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Robot Motion with the Headstock Stationary – Non-synchronous Motion
1. Program robot position without moving positioner axis.
2. Set motion type and speeds in normal fashion;
OR
3. Select GROUP AXIS as R1 only.
Rotation of the Headstock During Welding – Synchronous Motion
The controller can coordinate motion with the external axis. This requires
calibration of the headstock and robot at the time of installation. Jobs programmed
for coordinated motion must be taught as Robot + Station with Station as master
[R1 + S (2 or 3): S (2 or 3)], depending on positioner side during playback. Move
instructions for coordinated motion are registered using the following format:
5.2
Daily Operation
The procedures below represent the typical operating sequence from power up to
shutdown. Your basic operating procedures may vary depending on your situation.
•
Perform Start-up Procedures (see Section 5.2.1)
•
Perform Safety Circuit Check (see Section 5.2.2)
•
Robot to Safe Position (see Section 5.2.3)
•
Selecting Job to be Operated (Initial set up only) (see Section 5.2.4)
•
Starting Master Job (see Section 5.2.5)
•
Perform Operation Cycle (see Section 5.2.6)
•
Perform Shutdown Procedures (see Section 5.2.7)
5.2.1
Start-Up
NOTE:
Due to the configuration of the DR2C system, the secondary controller (R2) must be energized
before the primary controller (R1) or an alarm condition will occur during power up.
To start up the ArcWorld cell from a Power-Off condition, proceed as follows:
1. Make sure the enclosure door is closed and securely latched.
2. Turn ON the WELD 1 and WELD 2 service disconnect switches.
3. Turn ON XRC POWER R1 service disconnect switch.
4. Turn ON XRC POWER service disconnect switch.
CAUTION!
The MAIN POWER switch on the R2 controller must be turned on
before the R1 controller or an ERROR will occur.
5. Set MAIN POWER switch on R2 controller to ON.
6. Set MAIN POWER switch on R1 controller to ON.
7. Set INPUT POWER switch on both power sources to ON.
8. Open regulator valve on welding gas supply.
MOTOMAN
COORDINATED
SMOVL=138
MOTION
+MOVL
INSTRUCTION
SLAVE DEVICE (Manipulator with Torch)
MASTER DEVICE (Positioner with Workpiece)
5-7
ArcWorld IV-6200 XHD DR2C System Manual
OPERATION
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