Application Example - YASKAWA DX100 Instructions Manual

DX100

2.3.3 Application Example

Job
NOP
MOVJ VJ=100
MOVJ VJ=60
MOVL T0000 V=200
ARCON AC=330 AV=30 V=40
COMARCON AMP=1.0 FREQ=3.5••
MEMON REC MPF#(1)
MOVL T0001
MOVL T0002
MOVL T0003
MOVL T0004
MEMOF
COMARCOF
ARCOF AC=200 AV=25 T=0.1
GETS PX000 $PX040
SFTON P000 BF
'2Layer 1Path
MOVL T0005
SFTON P001 TF
MOVL T0004 V=200
ARCON AC=250 AV=28 V=40
MEMON BACKPLY MPF#(1)
MOVL T0003
MOVL T0002
MOVL T0001
2 Basic Operations
2.3 Memory and Playback Function
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.
Stand-by point
Moves the robot to the approach position.
Welding start position T0000
Starts the arc sensor.
Starts the saving operation for the memory and
playback function.
Stops the memory and playback function.
Stops the arc sensor.
End of welding on 1st layer
Gets the correction amount measured by COMARC
function.
Shifts for the correction amount.
(Welding on 1st path of 2nd layer)
Moves the robot to the approach position for 2nd
layer.
Shifts the welding start position for 1st path of 2nd
layer.
Starts the reproduction of the welding on the 1st layer
in the reversed direction.
2-15
156446-1CD
HW0485806