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OPERATION
5.1.2
Sweeping the Positioner
CAUTION!
Sweeping the positioner manually from the pendent may result in the
fixtures/tooling hitting the ground. Care must be taken by the
operator to avoid this from happening.
NOTE:
In order to sweep the positioner, the robots must be in the Safe position (Cube 23 and Cube 24).
MANUAL mode on the controller allows the positioner to sweep without
activating the robots. Parts can be loaded onto the fixture to achieve the most
efficient configuration and then swept into the welding zone before teaching the
robot(s) a series of moves.
To sweep Side A or Side B of the positioner into the robot's welding zone, proceed
as follows:
1. Move robot(s) into Safe position (see Section 5.2.3).
2. Set operator station POSITIONER switch to MANUAL mode and start
Master Control job (see Section 5.2.5). Robot(s) will not move out of Safe
position when POSITIONER switch is in MANUAL.
NOTE:
Cycle Start latching does not operate in Manual mode.
3. Press CYCLE START button on operator station. The controller sweeps the
positioner each time the CYCLE START button is pressed.
NOTE:
The Cube function is a software feature that turns on an output when the robot(s) tool center
point is within established boundaries. If a robot moves outside of Safe position, the output is
lost and the positioner will not sweep. The Cube position is factory set to be clear of the
positioner. For more information on basic Cube setup, refer to the manipulator manual.
5.1.3
Rotating the Headstock
To program rotation of the Motoman MRM2-750 S3X positioner headstock,
proceed as follows:
WARNING!
If the robot(s) is working on a part and the headstock is not turning,
DO NOT assume that the headstock will not turn. The robot is
executing programmed steps which could index the headstock at any
time.
1. The following preconditions must be met:
a) The controller must be in TEACH mode.
b) The Servo On Ready key must flashing. If the Servo On Ready key is not
2. To move headstock:
a) Press EX. AXIS key on programming pendant to display proper axis of
ArcWorld IV-6200 XHD DR2C System Manual
flashing, press it.
operation.
5-4
MOTOMAN
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