Macro Jobs - YASKAWA DX200 Instructions Manual

166153-1CD
TouchSense, AccuFast,
and AccuFast II with Macro
Jobs
Fig. 1-3: Touch Sense
Robot Position1
Fig. 1-4: Laser Sensing
Robot Position 1

1.1.2 Macro Jobs

1 Introduction
1.1 Overview
 Touch Sense
For most welding applications, seam finding is performed using touch
sense. With this technique, electrical power is provided by a welding
power supply or an external touch sense box to either the welding
electrode (welding wire) or the gas nozzle. As the robot moves from the
start robot position towards the next programmed robot position(s), high
voltage is supplied to the welding torch (power is limited to provide only
low current levels). When the electrode or gas nozzle contacts the
weldment, current flows and a signal is immediately sent to the robot. The
robot quickly stops its search motion and captures the new position.
Robot Position 2
 AccuFast and AccuFast II
Another technology used for part detection uses a 1D laser sensor
(AccuFast). The laser sensor is used in a similar manner as the welding
wire with voltage. Seam finding can be performed with the end of the laser
beam (just like the end of the welding wire) or the side of the laser beam
(just like the side of the welding wire).
Robot Position 2
Touch Sense, AccuFast, and AccuFast II communicate with the robot
controller using a Rapid Input signal. The Rapid Input signal has a quick
response time to any change in signal status, making it ideal for
applications involving robot motion. Because Touch Sense, AccuFast, and
AccuFast II use the same interface signal to the robot controller, the same
macro job routines are used, and macro job usage is identical for both
technologies.
Multiple positions and parameters are put into to the macro job for each
location on the weldment that is to be measured. These robot positions
and parameters are passed to the macro job via the macro instruction.
The macro instruction is available from the Inform List and is inserted into
the robot job to instruct the robot controller to detect the weld seam to be
welded.
Robot Position 3
Robot Position 3
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