.

  • Page 50: How To Restart After An Emergency Stop In The Middle Of Weaving

    156446-1CD Basic Operations DX100 2.11 How to Restart After an Emergency Stop in the Middle of Weaving 2.11 How to Restart After an Emergency Stop in the Middle of Weaving If the emergency stop in the middle of weaving, the robot stopped weaving operation in any position, and simply re-start, the robot runs through the next step to the position of any origin.
  • Page 51 156446-1CD Basic Operations DX100 2.11 How to Restart After an Emergency Stop in the Middle of Weaving NOTES 2-41 HW0485806...
  • Page 52 DX100 OPTIONS INSTRUCTIONS FOR MULTI-LAYER WELDING FUNCTION Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW0485806...

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