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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
4:L P[2] R[1] cm/min CNT100
5:LASERON
6:L P[3] R[1] cm/min CNT100
7:LASEROFF
8:L P[4] R[1] cm/min CNT100
9:L P[5] R[1] cm/min CNT100
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.
A list of existing programs is shown.
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.
A list of existing programs is shown.
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.
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L @P[3] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100
5:L P[5] R[1] cm/min CNT100
6:L P[6] 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.
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L @P[3] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100
5:L P[5] R[1] cm/min CNT100
6:L P[6] 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
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100
[End]
F5
Move the robot to the position to change.
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100
[End]
Press TOUCHUP of the F5 key.
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In this case, insert one line.
Add a teaching position
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100
[End]
To add between the position (P) 2 and 3.
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:
4:L P[3] R[1] cm/min CNT100
5:L P[4] R[1] cm/min CNT100
[End]
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L @P[5] R[1] cm/min CNT100
4:L P[3] R[1] cm/min CNT100
5:L P[4] 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.
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100
[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)
1:L P[2] R[1] cm/min CNT100
2:L P[3] R[1] cm/min CNT100
3:L P[4] R[1] cm/min CNT100
[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)
3:L P[1] R[1] cm/min CNT100
4:LASER ON
5:L P[2] R[1] cm/min CNT100
6:LASER OFF
7:L P[3] R[1] cm/min CNT100
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
7:L 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
Display the screen of processing condition.
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)
3:L P[1] R[1] cm/min CNT100
4:LASER ON
5:L P[2] R[1] cm/min CNT100
6:LASER OFF
7:L P[3] R[1] cm/min CNT100
8:MCR_END
[End]
With the above setting, the focal point moves to theset point automatically to process whileprogramming.
Select the weaving column.
Weaving
Display the screen of processing condition.
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.
The way of setting is as follows.
1:M102( SUS1.0 )
2:E_NO(1)
3:L P[1] R[1] cm/min CNT100
4:LASER ON
5:L P[1] R[1] cm/min CNT100
6:LASER OFF
7:L P[1] R[1] cm/min CNT100
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.
The way of setting is as follows.
1:M102( SUS1.0 )
2:E_NO(1)
3:L P[1] R[1] cm/min CNT100
4:LASER ON
5:L P[2] R[1] cm/min CNT100
6:LASER OFF
7:L P[3] R[1] cm/min CNT100
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)
3:L P[1] R[1] cm/min CNT100
4:L P[2] R[1] cm/min CNT100
5:LASERON
6:L P[3] R[1] cm/min CNT100
7:E_NO(3)
8:L P[4] R[1] cm/min CNT100
9:L P[5] R[1] cm/min CNT100
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.
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
4:E_NO(2)
5:LASERON
6:L P[4] R[1] cm/min CNT100
7:LASEROFF
8:L P[5] R[1] cm/min CNT100
9:L P[6] R[1] cm/min CNT100
[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
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
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
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:E_NO(2)
4:LASERON
5:L P[3] R[1] cm/min CNT100
5:C P[3]
6: P[4] R[1] cm/min CNT100
7:L P[6] R[1] cm/min CNT100
8:LASEROFF
9:L P[7] R[1] cm/min CNT100
[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
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
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]
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
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:L P[7] 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
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
3:E_NO(2)4:LASERON
5:C P[4]
6: P[5] R[1] cm/min CNT100
7:L P[6] R[1] cm/min CNT100
8:L P[7] 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
1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
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
Specify condition file
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)
3:L P[1] R[1] cm/min CNT100
4:L P[2] R[1] cm/min CNT100
5:LASERON6:L P[3] R[1] cm/min CNT100
7:E_NO(1)
8:L P[4] R[1] cm/min CNT100
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 file
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
3 :L P[2] R[1] cm/min CNT100 Moves to
4 :L P[3] R[1] cm/min CNT100 Rotates to the posture of
5 :L P[4] R[1] cm/min CNT100 Moves to
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
3:L P[2] R[1] cm/min CNT100 Moves to
4:LASEROFF Shut the shutter once
5:L P[3] R[1] cm/min CNT100 Rotates to the posture of
6 LASERON Restarts welding
5:L P[4] R[1] cm/min CNT100 Moves to
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
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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
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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
Examine a productposition
Assembly/tackwelding
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
Fast feed rate setting F1-F4Laser emission enable ON
Processing
To select a program using a teaching hand box
(without using TAS)
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Repeated product processing flow
Repeatedproduct
Examine a productposition
Assembly/tackwelding
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
Fast feed rate setting F1-F4Laser emission enable ON
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