System Check - Before System Power Up; System Power Up; Light Curtain Alignment/Fence Anchoring; Light Curtain Alignment - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

4.17 System Check – Before System Power Up
Verify the following steps have been completed before System Power Up:
1. Check that both shipping brackets (if applicable) have been removed from
each robot (see Section 4.7.1).
2. Check that the positioner shipping brackets have been removed from the
positioner (see Section 4.6.2).
3. Check that cell door is closed and latched.
4. Check that all cable/wire connections are tight.
5. Check air line connections to optional torch tender and wire cutter.
6. Be sure both welding power sources are set correctly (see the welding power
source vendor's manual).
7. Verify that incoming line power matches the input power specified on the
label on the front of the service disconnect boxes.
4.18

System Power Up

Your ArcWorld IV-6200 XHD DR2C cell is now ready for power-up. The
ArcWorld system should only be operated by personnel who have received
operator training from Motoman and who are familiar with the operation of this
Motoman robot model. To turn the main power ON, proceed as follows:
1. Turn the R1 controller ON/OFF switch to ON.
2. Turn the R2 controller ON/OFF switch to ON.
3. Turn the XRC POWER service disconnect switch to ON.
4. Turn the WELD 1 POWER SOURCE service disconnect switch to ON.
5. Turn the WELD 2 POWER SOURCE service disconnect switch to ON.
4.19

Light Curtain Alignment/Fence Anchoring

4.19.1

Light Curtain Alignment

The light curtains must be aligned to work properly. To align them, proceed as
follows:
1. Turn system power on.
2. Use the vendor's literature to determine when light curtains are aligned/
misaligned.
3. Slide both light curtain walls to the left and right for adjustment.
4.19.2

Anchor Light Curtain Walls

The light curtain walls must be secured to the floor only when proper light curtain
alignment is established. To anchor the light curtain walls to the floor, proceed as
follows:
1. With fence post for the light curtain walls in permanent position, insert a 7/16-
inch drill bit through the holes in each fence post foot and drill holes (1 to 2
inches deep) for anchor bolts, in floor at locations shown in Figure 4-38.
2. Vacuum concrete dust from holes.
3. Prepare a factory-supplied 3/8-inch anchor and nut, as shown in Figure 4-4,
for each anchor hole in fence post feet.
MOTOMAN 4-35 ArcWorld IV-6200 XHD DR2C System Manual
INSTALLATION