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CAUTION!
Do Not use S1 or S4 for any reason. Use S2 for Side A or S3 for Side B.
Misuse will create a SERVO TRACKING ERROR.
b) Check status screen to ensure S2 for Side A or S3 for Side B is displayed.
c) Press S+ or S- (X+ or X-) motion keys on programming pendant to move
NOTE:
• The EX. AXIS key must be turned OFF, and the robot LED ON, to move the robot with the
motion keys.
• The S-axis on each robot is restricted by hard stops on the robot base and internal soft
stops.
5.1.4
Programming Specific Jobs
For instructions to enter user jobs, refer to Motoman Operator's Manual for Arc
Welding (P/N 142098-1).
You can program three types of moves:
•
Rotation of headstock during air-cut moves
•
Robot motion with headstock stationary
•
Rotation of headstock during welding
The job you create may consist of a combination of the above. The first two types
of moves assume a robot-plus-station group axis specification. The last type of
move is called station synchronous and should be programmed with a station-plus-
robot group axis specification with the station as the Master control device.
CAUTION!
Remember that only the Tool Center Point (TCP) location on the robot
is recognized by the controller. Without careful programming, the
robot arm could still damage other equipment.
NOTE:
Refer to your system's Independent/Coordinated Motion Manual (P/N 142969-1) for
information on coordinated motion, selecting synchronization, group axes, and tooling
calibration.
Job Configurations
S1 = Main Trunion
S2 = A-side headstock
S3 = B-side headstock
S4 = Positioner sweeping (all axes on positioner)
Due to the setup, job axis combinations must be set up as follows:
Valid Axes Combinations for Synchronous Motion
R1 + S3 (:S3) = Robot 1 + B-side headstock with B-side headstock as master
R2 + S3 (:S3) = Robot 2 + B-side headstock with B-side headstock as master
R1 + S2 (:S2) = Robot 1 + A-side headstock with A-side headstock as master
R2 + S2 (:S2) = Robot 2 + A-side headstock with A-side headstock as master
MOTOMAN
headstock. Jog speed is set on programming pendant.
5-5
ArcWorld IV-6200 XHD DR2C System Manual
OPERATION
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