YASKAWA Motoman DX200 User manual

MANUAL NO.

HW1482025

Part Number: 166343-1CD

Revision: 0

DX200 OPTIONS

INSTRUCTIONS

FOR WELDING CONDITION GUIDE FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

DX200 INSTRUCTIONS

DX200 OPERATOR’S MANUAL

DX200 MAINTENANCE MANUAL

The DX200 operator’s manuals above correspond to specific usage.

Be sure to use the appropriate manual.

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Welding Condition Guide

MANDATORY

• This manual explains the welding condition guide function of the

DX200 system and general operations. Read this manual carefully

and be sure to understand its contents before handling the DX200.

• General items related to safety are listed in Chapter 1: Safety of the

DX200 Instructions. To ensure correct and safe operation, carefully

read the DX200 Instructions before reading this manual.

CAUTION

• Some drawings in this manual are shown with the protective covers

or shields removed for clarity. Be sure all covers and shields are

replaced before operating this product.

• The drawings and photos in this manual are representative

examples and differences may exist between them and the

delivered product.

• YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in

specifications. If such modification is made, the manual number will

also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA

representative to order a new copy. The representatives are listed

on the back cover. Be sure to tell the representative the manual

number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your

product’s warranty.

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Welding Condition Guide

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or

inspection of the DX200.

In this manual,the Notes for Safe Operation are classified as “WARNING,”

“CAUTION,” “MANDATORY,” or ”PROHIBITED.”

Even items described as “CAUTION” may result in a serious accident in

some situations. At any rate, be sure to follow these important items

WARNING

Indicates a potentially hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

CAUTION

Indicates a potentially hazardous

situation which, if not avoided, could

result in minor or moderate injury to

personnelanddamagetoequipment.

It may also be used to alert against

unsafe practices.

MANDATORY

Always be sure to follow explicitly the

items listed under this heading.

PROHIBITED

Must never be performed.

NOTE

To ensure safe and efficient operation at all times, be sure

to follow all instructions, even if not designated as

“CAUTION” and “WARNING.”

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Welding Condition Guide

WARNING

• Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the

DX200 and the programming pendant.

When the servo power is turned OFF, the SERVO ON LED on the

programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit

cannot stop the manipulator during an emergency. The manipulator

should not be used if the emergency stop buttons do not function.

Figure 1: Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all

items which could interfere with the operation of the manipulator.

Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Figure 2: Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the

manipulator:

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the

manipulator’s unexpected motion toward you.

– Ensure that you have a safe place to retreat in case of

emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no person is present in the P-point maximum envelope

of the manipulator and that you are in a safe location before:

– Turning ON the power for the DX200.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the

manipulator during operation. Always press an emergency stop button

immediately if there is a problem.

The emergency stop buttons are located on the right of front door of the

DX200 and the programming pendant.

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Welding Condition Guide

Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.

The manipulator usually consists of the controller, the programming

pendant, and supply cables.

In this manual, the equipment is designated as follows.

CAUTION

• Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair them

immediately, and be sure that all other necessary processing has

been performed.

– Check for problems in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the DX200

cabinet after use.

The programming pendant can be damaged if it is left in the P-point maximum

envelope of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the

DX200 Instructions before operating the manipulator.

Equipment Manual Designation

DX200 Controller DX200

DX200 Programming Pendant Programming Pendant

Cable between the manipulator and DX200 Manipulator Cable

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Welding Condition Guide

Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • "

means that the cursor is moved to the object item and the SELECT key is

pressed, or that the item is directly selected by touching the screen.

Registered Trademark

In this manual, names of companies, corporations, or products are

trademarks, registered trademarks, or bland names for each company or

corporation. The indication of (R) and ™ are omitted.

Equipment Manual Designation

Programming

Pendant Character Keys

Symbol Keys The keys which have characters printed on

them are denoted with [ ].

ex. [ENTER]

Axis Keys

Numeric Keys “Axis Keys” and “Numeric Keys” are generic

names for the keys for axis operation and

number input.

Keys pressed

simultaneously When two keys are to be pressed

simultaneously, the keys are shown with a “+”

sign between them, ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming

pendant is denoted with { }.

ex. {JOB}

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Welding Condition Guide

Table of Contents

1 Outline ............................................................................................................................................1-1

2 Operation Procedures.....................................................................................................................2-1

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1 Outline

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Welding Condition Guide

1 Outline

“Welding condition guide” is a function that calculates the current value

and the voltage by using the welding conditions ,such as the welding

position and the joint, and sets the values into the the displaying arc start

condition file.

CAUTION

• The calculated current value and voltage by the welding condition

guide are the estimated value.

The welding condition guide may not to reach the optimal condition

because of the differences, such as a real material, wire stickout,

gas or welding waveform. Therefore, adjust the conditions while

confirming the weld bead by performing the actual welding.

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2-1

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Welding Condition Guide 2 Operation Procedures

2 Operation Procedures

1. Select {START GUIDE}, and the guide window appears.

2. Enter the each condition in the guide.

• The each tolerance value is shown below the entering section

while focus on the each item.

• If the value of the desired condition or the actual condition are

outside the tolerance values, enter the value as close as possible

to the tolerance values to adjust the command value by reviewing

the calculated command value.

3. Press the [Calc] button to calculate the value.

• When calculated value is abnormal, “---A(NG)” or ”---V (NG)” is

displayed.

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2 Operation Procedures

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Welding Condition Guide

4. When pressing the [Write] button, the confirmation dialog appears.

• When pressing the [Yes] button, the calculated command values for

the current and voltage of the displaying arc start condition file are

written if the entering values do not have any errors.

• In the case of the synergic power supply, the message “With the

synergic power supply, voltage isn’t updated.” is displayed, and the

voltage cannot be changed even though press the [Write] button.

5. Press [Yes], and the calculated current and voltage are written in the

{MAIN COND.} tab.

NOTE

The welding condition guide function can calculate the

values for the current and voltage regardless of the voltage

command method of the welding condition. However, in the

case of the “synergic power supply” (%), only the current

value is set in the arc start condition file, and the voltage

value is not set in the file.

10/11

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