Operation; Programming - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

The ArcWorld IV-6200 XHD DR2C is a fully integrated robotic gas metal arc
welding (GMAW) cell. The Master job setup, and the sub-jobs programmed within
it, determine how the robot performs the welding operation or other tasks. The
robots weld parts on one side of the 180-degree reciprocating positioner, while the
operator loads or unloads parts on the opposite side. Once the robots are finished
with the welding process, they return to the Safe position. The operator then
sweeps the positioner 180 degrees to the opposite side, enabling the robots to start
welding on the next set of parts.
The MRM2-750 S3X positioner uses a 180-degree reciprocating motion that
sweeps the positioner from the operator's loading zone, into the robot's work zone,
and back. Two positioner arc shields visually divide the positioner into two
rectangular halves, labeled Side A and Side B. As the positioner reciprocates, Side
A moves under the primary axis and Side B moves over the primary axis. When
Side A is in the robot's welding zone, Side B is facing the operator, ready to be
loaded or unloaded, and vice versa. Additionally, the headstock/tailstock on both
Sides A and B rotate, which provides two welding surfaces per side. Loading
fixtures and pneumatic or electric lines can be attached to the headstock and
tailstock on both sides.
NOTE: Loading fixtures must be supplied by the customer.
5.1

Programming

The operation of this system is programming dependent. The operating
instructions included in this section are based on one possible configuration of this
system. Your system configuration and job structure may differ slightly from that
presented here. However, basic operation will be the same.
Any changes made to your system configuration and/or job structure will alter the
operation of this cell. Motoman recommends you do not modify the original jobs
and system configuration that came with your system. If modifications need to be
made, they should be made to copies of these jobs and not to the originals.
Modifications should only be performed by personnel who have received operator
training from Motoman, and who are familiar with the operation of this Motoman
system. If you have questions concerning the configuration of your system please
contact the 24 hour Service Hotline, at (937) 847-3200 (see Section 1.4).
A major advantage of the ArcWorld IV-6200 XHD DR2C system is its high degree
of flexibility. The operator can fine tune the movement of both robots and the
positioner according to the parts configuration. The MRM2-750 S3X positioner,
with its programmable primary axis and headstocks, proves highly versatile when
configured with the UP6, UP20, or UP20-6 robot. The robots can be programmed
to weld a part with the headstock stationary, or the robots and headstock can move
simultaneously to weld a part while the headstock is turning. The robots can be
programmed to weld different seams on the same part and to move from part to
part to continue welding.
MOTOMAN
SECTION 5

OPERATION

5-1 ArcWorld IV-6200 XHD DR2C System Manua