YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual page 78

OPERATION
Valid Axes Combinations for Non-synchronous Motion
R1 + S2 = Robot 1 + A-side headstock
R1 + S3 = Robot 1 + B-side headstock
R2 + S2 = Robot 2 + A-side headstock
R2 + S3 = Robot 2 + B-side headstock
Non-Valid Axes Combinations
S1 + S4 = Main Trunion + Positioner sweeping (all axes on positioner)
S2 + S4 = A-side headstock + Positioner sweeping (all axes on positioner)
S3 + S4 = B-side headstock + Positioner sweeping (all axes on positioner)
R1 + S4 = Robot 1 + Positioner sweeping (all axes on positioner)
R2 + S4 = Robot 2 + Positioner sweeping (all axes on positioner)
R1 + S1 = Robot 1 + Main Trunion
R2 + S1 = Robot 2 + Main Trunion
Rotation of the Headstock During Air-Cut Moves – Non-synchronous Motion
1. Teach robot to desired position.
2. Rotate positioner headstock or station to desired position.
3. Press and hold SHIFT key, then press EX. AXIS key on programming
pendant.
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.
d. Press MAN SPEED key to select desired axis speed while teaching.
e) Press S+ or S- (X+ or X-) motion keys on programming pendant to move
4. Record step after designating motion type and playback speed.
5. Check path with STEP FWD/BWD keys. The position for robot or positioner
may need to be altered to prevent torch interference.
WARNING!
The positioner axis operates as another robot axis and has the
potential for hazardous motion.
NOTE: • Press and hold SHIFT key, then the ROBOT key until R1 is selected on the Status line in
order to move the robot.
• Normally, air-cut moves are taught as joint moves. The speed for joint moves is specified
as a percentage of maximum speed (VJ=0.01 to VJ=100.00). The axis which takes the
longest time to complete the programmed motion automatically determines the speed of the
system. This might be a wrist axis, a major robot axis, or the positioner axis. Cycle times
can be reduced by changing wrist orientation, robot position, and headstock position
simultaneously between program points rather than making the moves independently.
Setting the speed at 100.00 will normally establish the quickest time between steps.
ArcWorld IV-6200 XHD DR2C System Manual
The headstock can now be moved using S+ or S- (X+ or X-) motion keys
on programming pendant.
headstock. Jog speed is set on programming pendant.
5-6 MOTOMAN