(最新版）FANUC operation ref_eng (NXPowerLite)

7/28/2019 ( FANUC operation ref_eng (NXPowerLite)

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Procedure to finish operation

Move the robot to the work origin point (for next days work to recover the air typeinterfere sensor.)

Close the partition door.

EMISSION ENABLE keyswitchOFF

LASER keyswitch OFF (The LASER READY LED lights off)

Controller POWER switch OFF (The display lights off)

OSCILLATOR MODE keyswitch OFF

Laser oscillator circuit breaker OFF (only for a long period of time to leave idle)Leave it ON usually.

FANUC controller R-30iA circuit breaker OFF

Close the shield gas valve

Air compressor OFF

(Note 1) Do not turn off the oscillator breaker for protecting the cooling water from freezing up in winter time.

(Note 2) Always keep the external chiller primary breaker ON.

AMADA LASER (Ytterbium Fiber Laser) FANUC R30iA

Fiber Laser - FLW

Operation reference


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Table of contents

1 Basic robot operation

2 Machine operation3 Programming example 1 Basic program4 Teaching hand box5 Teaching hand box6 Manual feed7-9 Program operation

10-11 Instruction for interpolation12 Calibration result check13-15 Welding order

16-18 Program change/adding/elimination19-20 Instruction change21 Check before starting a program

22-24 Processing condition file25-29 Welding special feature30-36 Utility37-28 Operative method39 Make a full use of robot40 Program example 2 advanced program

41 Program example 3 track shape

42 Program example 4 advanced track shape43 Program example 5 advanced track shape44 Program example 6 overlaying program45 How to process a corner46 Edit work

47 Multiple programs batch processing48-51 Program shift52 Robot operation with a rotating table53-55 With a rotating table56-60 Attachment: Standard working process chart

This reference material has been made for machine operators.

Please read the operation manual for each unit carefully before operation.


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Basic robot operationBasic robot operation


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Machine operation

New product

Examineproduct position

AssemblyTack welding

Set the product

TeachingProcessing directionProcessing condition

Movement checkforward/backward

Prepare to run

Start

Inspection

Repeat product

PositioningJIG resetting

Assembly/Tack welding

Set the product

TAS operationCorrect the position

Inspection

Select a table

Automated product

Create a new program

Start TAS operation

PositioningJIG resetting

Assembly/Tack welding

Set a product

Select a station

Automatic job retrieving

Set a JOB to use

Prepare to run

Start (processing)

Start (return)

Inspection

(with Shuttle option)


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Program example 1 Basic programProgram example 1 Basic program

This program is an example of straight welding program.Specify material type and thickness, then create program.

Refer to the condition list for each material type and thickness available to specify.

1:M102( SUS1.0)

2:E_NO(1)

3:L P[1] R[1] cm/min CNT100


5:LASERON


7:LASEROFF



10 MCR_END

[End]

Specify the file

Position to start welding

Laser ON/Shutter open

Point to finish welding

Close the shutter

Initial position

Start position

Start welding

Welding operation

Finish welding

Retract position

Pass point

Dry run speed and welding speed are automatically detected.

Dry run speed is selectable from F1-F4.

Welding speed is automatically retrieved from the specified condition file.

Specify a condition file

Specify a processingcondition No.

Initial position

Start position

Welding operation

Weld end position

Finish processing

Retract position

Initial position

Finish macro


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Teaching hand box Teaching hand box

Teaching hand box layout

Notes) The teaching hand box that you use actually might be a little different from the above.

Enables all the necessary operation for robot such asprogramming and test execution.Enables to move the arm and wrist of robot by key operationof the teaching hand box.The Robot stops when you press the EMERGENCY STOPbutton. Moreover, the Deadman switch makes the robot stop

just taking your hand off from the box while using.

Screen

EMERGENCY STOPbutton

Hand boxenable switch

Next page key

Function key

Preview key

Selects the functionkey menu.

Displays the next pagesfunction menu.

Menu key

Selects the screen menu.

FCTN keyDisplays auxiliary function.

List keySelects the program list window.

Edit keySelects the program edit window.

Data keySelects the data screen such asregister.

Cursor keyMoves the cursor.

Step keyHold key

Makes the robot pause.

Reset the alarm.

Reset key

Back space key

Forward key

Jog keys

COORD key

Execute programs.

Moves the robot manually.

Switches the kind of jogs.

Override keysAdjusts the robot speed.

Deletes the letters ornumbers shown beforeand after the cursor.

Item keyMoves the cursor toany item or line.

Inputs numbers andselects menu.

Enter key

Position display keyDisplays the current position.

Input/Output key Tool 1/2 keyDisplays the I/O window. Displays the tool 1 and 2.

Status key Regular position return keyDisplays the status window. Not available now.

Set up keyDisplays the setting window.

Preview thepreviousoperation.

Group key

Select a jog group .


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Teaching hand box Teaching hand box

Filler nozzle up/down movement

The following short cut keys are available at teaching hand box.

Inside mirror for camera in and out

Inside mirror movement

Filler nozzle up and down

Moves the nozzle up or down when using filler.

Enables to see the guide laser properly by movingthe inside mirror when using the guide laser.

Shift Set up

Tool 1

Feeds the filler material

While pressing, feeds filler-materials at slow speedand then (2 seconds later) moves quickly.

Forwards filler-materials to processing point.

Shift Tool 1

Retracts the filler material Retracts filler-materials.

Shift Tool 2

Side nozzle up/down movement

Filler nozzle up and down

Moves the nozzle up or down when using TAS.

Tool 2

Every time pressing once, switches in and out.

Every time pressing once, switches up and down.

Every time pressing once, switches up and down.

While pressing, returns filler-materials at slowspeed and then (2 seconds later) moves quickly.

Dead-man

Dead-man

Dead-man

Return to reference positionReturns the robot to the reference position.

Shift While pressing, the robot moves to the referencepostion.

Dead

-man

Move

menu


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Manual axis feed Manual axis feed

Select a jog group

Select anaxis speed

Deadman switch

The coordinate systems are shown at the upper right onthe screen.

No use of 3LDR 0.

Lets operate the robot to grasp the movement features.

Turn the mode key ON.

Make sure to check before start Mode switch

Notes : Press lightly.When pressing too firmly, the servo is turned off.

G1 G1 S G3

100 50 5 FINE VFINE

Enables to switch among the above five stages of fixed speed.

Enables manual operation for each axis withholding.

Select a group depending on the situation formovement. (G1=robot G1S=carriage G3=rotatingtable)

Adjust the speed for manual feeding.

Switch the speed in combination with a Shift keyand + or - key.5% for 10% or more1% for 10% or less

Switches enable or disable of the teaching handboxs operation.Select ON to operate manually.

ONOFF

To turn on the servo power.

Select a movement coordinate system

Ortho-

gonalTool 3LDR 0

Each

axis

Select the coordinate system depending on thesituation for movement.

Switches the operations of robot, carriage and table.


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Programming operationProgramming operation

Create a newly program

Reference: A key board is shown up when selectingother/key board.

Lets create, retrieve and copy a program.

Specify a inputmethod with cursor.

ENTER

SELECT

Press SELECT.

CREATE is shown on the F2.

Press CREATE of the F2.

Program input display is shown up.A list for selecting input method is shown in theupper part of the F5.

Select using cursor a input method among

Words/Upper Case/Lower Case/Options.

Input a program name using the letters displayed inF1-F5 with F keys, and then press ENTER.

After the above procedure, the new programdisplay is shown up.

ENTER


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ENTER

Press SELECT.

A list of existing programs is shown.

Find a program to use with cursor and pressENTER.

Retrieve an existing program

Copy an existing programPress SELECT.


Find the program to copy with cursor.

Press NEXT to display COPY at the F1, and thenpress COPY.

F1NEXT

COPY display appears.

For the COPY TO, input the name of program usingthe letters displayed on F1-F5, then pressENTER to change the name.

Input method is the same as creating a newprogram.

SELECT

ENTER

SELECT


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Press SELECT.


Find the program to delete with cursor.

Press DELETE on the F3 to delete the program.

F3

DELETE is shown on the F3.

Delete an existing program

SELECT


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Instruction for interpolationInstruction for interpolation

Movement instruction is set with interpolation method (straight-line interpolation and circular interpolation)and movement speed.

In the programming display, select aninterpolation method from the options (2 kinds)displayed on the function keys.

Select the POINT of the F1.

When making a straight-line interpolation at each point, use this order.

ENTER

Straight-line interpolation

Straight lineposition[2]

Straight lineposition [1]

Straight lineposition[3]

POINTCIRC

Select the order to use with cursor and pressENTER.

The POINT means an order of straight-lineinterpolation.

The standard movement menu 1 is displayed.


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Program movement check Program movement check Check the created program in the forward/backward feed of step operation and continuous operation.



3:L @P[3] R[1] cm/min CNT100




[End]

For step operation, with pressing once on the key of forward or backward, performs moving

forward or backward one line.

Current position of robot is marked with @ in front of the POSITION P in the program.

ForwardBackward

For continuous operation, with pressing once the key of forward or backward, performs to the final

line from the current line where the instruction has been made.

The movement becomes SMOOTH without stopping at each teaching point.



3:L @P[3] R[1] cm/min CNT100




[End]

ForwardBackward

Switch between step and continuous operationSTEP button is to switch between step andcontinuous operation.

Step-operation status Continuous-operation status

Check on step operation

Check on continuous operation

Speed 100%

Speed set

Speed 100%

Speed set


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Processing condition No. designation

F3

Select LASER of the F3.

Select E_NO(Constant) with cursor and pressENTER.

LASER MENU 1 appears.

E_NO(Constant) is inserted into the program.

Select (Constant) of E_NO(Constant) with cursor.

Input the processing condition No. directly fromwith keyboard of control board and pressENTER.

Input numbers

The standard values are filed to be selected depending on processing purpose.

Enables to specify as E_NO (processing condition number).

Intended purposeNameNo.

Weaving filler

Weaving

Back up 2

Back up 1

Filler standard

Flat

Standard

High speed

Hard pulse

Standard pulse

Material thickness and leg length setting such as open andfillet

For gap processing (gap=thickness 30%)

For flat finish, standard gap t X 30%

R and flat finish

Generally stable condition for standard gap

High speed welding, lap welding application

Gap and corner processing

In standard setting, overheated part, edge condition andminimum deformation

E9

E6

E5

E4

E7

E3

E10

E8

E2

E1

When needing a strong condition, change the processing condition file M102.(example: M102( t1.0 ) M102( t1.2 ))Or when needing weak condition, change the processing condition file M102 in the same way.

(example: M102( t1.0 ) M102( t0.8 ))

ENTER

ENTER


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Welding start instruction (LASERON)

3

Select LASER of the F3.

Select LASERON with cursor, and press ENTER.

Laser menu 1 appears.

LASERON is inserted into the program.

Welding end instruction LASEROFF

3

Select LASER of F3.

Select LASEROFF with cursor and press ENTER

Laser menu 1 appears.

LASEROFF is inserted into the program.

Instruction for teaching a welding start point to start welding from there.

Instruction for teaching welding end point and not to weld from there.

ENTER

ENTER


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Program change/adding/eliminationProgram change/adding/elimination

How to change/add/eliminate a teaching position in programs are as follows.

Change a teaching positionTo change the position(P) 3





[End]

F5

Move the robot to the position to change.





[End]

Press TOUCHUP of the F5 key.


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In this case, insert one line.

Add a teaching position





[End]

To add between the position (P) 2 and 3.



3:



[End]



3:L @P[5] R[1] cm/min CNT100



[End]

Press EDIT of the F5 key to display the edit menu.

F5

Input the number of lines to input with key board andpress ENTER.

KEY

BOARDINPUT

NUMBERS

Make the edit menu display on the F5 with pressing

NEXT.

NEXT

Select INSERT with cursor, and press ENTER.

F1

Select POINT of F1 key.

ENTER

Select the instruction to use with cursor and pressENTER.

Default Motion1 is displayed.

Press NEXT to display the point menu.

NEXT

A straight line (L) is added on the third line.

ENTER

ENTER


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Delete line(s)? is displayed.





[End]

Press EDCMD of the F5 key to display the editmenu.

F5

Select the line to delete with cursor and pressYES of the F4 key.

Press NEXT to display the edit menu in the F5 key.

NEXT

Select DELETE with cursor and press ENTER.

The first line is deleted so that the positionP [2]moves to the first line.

Delete a teaching positionTo delete the position 1 (P1)




[End]

ENTER


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Instruction changeInstruction changeHow to change an instruction in a program.

Change a processing conditionPut a cursor on the processing condition name of M102in the program.

CHANGE comes up in the F5 key, press CHANGE.

F5

A select menu of parameter type comes up, then selectSTRINGSof the F5 key.

Alpha Input 1 menu comes up on the F5, then selectamong Words, Upper Case, Lower Case and Optionswith cursor and press ENTER.

F5 Inputname

Change a welding condition No.Put a cursor at the number of E_NO on the program.

Input the numbers directly from KEY BOARD of controlboard, and press ENTER.

ENTERInput

number

F5

ENTER


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Put a cursor on the interpolation instructions (Joint, Linear,Circular) in the program.

CHOICE comes up on the F4, then press CHOICE.

F4

The select menu of Motion Modify comes up, then selectwith cursor and press ENTER.

Change an interpolation

Change an interpolation part (without robot teaching)How to change the position the same as thecoordinate specified once with teaching.

Put a cursor at the number of POSITION in the program.

Input the position number directly from key board of handbox and press ENTER.

Inputnumber

How to input a coordinate directly in the coordinatevalue data.

Put a cursor on the position number in the program.

The POSITION comes up at the F5, then press POSITION.

F5

The position information appears, then put a cursor at the axisto move, input the numbers directly with key board andpress ENTER.

Key

boardInput

numbers

ENTER

ENTER

ENTER


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Check before starting a programCheck before starting a programProcedure from the status being ready to process after preparing the program till thestart of processing.

Teaching hand box enable switch

ONOFF

Partition door

Close

Robot mode

AUTO

Safety device

RESET

Alarm reset

RESET

Open a program

OPEN

Transfer to the schedule

TRANSFER

Feed rate settingSelect from F1 F4

Emission enable keyswitch

ON

Start running

START

Close the door


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Processing condition fileProcessing condition fileFor processing conditions, the standard values for each typical material type and thickness are filled.Basically an instruction is made at the top of program, but it is also available to insert into a program duringthe operation when needing to change the processing condition.

Enables to specify at M102 (processing condition name) in the program.

Check on a processing condition list

When selecting CONDITION., enables to confirm thecondition being processed now or the registeredcondition list.

By pressing LIST, enables to check a list of registeredconditions.

Open a processing conditionUse for checking and selecting the number of conditionbeing programmed, and changing the condition beingused.

To check the processing condition in the file, or the name

of processing condition to use for M102.

Select a condition file to use.

After selecting the condition file, press CALL.

The details of processing condition come up.

F3 Select LASER of the F3, then laser 1 comes up.

Select an order to use with cursor and press ENTER.

After inserting into the program, input the name of condition to process with key board.

ENTER


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How to modify a processing condition

Touch on the screen on the part of processingcondition to modify.

A pull-down menu comes up.Then, select the number displayed.

Setting condition with a pull-down menu (6 items)Welding gas typeFiller controlSlope upSlope downFineJoint shape

The others are to be input directly.

Two ways to modify a processing condition.The first one is to input directly.The second one is to select from the pull-down menu.

Add comments with the modified conditions (arbitrarily).

To save the comments with the modified condition, pressCOMMENT to display the comment window and inputwith key board.

The part to modify is high-lighted.Input the number to modify and press ENTER.

The way to input directly

The way to input from pull-downTouch on the screen on the part of processingcondition to modify.

Key board

Key board

ENTER

ENTER


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As for filler conditions, with changing the speed andcontrol system, enables to create optimum conditions forwelding with overlaying and gaps.The first one is to input directly.The second one is to select from pull down menu.

Direct-input method Filler speed.

Touch on the screen for the processing condition tomodify.

The part to change is highlighted.Then, input the number to change with key board andinput ENTER.

Pull down input method Filler control

Touch on the screen for a processing condition tomodify.

Slope up/Slope down/FineEnables to reduce defects and to create a stable weldingbead by adjusting emission and frequency in response tothe speed for parts where the welding speed changesrapidly such as at the points to start/end processing and

the edge.To change the condition, select from the pull down menu.

Pull down input method Touch on the screen for a processing condition tochange.

For the details of selected conditions, enable to see withpressing the button of POWER CTRL.

Enables to see the conditions selected on the abovescreen in the power control display.As for Fine, enables switch to a certain condition in thesection to lower the speed by a constant rate. As forSlope up/down, enable to switch to a certain condition ina certain section from starting the processing or byending the processing.

Key board

How to modify a filler condition

A pull down menu is displayed.Then, select the number displayed on the screen.

Pull down menu is displayed.Then, select a number on the screen.

The part to change is highlighted.Then, input the number to change from key board, andpress ENTER.

ENTERKey board

ENTER


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Special features when weldingSpecial features when welding

The explanations for the special features of FLM are as follows.

No setting on the program of slope up.Create a program as usual.To use, set a processing condition in the slope-upcolumn of processing condition.The setting method is as follows.

Select the slope up column to display the pull downlist.

instruction

The photo on the left is the detailed condition of power control.

Display the processing condition screen.

To display the detailed processing conditions, press

POWER CTRL.

1:M102( SUS1.0 )

2:E_NO(1)


4:LASER ON


6:LASER OFF


8:MCR_END

[End]

Display the processing condition screen in the 301-305.

The slope up is set with the conditions below.Initial Power (Power to start welding)Stop Time (Duration to stop at the start point of welding)

Distance (Distance from the start point of weldingto the point to reach the power of processingcondition)The way of thinking is as follows.

Time

Power

Initial Power

Stop Time

Distance

The slope up is the feature that is effective to reduce penetration when starting welding by lifting up thelaser beam like a slope.


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Select the slope down column to display the pulldown list.

Fine control

The photo on the left is the detailed conditions of power control.

Display the screen of processing condition.

To display the detailed processing condition, selectthe POWER CTRL.

Display the processing condition screen in theconditions of 901-910.

The fine control is set with the conditions below.Power (Emission when the speed of robotmovement is slowed)Freq (Frequency when the robot movement isslowed down)Duty (Duty when the robot movement is sloweddown)Parameter (A threshold is a certain % of robot-

slowdown against welding speed, to execute a finecontrol)The way of thinking is as follows.

The fine control is a feature to reduce welding defects by controlling the emission when the robot-movement speed slows down such as the corner part.

1:M102( SPC1.0 )

2:L P[1] R[1] cm/min CNT1003:E_NO( )

4:LASERON

5:C P[3]

6: P[4] R[1] cm/min CNT100


8:LASEROFF

9:MCR_END

[End]

No setting on the program.

Create a program as usual.

The setting method is as follows.

Time

Emission

Power setfor fine control

Range less than speed % set

Power set for processing condition


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Select the focal point column.

Focal point


Input directly within 0-50 mm.

The focal point feature is to make a bead meet welding purpose by automatically moving up/down thecondensed lens where a laser beam passes.

No setting of the program.Create a program as usual.

The way of setting is as follows.

1:M102( SUS1.0 )

2:E_NO(1)


4:LASER ON


6:LASER OFF


8:MCR_END

[End]

With the above setting, the focal point moves to theset point automatically to process whileprogramming.

Select the weaving column.

Weaving


Input directly within 1-3000 rpm.

The weaving feature is to make a bead wider than usual by rotating the a lens on the way a laser beampasses.

No setting of the programming.

Create a program as usual.


1:M102( SUS1.0 )

2:E_NO(1)


4:LASER ON


6:LASER OFF


8:MCR_END

[End]

The weaving control is made between LASER ONand OFF of program.


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Select the filler control column to display the pulldown menu, and select 1 or 2. (1 is recommended.)

Filler control

Display the processing condition screen.

Input directly within 1-300 cm/min.

The filler control is a feature to use for overlaying welding.

No setting of the program.Create a program as usual.Only add the red part of the left program, whentaking the filler nozzle in and out.


1:M102( SUS1.0 )

2:E_NO(1)


4:LASER ON


6:LASER OFF


8:MCR_END

[End]

Select the filler speed column.

Now a filler processing is prepared.

1 Filler control complying with the speed set forthe processing condition.2 Filler control complying with the speed set forthe processing condition and following the robotspeed.

The processing condition of No28 is for filler cutting.(If no number is input, the robot stops with analarm.)


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Utility Utility

The explanation for utility feature is as follows.

When pressing the UTILITY on the screen, the menu like

the left photo appears. Press the menu to use forprocessing.

Utility menu list (7 kinds)Reference positionCarriage location exchangeFiller setupShield gas adjustmentTable setupCentering adjustmentTAS calibration

Reference position

When selecting the Reference Position in the menuscreen, the screen like the left photo comes up.

The reference position stands for returning the robot to the regular position when the operation is finished.Furthermore, enables an arbitrary instruction to retract for each axis.

Reference point is to automatically return to the robotsorigin position set in the specification with a button.

Reference position

Ref.Point

Select Ref.Point in Reference Position, and pressSTART on the control panel.

2nd

Ref. Point is to automatically return to the specifiedcoordinate with a button of 2 nd Ref.Point.

Reference position

2nd Ref.Point

Select 2 nd Ref.Point in Reference Position and pressSTART on the control panel.


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Carriage Location Exchange

The feature is to move the carriage to the positionspecified in specification with a button.

The Truck Location Exchange is to move the location of robots carriage with a button. Also, enables tomove to the arbitrary location.

POS. A/B

With the robot position moved to the 2 nd Ref. Point,select POS.A/B for specifying the carriage position andpress START on the control panel.

The movement of Avoid is to retract the worldcoordinates of X,Y,Z and tool coordinate of Z to thespecified value.

Retracting movement

World X

Select a button of axis to retract, then input the AvoidDist. with key board and press START button on thecontrol panel.

Key

board

Inputnumber

POS.A / POS.B

With the robot position moved to the 2 nd Ref. Point,select Arbitrary Locale of carriage then input the

desired position with key board and press START onthe control panel.

Arbitrary Location

ArbitraryLocale

key

board

Inputnumber

Arbitrary Locale is to move automatically to the specifiedposition with a button.


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Filler setupFiller setup is to use when mounting a filler on the robot and when to automatically feed the desiredamount of filler.

Filler Speed

Input the desired value in the Filler Speed with keyboard and press START on the control panel.

Filler rate setting

To set the desired speed of filler feeding.

Key

board

Inputnumber

Shield gas check To check the gas flow rate and to use as a gas flow when exchanging the gas cylinder.

Select Argon or Nitrogen from pull down menu.

Gas type

Pull down menu Argon or Nitrogen

Input directly with key board.

Main/Side gas flow rate and time

Key

board

Inputnumber

After setting all the above, press START on the controlpanel.


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Table setupTable setup is to move the gradient and rotation of table to a desired angle (0, 90, 180, 270 deg.) or anarbitrary angle.

-90

Select a button of Gradient of table angle with fixedamounts and press START on the control panel.

Gradient

To tilt the table angle to the fixed angle.

Select the Arbitrary Angle, and press START on thecontrol panel.

Gradient of arbitrary angle

To tilt the table angle by the desired amount.

ArbitraryAngle

Key

board

Inputnumber

ArbitraryAngle

Key

board

Inputnumber

Select Arbitrary angle, then input the desired valuewith key board and press START on the control panel.

To rotate the table to an angle of desired value.

Rotation-Desired angle

-90

Select the Rotation of table angle with fixed value andpress START on the control panel.

Rotation

To rotate the table to an angle with a fixed value.


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To adjust the remaining two points in the same way asthe previous page.

FIX

The following methods are for the case with gapsoccurred. (3 types)

Touch on the screen directly, and move to the correctwelding point.

Touch the arrows of four directions on the screen andmoves to the correct welding point.

Using a mouse, move to the correct point

Match the cross cursor position and welding point.

After finishing adjustment, press FIX.

THE CALIBRATION PROCESS IS COMPLETED. DO YOUWANT TO CHECK THE CALIBRATION RESULT?

Press NO to finish adjustments.

YES NO

Press YES to check the calibration result.The way to check is the same as adjustment.

DO YOU FINISH THE CALIBRATION?

OK

Press OK to finish the calibration.

Now TAS calibration is finished.

The followings are to select whether finishing TAScalibration and whether confirming the movement.


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To execute welding using TAS from the schedule of usual operational way.For the advance preparation, a program to use in the robot side or in NC must exist.

When pressing LIST on the screen, the program namesregistered in the robot like the left photo appear.

List

Select Program to use.

Select the SCHEDULE REGISTER, and transfer theprogram to the schedule screen.

Press TRANSFER button.

SCHEDULEREGISTER

Schedule

When pressing SCHEDULE on the screen, the programnames, which have been registered now in schedule,appear like the left photo.

Select PROGRAM to use.

When select Manual of Automatic, TAS is enabled.The followings are the explanation of manual operation.

Operation method Operation method

When selecting TAS column, the pull down menu appearsto fix a TAS usage.

TRANS-FER

Set the screen after pressing TRANSFER to switch to theTAS, with SETTING button.

Turn ON the EMISSION ENABLE keyswitch.

Press START button on the control panel.

TAS screen appears like the left photo.

Start a TAS operation


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Fine adjustment for processing point

After correcting the final teaching point and pressingNEXT, program is transferred automatically like the leftphoto.

After the transfer is finished, starts welding.

The first point of teaching points is displayed on the screen.

The followings are for the case with misalignment. (Threetypes)

Touch on the screen directly, moves to the correct weldingpoint.

Touch the arrows of four directions on the screen, andmove to the correct welding point.

Using a mouse, and move to the correct welding point.

When reaching the correct position, press NEXT.

Check the alignment of the cross cursor position andwelding position on the screen.

The followings are to modify the welding pointsinstructed in programs in the same way as the above.


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Make full use of robot Make full use of robot


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Specify the condition fileof SPC1.0mm

1:M102( SPC1.0)

2:E_NO(2)



5:LASERON


7:E_NO(3)



10:L P[6] 100cm/min CNT100

11:LASEROFF

12:M102(SPC2.0)

13:E_NO(3)

14:L P[7] R[1] cm/min CNT100

15:LASERON

16:L P[8] R[1] cm/min CNT100

17:LASEROFF

18:L P[9] R[1] cm/min CNT100

19 L P[5] 500cm/min CNT100

20:MCR_END

[End]

Program example 2 Advanced programProgram example 2 Advanced program

This program is the applied example of welding program.Create a program after specifying the material type/thickness.Refer to the condition list for each material type/thickness which are available to specify.

LASER ON/Pulse

LASER ON

Welding pass point

Shutter closed

Speed change for

Finish welding

Retract position

Setup position

This is an example. Use the application according to the purpose.

Specify condition file

Specify condition NO

Initial position

Start position

Start processing

Welding operation

Condition change

Welding operation

Welding operation

Welding operation(SP)

Finish processing

Condition file change

Start processing

Welding operation

Welding start position

Change to continuous CWwelding

Change the speed forcibly

Shutter closed

Enhance the conditionchanging the thickness

CW welding

time saving


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The followings are the applied program and others for your reference.




4:E_NO(2)

5:LASERON


7:LASEROFF



[End]

Straight line

Circular arc

Straight line and circular arc

Startprocessing

Finish processing

Program example 3 Track shapeProgram example 3 Track shape

1

Startprocessing

Finishprocessing

2

34

5

6



3:E_NO(2)

4:LASERON

5:C P[3]

6: P[4] R[1] cm/min CNT100

7:LASEROFF

8:L P[5 R[1] cm/min CNT1009:L P[6] R[1] cm/min CNT100

[End]

1

2

3

4

5

6



3:E_NO(2)

4:LASERON


5:C P[3]

6: P[4] R[1] cm/min CNT100


8:LASEROFF


[End]

1

2

3

4

5

6

7


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Straight line combined with arc

Circle

Consecutive arcs

Program example 4 Advanced track shapeProgram example 4 Advanced track shape



3:E_NO(2)

4:LASERON

5:C P[3]

6: P[4] R[1] cm/min CNT100

7:C P[5]

8: P[6] R[1] cm/min CNT100

9:LASEROFF

10:L P[7] R[1] cm/min CNT100

11:L P[8] R[1] cm/min CNT100

[End]



3:E_NO(2)

4:LASERON

5:C P[3]

6: P[4] R[1] cm/min CNT100

7:C P[5]

8: P[6] R[1] cm/min CNT100


10:LASEROFF

11:L P[8] R[1] cm/min CNT100

12:L P[9] R[1] cm/min CNT100

[End]

1

2

3

4

5

6

7

8

9




3:E_NO(2)4:LASERON

5:C P[4]

6: P[5] R[1] cm/min CNT100



9:C P[8]

10: P[9] R[1] cm/min CNT100

11:LASEROFF

12:L P[10] R[1] cm/min CNT100

13:L P[11] R[1] cm/min CNT100[End]

1

2

3

45 6

10

8

9

7

11

1

2

4

5

6

7

8

3


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Program example 5 Track shape applicationProgram example 5 Track shape application

The followings are the applied program and others.

Valuable curvature arc

1

2

4

56

78

3




4:E_NO(2)

5:LASERON

6:C P[3]

7: P[4] R[1] cm/min CNT100

8:C P[3]

9: P[4] R[1] cm/min CNT100

10:LASEROFF

11:L P[8] R[1] cm/min CNT100

[End]


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Program example 6 Overlaying programProgram example 6 Overlaying program

This program is an example of straight line overlaying welding program.

Set the optimum filler wire and specify the filler condition number.

Refer to the condition list for optimum filler wire type/diameter and others.

Initial position

Start position

Start processing


Macro Filler moving down

Welding start position

LASER/FILLER ON

(Just before)Welding end point

Condition change(without wire)

Wire moving up point(pull out)

LASER OFF

Welding speed and filler speed are automatically retrieved from the specified condition file.

Initial position

Start position

Start processing

Welding movementMove the wire up promptly

(pull out)

Extract position

Finish point2mm before

Dry run and welding speed aredetected automatically.

Dry run can be selected amongF1-F4.

1:M102( SUS6.0)

2:E_NO(6)



5:LASERON6:L P[3] R[1] cm/min CNT100

7:E_NO(1)


9:LASEROFF

10:L P[5] R[1] cm/min CNT100

11:L P[6] R[1] cm/min CNT100

12:MCR_END

[End]


Specify condition No.

Wire stop condition

Welding end position

Finish processing

Extract position

Initial position

Close to finishingwelding


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Corner processing method Corner processing method

An example for smooth movement on the corner parts and forpreventing to be burned.

Welding line

Processing head

1 :L P[1] R[1] cm/min CNT100 Moves to

2:LASERON Starts welding


4 :L P[3] R[1] cm/min CNT100 Rotates to the posture of


6 LASEROFF Finishes welding[End]

When programming as A, the robot may stop at the part with mark being disabled to move, and collides

with a work due to the tip of processing head moved a little.

Moreover, as laser continues hitting on the same part, there may be burning and burn-down .

Therefore, like B,

on a corner, shut the shutter once ,Rotate the robot to the forward direction, then process, to bring the stable movement.

1:L P[1] R[1] cm/min CNT100 Moves to

2:LASERON Starts welding


4:LASEROFF Shut the shutter once

5:L P[3] R[1] cm/min CNT100 Rotates to the posture of

6 LASERON Restarts welding


6 LASEROFF Finishes welding[End]

B

Cut back on corner


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Batch processing of multiple programsBatch processing of multiple programs

To execute multiple programs with one start, see the following methods.

To insert into a program (between the POSITION[2]and[3])Insert a line between the POSITION [2]and [3]beforehand.

Press INSTRUCTION button of F1.

F1

*Call JOB0001, here.

Using cursor, select 6 CALL and press ENTER.

ENTER

Displays the program list saved inside the robot likethe left photo.

Using cursor, select a program to use and pressENTER.

ENTER

Adds the CALL INSTRUCTION.

Now, the program goes to JOB0001 fromPOSITION[2]. After JOB0001 is finished, itbecomes the program to move to the POSITION[3].


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Program shift Program shift

To move a certain part of program done teaching once parallel to a different place.

Z axis

X axis

Y axisZ axis

X axis

Y axis

Product 1

Product 2

Product 3

Overall shift Display the source program to copy on the teachinghand box.

Press MENU to display the menu list of the leftphoto.

ENTER

MENU

Select UTILITY of MENU1, then press ENTER.

1. Specify the name of SOURCE PROGRAM to convert.

2. For RANGE, select ALL or PARTLY of program.

3.The START LINE is not selectable for entire program.

4.The FINISH LINE is not selectable for entire program.

5.For the CONVERT-TO PROGRAM, specify the locationto insert the converted program.To specify a new program name. create a new program.To specify an existing program, insert an existingprogram.

6.For the LINE to INSERT, to insert an existing program,specify a line to insert.To specify a new program, not available to specify.


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To copy the entire program, input TEST0001A atthe CONVERT-TO PROGRAM.

For the CONVERT-TO POSITION, move the robot tothe desired point, then press SHIFT+F5 to savethe current position of robot.

The way to change a program name is the same asthe way to input a new program name.

Move to the next page with SHIFT+

SHIFT

To set the movement amount.

2.To specify the SOURCE POSITION, specify theposition of representative point of the source.

3.To specify the CONVERT-TO POSITION, specify theposition of representative point of the convert-to.

For easy setting, specify the program positioninformation for the SOURCE POSITION, and specifythe position to move directly for the CONVERT-TOPOSITION.

Call the POSITION[ ] to the SOURCE POSITION, andspecify the standard position in [ ].

F4Key

board

Shift F5

Another way is to input the movement amountdirectly with key board.

When pressing the CONVERT button of F2, asksDO YOU CONVERT?. Select YES to finishconverting.

Keyboard

F2 F5

ENTER

ENTER


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ENTER

ENTER

ENTER

Partly shift The same operation as the overall shift up to theprogram shift display.

Move a cursor to the part of RANGE and pressENTER. Then PARTLY at F4 and ALL at F5

come up. Select PARTLY at F4.

To set the START/END LINE, move the cursor andinput the number with key board.

F4

Keyboard

The way to change a program name is the same asthe way to input a new program name.To convert an existing or the same programs, inputthose program names.

To add and copy to the SOURCE PROGRAM.

For the LINE TO INSERT, input the number of line toinsert in the CONVERT-TO, then ENTER.

Keyboard

Move to the next page with SHIFT+ .

Shift

Call the P[ ] with F4 to the SOURCE POSITION, andspecify the standard position in [ ].

F4Key

board

ENTER


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ENTER

For the CONVERT-TO POSITION, move the robot tothe desired point and press SHIFT+ RECORD of F5 to save the current position of robot.

SHIFT F5

Another way is to input the movement amountdirectly with key board + ENTER.

When pressing EXECUTE of F2, asks,Executetransform? . Select YES of F4 to finish converting.

Keyboard

F2 F4


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Robot operation with rotating table Robot operation with rotating table Robot operation with rotating table Robot operation with rotating table Robot operation with rotating table Robot operation with rotating table Robot operation with rotating table Robot operation with rotating table


56/63

With rotating tableWith rotating table

Here the composition of a robot with rotating table and the operation method are described.

Control group

Control groups are set for each group unit.

In the above composition are set groups of G1 and G3.

Robot group

:G1

Station group

:G3

Specify the positional relation such as center,distance, height, etc. between G1 and G3(calibration), to make a coordinated movement(synchro).

Rotating the table, enable to trace the track of straight line and circular arc, etc.

G3

G1

Concerted movement

An axis of themanipulator

Robot

An Axis, such as a travelaxis to move all of theManipulator

BaseAn axis other than robotand base, for JIG to tiltand rotate.

Station


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Select a group

How to operate

Manual operation

G1 G1 S G3

Press the button of GROUP to switch the group touse.

To select the active axis for robot, travelingcarriage and rotating table.

In the same way as usual robot manual operation,grip the Deadman SW and press X +X -Y+Y to operate.

Every time to press the GROUP button, the partshown in the right photo is switched. (Upper rightin the display of teaching hand box)

For manual operation on the directions for rotation

and tilt.

Grouping is done as follows.

G1 Robot (6 axes)

G1 S Traveling carriage (1 axis)

G3 Rotating table (2 axes)

Axes are categorized as follows.

X axis(J1) Tilt axis

Y axis(J2) Rotation axis


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To select an instruction is the same as normal interpolation method.

In the programming screen, select theinterpolation methods set to the function keys.(2 kinds)

F1

Select POINT of F1.

ENTER

Interpolation method

POINTCIRC

Select instructions to use with cursor and pressENTER. (Select the parts described withCOORDINATED in the instruction text.)

The Point stands for the order of straight lineinterpolation.

Displays the Default Motion 1.

Straight line interpolation

F2

Select CIRC of F2.

ENTER

Circular arc interpolation

Displays CIRC 1

Select instructions to use with cursor and pressENTER. (Select the parts described withCOORDINATED in the instruction text.)


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Attachment : Standard working process chart Attachment : Standard working process chart


60/63

Check items before starting operation

Cleaning

Safety glass

Condensedlens

Cleaning

Centeringadj.

Camera adj.

TAScalibration

Re-adjustment

Items

Finish

OK

NG

OK

NG

OK

NG

OK

NG

OK

NG

Centeringadjustment

OK

NG


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New product processing flow

New product

Examine a productposition

Assembly/tackwelding

Set a product

Teaching

Check movementforward/backward

Prepare to run

Prepare a program

Prepare to start

Create a newprogram Operation Ref P7

Operation Ref P5,6,10,11

Welding condition setting (M102) Operation Ref P13Processing condition number setting (E No) Operation Ref P14Start welding (LASER ON) Operation Ref P15Finish Welding (LASER OFF) Operation Ref P15

Add a line Operation Ref P17Delete a line Operation Ref P18Order change Operation Ref P19,20

Operation Ref P12

Teaching hand box SW OFFPartition door CLOSERobot mode AUTOSafety fence RESETAlarm RESET

List Processing program CALLList TRANSFER SCHEDULESSchedule Program TRANSFER

Fast feed rate setting F1-F4Laser emission enable ON

Processing

To create a program using a teaching hand box


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Repeated product processing flow

Repeatedproduct



Set a product

Check movementforward/backward

Prepare to run

Prepare to start

Call a program Operation Ref P8

Operation Ref P12

Teaching hand box OFF

Partition door CLOSERobot mode AUTOSafety fence RESETAlarm RESET


Processing

To select a program using a teaching hand box

(without using TAS)


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Repeated product processing flow

Repeatedproduct



Set a product

Program transfer

Prepare to run

Prepare to start

Call a program

Operation Ref P8

Schedule PROGRAM TRANSFER

Teaching hand box SW OFFPartition door CLOSERobot mode AUTOSafety fence RESETAlarm RESET


Processing

To select a program using a teaching hand box

List Processing program CALL

Select TAS usage Schedule NO or MANUAL

Schedule register List SCHEDULE REGISTRATION

Date post:	03-Apr-2018
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