Panasonic YA-1NA Series Manuals

Manuals and User Guides for Panasonic YA-1NA Series. We have 1 Panasonic YA-1NA Series manual available for free PDF download: Operating Instructions Manual

Panasonic YA-1NA Series Operating Instructions Manual (236 pages)

Industrial Robot

Brand: Panasonic | Category: Industrial Equipment | Size: 6.92 MB

Table of Contents
5
1 Structure

10
- Parts Identification
  10
- Teaching Playback Method
  10
2 How to Use the Teach Pendant

11
- Functions
  11
  - Jog Dial and +/- Key
    12
  - Window Change Key
    12
- How to Work on the Screen
  13
- How to Switch the External Axes (Option)
  13
- User Function Keys
  14
- Menu Icons
  15
  - List of Icons
    16
- Input Numerical Values and Characters
  20
  - Input Numerical Values
    20
  - Input Characters
    20
- Memory Check
  20
3 Get Assistance While You Work (Help)

21
4 TEACH Mode

22
- How Operation Procedures Are Explained
  22
- Turn on Servo Power
  23
- User ID Setting for the First Time
  23
- Manual Operation
  24
- Switch the Coordinate System
  25
  - Robot Motion Icons and Robot Movement
    25
- Teach Program Programming Procedure
  27
  - Robot Movement Data
    27
- Create a New File
  28
- Teach and Save Teaching Points
  28
- Circular Interpolation
  30
  - What Is Circular Interpolation
    31
- Teach Weld Section (Welding Spec.)
  32
- Trace Operation
  37
  - Trace Start/End
    37
  - Add Teaching Points
    37
  - Change Teaching Points
    38
  - Delete Teaching Points
    38
  - Robot Position and Icons
    38
- Trace Motion after Editing
  39
- I/O Monitor
  40
- Program Test
  41
  - Procedures
    41
  - Override in the Program Test
    42
- Advanced Settings
  43
  - Weld Section Shift
    43
  - Wire Touch Detection in Teach
    44
  - Use of Shift Buffer Data
    44
  - Program Test
    44
  - Trace Settings
    44
  - Weaving
    45
  - R-Shift Key and Teach Point Settings
    46
  - Auto-Edit of Arc Start/End Commands
    46
- Edit Files (Basic Operation)
  47
- Save a File
  51
- Close a File
  51
- File Transfer
  52
- File Properties
  53
  - Rename a File
    53
  - File Protect
    54
- Delete Files
  55
5 AUTO Mode

56
- Start
  56
- Hold and Restart
  57
- Emergency Stop and Restart
  57
- Limit Condition of Operation
  57
- Program Unit
  58
- Cycle Time
  58
- Override
  59
- End of Operation
  60
- Advanced Use of "AUTO" Mode
  60
  - Offline Programming
    60
  - Program Change in Parallel Processing
    60
- Welding Data Log
  61
6 Useful File Edit Functions

62
- Cut
  62
- Copy
  62
- Paste
  63
- Find
  63
- Replace
  64
- Jump
  64
- Edit Local Variable
  65
- Global Data
  66
  - Conversion
    67
  - Tool Compensation
    68
  - Global Variable Setting for TCP Adjustment
    69
7 View

70
- System List
  70
- Display Change
  70
  - Position Display
    70
  - Torch Angle
    71
  - User-IN/OUT
    71
  - Status IN/OUT
    71
  - Variable
    71
  - Display SHIFT-ON Data
    72
  - Load Factor
    72
  - Accumulated Time
    72
  - Operate State
    73
- Operation Management
  73
- List of Open Files
  74
- Arc Weld Information
  75
8 Variable Settings

77
- Variables
  77
- Global Variable Settings
  78
- Application Examples of Variables
  79
  - Byte Variable
    79
  - Position Variable
    80
  - Rotary/Shift Variable
    81
9 Input/Output Settings

82
- User Input/Output Settings
  82
  - User I/O Terminal Type
    82
  - User INPUT - Setting Procedure
    82
- Status IN/OUT
  83
  - Status INPUT
    83
  - Status OUTPUT
    84
  - Status I/O to be Allocated to User Terminals
    84
- High-Speed Input
  88
10 Robot Settings

89
- User Coordinate System Settings
  89
  - What Is a User Coordinate System
    89
  - Setting Procedure
    89
- Tool Offset Settings
  90
- Standard Tool Settings
  92
- RT Monitor Settings
  92
- What Is the "RT Monitor" Function
  92
- RT Monitor" Setting Procedure
  93
- Cube Monitor Settings
  93
- What Is the "Cube Monitor" Function
  93
- Cube Monitor" Setting Procedure
  94
  - E-Axis Range Monitor
    94
  - AND Condition Monitor
    95
- Soft-Limit Settings
  96
- Jog Settings
  96
- TCP Adjust
  97
  - What Is TCP Adjust
    97
  - Adjustment
    97
11 Controller Settings

99
- Program Start Method Settings
  99
  - Master Method
    99
  - Start Method Settings and I/O Allocation
    100
  - Program Select Method
    101
  - Signal Method
    101
  - Binary Method
    102
  - BCD Method
    103
- Login and Logout
  104
- Resume Settings
  105
- Speed Limit Settings
  106
  - Manual/Override Speed Limit
    106
  - Joint Speed Limit
    106
- Smooth Level
  107
- Disable Program Editing
  107
- Error Handling
  108
- What Is "Error Handling
  108
  - Setting Procedure
    109
  - Operation Procedure
    110
- Hot Edit
  112
- What Is "Hot Edit
  112
  - Preliminary Settings
    113
  - Operation Procedure
    113
  - Definition of Shift Coordinate System
    114
12 Teach Pendant (TP) Settings

116
- Coordinate System Settings
  116
- Customize Function Keys
  116
  - User Function Keys
    116
  - Robot Move Key
    118
  - External Axis Key
    118
- Language Settings
  119
- Screen Saver Settings
  119
- Programming (Teach) Folder Settings
  120
- Favorite Commands
  121
13 System Information/Back up Settings

122
- Error/Alarm History
  122
- Backup
  122
14 Management Tool Settings

124
- User Management Settings
  124
- Memory Clear
  125
- Date Settings
  126
- Origin Re-Adjustment
  127
- System Settings
  129
  - Robot Settings
    129
  - Add Optional Functions
    130
  - External Axis
    130
  - Mechanism Settings
    131
  - Auxiliary IN/OUT and Analog I/O
    132
  - Multi-Welders Settings
    134
- Owner Entry
  135
- Log File
  135
- System Data Adjustment
  135
15 Arc Welding Machine Settings

136
- Configuration Settings
  136
  - Add a Welder
    137
  - Rename a Welder
    139
  - Delete a Welder
    139
  - Set a Welder as Default
    139
  - Weaving Settings
    140
  - Override Settings
    141
  - No Arc Detection
    141
- Welder Data Settings (CO2 /MAG/MIG)
  142
  - Wire/Material/Weld Method
    142
  - Adjust Value
    143
  - Wave Adjust Data
    143
  - Unification/Individual
    146
  - Weld Conditions
    146
  - Inching Speed
    146
  - Arc Retry
    147
  - Stick Release
    147
  - Wire Auto Retract
    147
  - Restart Overlap
    148
  - Tip Change
    148
  - Weld Monitor
    149
  - Display Weld Condition
    149
  - Pulse Settings
    149
  - Flying Start
    150
  - External Wire/Gas Control
    150
  - Low Pulse Setting
    150
Welder Data Settings (TIG)

151
- Welding Mode
  151
- Weld Condition
  151
- Adjust Value
  152
- High Frequency and Arc Start Process
  152
- Pulse Settings
  152
- Wire Control
  152
- Electrode Contact Detection
  153
- Welder Data Settings (Powder Plasma Welding)15-19
  154
  - Weld Conditions
    154
  - Adjust Value
    154
  - Powder Control
    155
  - Pulse/Slope Control
    155
  - Gas Control
    155
  - Inching Speed
    155
  - Pilot Arc
    155
- Changing Analog Type Welder Settings
  156
16 Commands

157
- Move Commands
  157
  - Movec
    157
  - Movecw
    157
  - Movel
    157
  - Movelw
    158
  - Movep
    158
  - Weavep
    158
- Input/Output Commands
  159
  - Out
    159
  - Pulse
    160
- Flow Commands
  160
  - Call
    160
  - Delay
    160
  - Hold
    160
  - Jump
    161
  - Label
    161
  - Nop
    162
  - Paracall
    162
  - Pause
    162
  - Rem
    163
  - Ret
    163
  - Rsv_Cancel
    163
  - Rsv_Prog
    163
  - Stop
    163
  - Wait_Ip
    164
  - Wait_Val
    164
- Arithmetic Operation Commands
  165
  - Add
    165
  - Atan
    165
  - Clear
    165
  - Cnvset
    165
  - Cos
    166
  - Dec
    166
  - DIV
    166
  - Getel
    166
  - Getpos
    167
  - Inc
    167
  - Mod
    167
  - Mul
    167
  - Set
    168
  - Setel
    168
  - Sin
    168
  - Sqrt
    168
  - Sub
    169
- Welding Commands(GMAW and Common Use)16-14
  170
  - Adjrst
    170
  - Amp
    170
  - Arc-Off
    170
  - Arc-On
    170
  - Arc-Set
    171
  - Arcslp
    171
  - Bbktime
    171
  - Crater
    171
  - Fttlvl
    172
  - Gasvalve
    172
  - Hotcur
    172
  - Hotvlt
    172
  - Iac
    173
  - Ib2
    173
  - If-Arc
    173
  - Init-Ib
    174
  - Init-Ip
    174
- I-Pfall
  174
- I-Prise
  174
- Isc
  175
- Isl1
  175
- Isl2
  176
- Penet
  176
- Pfall
  176
- Pfrq
  176
- P-Hottm
  177
- Pmode
  177
- Ppeak
  177
- Prise
  177
- Stickchk
  177
- Torchsw
  178
- Tso
  178
- Tsp
  178
- Volt
  178
- Wait-Arc
  178
- Wfed
  179
- Wirefwd
  179
- Wirerwd
  179
- Wirsldn
  179
- Wldchk
  180
- Wldspd
  180
- Wpls
  180
Weld Commands（Low Pulse MIG

181
- Lpdelay
  181
- Lpduty
  181
- Lpfrq
  181
- Lplevel
  181
- Lpls
  181
Weld Commands（For TIG Welding

182
- Acfrq
  182
- ARC-SET_TIG Ib=120 Ip=180 WF=10
  182
- Chkvolt
  182
- Clean
  182
- Ib_Tig = 100
  183
- Ip_Tig = 150
  183
- Mixfrq
  183
- Mixrate
  183
- Pduty_Tig
  184
- Pfrq_Tig
  184
- Tigslp
  184
- Wfdslp
  184
- Wmode_Tig
  185
Weld Commands（Powder Plasma Welding）16-30 16-8-1. ARC-SET_POWD

186
- Carrygas
  186
- Crater_Powd
  186
- F-Range
  186
- Ib_Powd 20
  187
- Ip_Powd 95
  187
- Plarc
  187
- Plasmagas
  188
- Powdfed
  188
- Pwdmotor
  188
- Pwdslp
  188
- Shldgas
  189
- Startgas
  189
- Wait-Plarc
  189
- Wpls_Pwd
  189
Weld Commands （MIG､TIG-FORCE Application

190
- Arc-Set_Tigfc
  190
- Crater_Tigfc
  190
- Load Tigfc
  190
- Save Tigfc
  190
- Wfacc
  191
- Wfdcc
  191
- Wfeed
  191
- Wfsldn
  191
- Wfspeed
  192
- Wflength
  192
- Wspdslp
  192
Logic Operation Commands

193
- And
  193
- Not
  193
- Swap
  194
- Xor
  194
Motion Assist Commands

194
- Gohome
  194
- Smooth
  194
- Tool
  195
Shift Commands

195
- Shift-Off
  195
- Shift-On
  195
Touch Sensor Commands (Optional)

195
- Snssftld
  195
- Snssft-Off
  196
- Snssft-On
  196
- Snssftrst
  196
- Snssftsv
  196
- Tchsns
  196
- Transbase
  197
- Transbasv
  197
Spin Arc Sensor Commands (Optional)

197
- Spnarc
  197
- Snsofs
  197
- Snsgn
  198
- Spnprm
  198
- Snsline
  198
- Spnrev
  199
- Spnofs
  199
External Axis Commands (Optional)

199
- Eaxs_Sft-Off
  199
- Eaxs_Sft-On
  199
  - Rstrev
    200
  - Velref
    200
- ARC-ON/ARC-OFF Sequences
  201
  - CO2/MAG/MIG Welding
    201
  - TIG Welding
    202
  - Powder Plasma Welding
    202
17 Errors and Alarms

203
- Alarm Codes
  203
- Error Codes
  207
- Welder Error Codes
  213
- Supplements
  217
  - Remedy of E1050
    217
  - E7XXX (Load Factor Error)
    218
  - Lithium Battery Error
    218
  - At Power Failure
    218
  - Overrun Release
    219
18 Appendix 18-1. Sample Programs

220
- 18. Appendix Application Examples of CNVSET
  223
- How to Add the Command
  223
- How to Add the Command
  225
- Transbasv
  225
- Teaching for Powder Plasma Welding
  227
  - Teaching Welding Program
    227
  - Powder / Gas Flow Check
    228
  - Hold / Emergency Stop
    228
  - Gas Control
    228
- Sample Programs of Palletizing
  229
  - Sample 1
    229
  - Sample 2
    231
- A Program to Calculate Distance between Points18-13
  232
- Sample Program of TW Seek
  233
  - Eaxs_Sft-Off
    234
  - Application Example 1
    234
  - Application Example 2
    235
- Application Example of IF-ARC
  236
  - Application Example
    236

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Panasonic YA-1NA Series Manuals

Panasonic YA-1NA Series Operating Instructions Manual (236 pages)

Table of Contents

1 Structure

2 How to Use the Teach Pendant

3 Get Assistance While You Work (Help)

4 TEACH Mode

5 AUTO Mode

6 Useful File Edit Functions

7 View

8 Variable Settings

9 Input/Output Settings

10 Robot Settings

11 Controller Settings

12 Teach Pendant (TP) Settings

13 System Information/Back up Settings

14 Management Tool Settings

15 Arc Welding Machine Settings

Welder Data Settings (TIG)

16 Commands

Weld Commands（Low Pulse MIG

Weld Commands（For TIG Welding

Weld Commands（Powder Plasma Welding）16-30 16-8-1. ARC-SET_POWD

Weld Commands （MIG､TIG-FORCE Application

Logic Operation Commands

Motion Assist Commands

Shift Commands

Touch Sensor Commands (Optional)

Spin Arc Sensor Commands (Optional)

External Axis Commands (Optional)

17 Errors and Alarms

18 Appendix 18-1. Sample Programs

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