YASKAWA ArcWorld 2000 Welding System System Manual

ArcWorld® 2000
SYSTEM MANUAL
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and
retain for future reference.
YASKAWA INSTRUCTIONS
MOTOMAN MANIPULATOR MANUAL
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL
DX200 MAINTENANCE MANUAL
DX200 FUNCTIONAL SAFETY BOARD OPERATION MANUAL
The DX200 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
Revision:
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Copyright © 2017, 2016, 2015, YASKAWA America, Inc.
Terms of Use and Copyright Notice
All rights reserved. This manual is freely available as a service to
YASKAWA customers to assist in the operation of Motoman robots,
related equipment and software This manual is copyrighted property of
YASKAWA and may not be sold or redistributed in any way. You are
welcome to copy this document to your computer or mobile device for
easy access but you may not copy the PDF files to another website, blog,
cloud storage site or any other means of storing or distributing online
content.
Printed in the United States of America
First Printing, 2015
YASKAWA America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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MANDATORY
•
This system manual provides an overview of the YASKAWA
Motoman ArcWorld® 2000 system. It gives general information
about the system, a description of its major components, and the
procedures for installation, system operation, and preventive and
repair maintenance. Be sure to read and understand this manual
thoroughly before installing and operating the ArcWorld® 2000
system.
•
General items related to safety are listed in Section 2 of the DX200
Controller Manual. To ensure correct and safe operation, carefully
read the DX200 Controller Manual before reading this manual.
CAUTION
•
Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure that all covers and shields
are replaced before operating this product.
•
The drawings and photos in this manual are representative
examples, and differences may exist between them and the
delivered product.
•
YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications.
•
If such a modification is made, the manual number will also be
revised.
•
If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
•
YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.
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We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.
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Notes for Safe Operation
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YASKAWA Motoman ArcWorld® 2000 system.
In this manual, the Notes for Safe Operation are classified as
“DANGER,” “WARNING,” “CAUTION,” “MANDATORY,” or
“PROHIBITED.”
DANGER
Indicates an imminent hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
WARNING
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury to
personnel.
CAUTION
Indicates a potentially hazardous
situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to equipment.
It may also be used to alert against
unsafe practices.
Always be sure to follow explicitly the
MANDATORY items listed under this heading.
PROHIBITED
Must never be performed
Even items described as “CAUTION” may result in a serious accident in
some situations. At any rate, be sure to follow these important items.
NOTE
To ensure safe and efficient operation at all times, be sure to
follow all instructions, even if not designated as “DANGER”,
“WARNING” and “CAUTION”.
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Notes for Safe Operation
WARNING
•
Before operating the manipulator, check that servo power is turned
OFF by pressing the EMERGENCY STOP buttons on the operator
station or Programming Pendant (refer to Figure 1). When servo
power is turned OFF, the SERVO ON LED on the Programming
Pendant is turned OFF.
Injury or damage to machinery may result if the Emergency Stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the EMERGENCY STOP buttons do not function.
Figure 1: EMERGENCY STOP Button
•
Release the EMERGENCY STOP button (refer to Figure 2). Once
this button is released, clear the cell of all items which could
interfere with the operation of the manipulator. Then turn servo
power ON.
Injury may result from unintentional or unexpected manipulator motion.
Figure 2 : Release of EMERGENCY STOP Button
TURN
•
Observe the following precautions when performing teaching
operations within the maximum P-point envelope of the
manipulator:
– Use a lockout device for safeguarding when going inside.
Also, display the sign that the operation is being performed inside
the safeguarding and make sure no one closes the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that there is a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
•
Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning on the power for the DX200 controller.
– Moving the manipulator with the Programming Pendant.
– Running the system in check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an EMERGENCY STOP
button immediately if there is a problem. The EMERGENCY STOP
buttons are located on the operator station and on the Programming
Pendant.
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Notes for Safe Operation
CAUTION
•
Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
•
Always return the Programming Pendant to the hook on the cabinet
of the DX200 controller after use.
The Programming Pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
•
Read and understand the Explanation of Warning Labels in the
DX200 Controller Manual before operating the ArcWorld® 2000
system.
CAUTION
This Robot Cell has Collaborative Motion functionality:
Collaboration is a special type of operation between a person and robot
sharing a common workspace. The following are the guidelines for
collaborative operation.
1. Used for pre-determined tasks.
2. Possible when all protective measures are active.
3. For robots with features specifically designed for collaborative
operation.
The integrator shall include information for the use of safeguards and
mode selections required for collaborative operation.
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Definition of Terms Used In this Manual
Definition of Terms Used In this Manual
The MOTOMAN manipulator is a YASKAWA industrial robot product.
The manipulator usually consists of the controller, the Programming
Pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX200 controller
DX200
DX200 Programming Pendant
Programming Pendant
Cable between the manipulator and the
controller
Manipulator cable
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character
Keys
The keys which have characters printed
on them are denoted with [ ].
ex. [ENTER]
Symbol
Keys
The keys which have a symbol printed
on them are not denoted with [ ] but
depicted with a small picture.
ex. page key
GO
BACK
PAGE
The cursor key is an exception, and a
picture is not shown.
Axis Keys
Numeric
Keys
“Axis Keys” and “Numeric Keys” are
generic names for the keys for axis
operation and number input.
Keys
pressed
simultaneously
When two keys are to be pressed
simultaneously, the keys are shown with
a “+” sign between them, ex.
[SHIFT]+[COORD]
Displays
The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression “Select • • •”
means that the cursor is moved to the object item and the SELECT key is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
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Explanation of Warning Labels
Explanation of Warning Labels
The following warning labels are attached to the manipulator (refer to
Figure 3.)
Always follow the warnings on the labels.
Also, an identification label with important information is placed on the
body of the manipulator. Prior to operating the manipulator, confirm the
contents.
Figure 3: Warning Labels Location
WARNING Label A
WARNING Label B
Nameplate
Nameplate:
WARNING Label A:
WARNING
MODEL
MOTOMANTYPE
kg
ORDER NO.
Moving parts
may cause
injury
MASS
PAYLOAD
kg
DATE
SERIAL NO.
YASKAWA ELECTRIC CORPORATION
2-1 Kurosakishiroishi, Yahatanishi-ku,
Kitakyushu 806-0004 Japan
MADE IN JAPAN
NJ3878
WARNING Label B:
WARNING
Do not enter
robot
work area.
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Safeguarding Tips
Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).
Mechanical Safety Devices
The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.
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Programming, Operation, and Maintenance Safety
Programming, Operation, and Maintenance Safety
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from YASKAWA will void the warranty.
• Some operations require standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
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Maintenance Safety
Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by
YASKAWA-trained, qualified personnel.
Summary of Warning Information
This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to YASKAWA Customer Support.
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Table of Contents
Table of Contents
1 Introduction ..................................................................................................................................... 1-1
1.1 About This Document ........................................................................................................ 1-1
1.2 System Overview............................................................................................................... 1-2
1.2.1 System Layout...................................................................................................... 1-3
1.2.2 Major Components ............................................................................................... 1-3
1.2.3 Optional Equipment .............................................................................................. 1-4
1.2.4 Theory of Operation and Safe Guarding .............................................................. 1-4
1.2.4.1 System Teaching: ................................................................................... 1-4
1.2.4.2 System Operation: .................................................................................. 1-5
1.2.4.3 Key Safety Devices: ................................................................................ 1-6
1.2.4.4 Safety Logic Implementation (all cells):................................................... 1-7
1.3 Reference Documentation ............................................................................................... 1-12
1.4 Reference Table .............................................................................................................. 1-13
1.5 Customer Support Information......................................................................................... 1-15
2 Equipment Description.................................................................................................................... 2-1
2.1 Robot Description .............................................................................................................. 2-1
2.2 DX200 Controller ............................................................................................................... 2-2
2.2.1 Programming Pendant.......................................................................................... 2-3
2.3 Operator Station ................................................................................................................ 2-5
2.3.1 Operator Station — CYCLE START/CYCLE LATCHED ...................................... 2-5
2.3.2 Operator Station — EMERGENCY STOP (E-STOP)........................................... 2-5
2.3.3 Operator Station — ROBOT HOLD...................................................................... 2-5
2.3.4 Operator Station — ALARM/RESET .................................................................... 2-6
2.3.5 Operator Station — START.................................................................................. 2-6
2.3.6 Operator Station — SERVO ON........................................................................... 2-6
2.3.7 Operator Station — JOYSTICK CONTROL ......................................................... 2-6
2.3.8 Operator Station — LIGHT CURTAIN RESET ..................................................... 2-6
2.4 MHT-Series Positioner....................................................................................................... 2-7
2.5 Welding Equipment............................................................................................................ 2-8
2.5.1 Welding Power Sources ....................................................................................... 2-8
2.5.2 Wire Feeder.......................................................................................................... 2-8
2.5.3 GMAW Torch........................................................................................................ 2-8
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2.6 Safety Features.................................................................................................................. 2-9
2.6.1 Welding Arc Protection ......................................................................................... 2-9
2.6.2 Safety Fencing (Standard).................................................................................... 2-9
2.6.3 Safety Light Curtains ............................................................................................ 2-9
2.6.4 Emergency Stop (E-STOP) ................................................................................ 2-10
2.6.5 Programming Pendant’s ENABLE Switch .......................................................... 2-10
2.6.6 Emergency Braking System ............................................................................... 2-10
2.6.7 Interlocked Work-cell Access Door..................................................................... 2-10
3 Installation ....................................................................................................................................... 3-1
3.1 Required Materials............................................................................................................. 3-1
3.1.1 Customer-supplied Items...................................................................................... 3-1
3.1.2 Recommended List of Hand Tools and Equipment .............................................. 3-2
3.2 Site Preparation ................................................................................................................. 3-3
3.3 Removal of System Components from Shipping Skids ..................................................... 3-4
3.4 Installation — Robot(s) ...................................................................................................... 3-5
3.5 Installation — MHT-Series Positioner Modules ................................................................. 3-5
3.6 Installation — Controller Base ........................................................................................... 3-6
3.7 Installation — Safety Fence Assembly .............................................................................. 3-7
3.7.1 Door Latch Alignment ........................................................................................... 3-8
3.8 Installation — Arc Curtains .............................................................................................. 3-10
3.9 Installation — Safety Light Curtain System...................................................................... 3-11
3.10 Installation — Operator Stations .................................................................................... 3-12
3.11 Cable Connections......................................................................................................... 3-13
3.11.1 Connection to Earth Ground ............................................................................. 3-13
3.11.2 Connecting the Robot Cables........................................................................... 3-14
3.11.3 Connection to Local Electrical Service ............................................................. 3-17
3.11.3.1 DX200 Controller ................................................................................. 3-17
3.11.3.2 Welding Power Sources ...................................................................... 3-17
3.12 Safety/Operation Check................................................................................................. 3-18
3.13 Installation of Tooling and Fixtures ................................................................................ 3-19
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4 Operation ........................................................................................................................................ 4-1
4.1 Programming ..................................................................................................................... 4-1
4.2 Daily Operation .................................................................................................................. 4-2
4.2.1 Start-up Procedure ............................................................................................... 4-3
4.2.2 Robot HOME Position .......................................................................................... 4-3
4.2.3 Safety Circuit Check ............................................................................................. 4-4
4.2.3.1 Gate Interlock .......................................................................................... 4-4
4.2.3.2 Emergency Stop (E-STOP) Buttons........................................................ 4-4
4.2.4 Master Job............................................................................................................ 4-4
4.2.5 Operation Cycle.................................................................................................... 4-5
4.2.6 Shutdown Procedure ............................................................................................ 4-6
4.3 System Recovery............................................................................................................... 4-7
4.3.1 Alarms and Errors................................................................................................. 4-7
4.3.1.1 Error Messages ....................................................................................... 4-7
4.3.1.2 Minor Alarms ........................................................................................... 4-7
4.3.1.3 Major Alarms ........................................................................................... 4-7
4.3.2 E-STOP Recovery ................................................................................................ 4-8
4.3.3 Shock Sensor Recovery ....................................................................................... 4-9
4.3.4 Brake Release ...................................................................................................... 4-9
5 Maintenance ................................................................................................................................... 5-1
6 Anchoring........................................................................................................................................ 6-1
Appendix A
.......................................................................................................................................A-1
A.1 Checklist............................................................................................................................A-1
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1
1
1.1
Introduction
About This Document
Introduction
The ArcWorld® 2000 system is part of the YASKAWA Motoman family of
standardized arc welding solutions. It is a fully integrated welding system,
and is supported from wire to weld by YASKAWA.
1.1
About This Document
This system manual provides a “first look” and overview of the complete
YASKAWA Motoman ArcWorld® 2000 system. You should read and
understand this system manual before moving on to the more detailed
documentation that is included with your ArcWorld® 2000 system.
Although basic in content, the system manual is intended for personnel
who have received operator training from YASKAWA and who are familiar
with the operation of this particular Motoman system. For more detailed
information on any specific component or peripheral of the ArcWorld®
2000 system, please review the full documentation package that is
included with your ArcWorld® 2000 system (refer to section 1.3).
NOTE
This manual documents a standard Motoman system. If
your system is custom or modified, please use this manual
in conjunction with the drawings, schematics, and parts
listing (Bill of Material) for your specific system. The
drawings, schematics, and parts listing are included in the
documentation package supplied with your Motoman
system.
This system manual contains the following sections:
Chapter 1 "Introduction"
This section provides general information about the ArcWorld® 2000
system, a list of reference documents, and customer support contact
information.
Chapter 2 "Equipment Description"
This section provides a description of the major components of the
ArcWorld® 2000 system.
Chapter 3 "Installation"
This section provides installation procedures for the ArcWorld® 2000
system.
Chapter 4 "Operation"
This section provides an overview of ArcWorld® 2000 system operation,
including start-up, loading, normal operations, fault recovery, and system
shutdown.
Chapter 5 "Maintenance"
This section provides preventive maintenance requirements for certain
components of the ArcWorld® 2000 system.
Chapter 6 "Anchoring"
This section gives recommended anchoring hardware specifications and
foundation requirements for all the equipment that is part of the ArcWorld®
2000 system.
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1 Introduction
1.2 System Overview
1.2
System Overview
The ArcWorld® 2000 system provides a complete arc-welding solution
with multiple robot and station kit configurations (see Fig. 1-1). The
system is designed around either a single or dual Motoman MA1440,
MA2010 or MA3120 robot, a DX200 controller, welding power source(s),
and MHT-series positioners. Refer to section 2.2 for a description of
features and advantages of the DX200 controller configuration. Refer to
section 2.4 for a description of the MHT-Series positioners.
The ArcWorld® 2000 system features a total safety environment that
meets or exceeds the requirements of the ANSI/RIA R15.06-2012 Robot
Safety standard and is designed to safeguard both personnel and
equipment. Heavy-gauge, wire-mesh safety fencing prevents unintended
entry of personnel into the work cell while it is in operation. Arc curtains
cover the wire-mesh fencing to attenuate the amount of arc radiation that
escapes the work cell during welding operations. A dual-channel
interlocked access door at the side of the work cell provides convenient
access to equipment while providing a safety interlock to disable all
equipment should the access door be opened while the robot(s) are
active. A safety light curtain system provides a “sensing field” in front of
each positioner to protect the operator. Positioner movement is prevented
whenever an operator is in a position that disrupts the sensing field of the
light curtain system.
Safeguards for the system complement the system operation while
protecting the various people that will program, operate, and/or provide
maintenance to the system. Possible pinch points and other hazards from
the risk assessment process determined needed safeguards and
interlocks. While the system design safeguards the support staff, it does
not protect against misuse of the system. Misuse of the system includes,
but is not limited to climbing over/under barriers, climbing over/under
interlocked doors, or disabling/bypassing of system interlocks.
During the install and commissioning process the end user must ensure
tooling, ancillary equipment, etc. have not introduced additional hazards
into the design. This evaluation ensures that the system will provide a safe
and reliable operation. The Risk Assessment document should be
reviewed for installation of the system and prior to operation. Any changes
and additions to the system require full review of the Risk Assessment
document.
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1
1.2
Introduction
System Overview
Figure 1-1: System Layout (single controller shown)
Light Curtains
Operator Station
DX200 Controller
Welding Power Supply
Water Circulator
Safety Fencing
Robot(s)
Cell Door
Positioner
Light Curtains
1.2.1
System Layout
The ArcWorld® 2000 provides multiple configuration options for different
application requirements. Several robot options are available for different
applications and weld lengths. Single robot MA1440, MA2010, and
MA3120 cells are available as well as dual robot configurations. The robot
manipulators are mounted directly to the floor at the center of the cell for
easy access to both stations.
Several MHT-series positioners are available from 555 kg to 3155 kg
capacities to comprise the two work stations. Each positioner is equipped
with Motoman’s patented MotoMount flexible fixture system, allowing the
positioners to be mounted directly to the floor. The robot controller and
welding power sources share a common base outside the welding cell.
The robotic cell is fully enclosed by safety fencing with an interlocking
door. The DX200’s Functional Safety Unit combined with the light curtains
provide reliable safeguarding. All operator controls, including those on the
Programming Pendant, DX200 controller, welding power supply, and
Operator Station, are accessible from outside the ArcWorld® 2000 work
cell.
1.2.2
Major Components
The ArcWorld® 2000 system includes the following major components:
• Motoman MA1440 manipulator(s)
• Motoman MA2010 manipulator(s)
• Motoman MA3120 manipulator(s)
• One DX200 controller assembly (Single, DRC or DR2C
configuration)
• MHT-Series positioners
• One Programming Pendant (located on DX200 controller)
• Operator Stations
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1 Introduction
1.2 System Overview
• Welding equipment:
• Welding power supply
• Welding torch (air-cooled)
• Wire feeder
• Applicable welding interface
• Torch mount
• Safety equipment:
• Heavy-gauge, wire-mesh safety fencing (standard)
–Solid Panel (optional)
• Arc curtains (cover the safety fencing)
• Light curtain system
• Interlocked work-cell access door
1.2.3
Optional Equipment
The following optional equipment is available for use with the ArcWorld®
2000 system:
• Torch cleaner
• Wire cutter
• Water-cooled torch (with water circulator)
• TouchSense™ (starting point detection)
• ComArc™ (seam tracking)
1.2.4
1.2.4.1
Theory of Operation and Safe Guarding
System Teaching
All systems can be programmed by entering the fence enclosure door
(safety gate) to be near the robot(s) or from the entrance of either part
loading station. In order to program the robot, the controller needs to be in
“TEACH MODE” from the selector switch on the front of the pendant. The
“TEACH MODE” selection will limit all robot and external axes speeds to
250 mm/sec while in this mode. While in “TEACH MODE” the robot's
safety gate can be open or closed. In order for the robot's servo motors to
be turned on, the “Enable” switch on the programming pendant needs to
be maintained. Once servo power is on, the operator is able to program
the part from inside or outside the cell using the programming pendant.
The teacher should take care to avoid trip hazards (cable or other
structures within the cell) as programming occurs. During teaching the
headstock positioners are free to rotate as commanded from the
programming pendant without concern over Light Curtain violation.
The Risk Assessment should be reviewed prior to any interaction with this
cell.
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1.2
1.2.4.2
Introduction
System Overview
System Operation
Once the path and logic programming is complete, the system can be
placed into “AUTOMATIC OPERATION MODE” when the following
conditions are met:
1. Place Programming Pendant in “PLAY MODE”.
2. Close sliding door to activate the gate interlock safety switch.
3. Select the MASTER job on the Programming Pendant.
4. Place Programming Pendant into “REMOTE MODE” so the control
can occur from either Operator Station.
5. Select cycling mode. Select Continuous Cycle only after all programs,
safety functions and cell interactions are verified.
6. Apply servo power. Use the [Servo On] push button from any Operator
Station
7. Press the [Start] button on either Operator Station. (This begins the
execution of the INFORM job.) Once the servo power is applied and
the job execution begins, then normal cell production can begin.
Normal cell production begins with the assumption that the robots are in
the home position. FSU Zones and Axis Range Limits ensure the robot(s)
operate in areas that are clear of human presence. This allows the robots
to stay within the “center” of the cell to access a torch cleaner or tipchange station while either station is in use by the operator(s).
If a violation occurs with the station’s light curtain signal, the light curtains
reports this condition to the FSU and starts “AXIS SPEED MONITORING
MODE” through the FSU. This prevents the headstock at that station from
moving. If motion of the headstock is detected the entire system will go
into Emergency Stop and can be recovered after the source of the
violation is addressed (possibly bad robotic programming). When a light
curtain has been violated the “Light Curtain Reset” light will flash on the
associated operator station. If either robot enters a station that is reporting
a light curtain violation while in “PLAY MODE”, the entire cell goes into an
Emergency Stop condition. Recovery from the E-Stop can be done by
clearing the Light Curtain (via manual reset) or changing to “TEACH
MODE” and jogging the robot(s) out of this station.
When the operator completes work in a station they will exit the station,
and MAKE SURE all other operators and equipment are clear of the
station, headstock, customer supplied tooling/fixture, and then press the
[Light Curtain Reset] button to resume monitoring of the station by the light
curtain. When the light curtain is clear the reset indicator stops flashing.
Servos should have remained on through this process.
Pressing the [Cycle Start] button latches this station in for the queuing of
work. The robot(s) will approach this station immediately if no work is
currently being performed. If work is occurring in the other station the
Cycle Start Latched light will remain lit green and will turn off when the
cycle begins. Assuming there are no faults or issues during the production
of a part, the robot(s) returns to a safe position once complete.
The MASTER job waits for Cycle Start inputs. It calls jobs based on the
[Cycle Start] button pressed and the state of the Thumbwheel Switch dial/
value. This job also controls the usage of the joystick jobs when the
robot(s) are not performing work at that station.
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1.2 System Overview
1.2.4.3
Key Safety Devices:
• DX200 controller with 1 or 2 robots & FSU (2 FSU’s if 2 robots):
–Dual channel programming pendant E-Stop
–Dual channel programming pendant “Enable” switch
–“TEACH/PLAY MODE” signal to FSU
• Logic mapped from Machine Safety to FSU.
–Functional Safety Unit (FSU) - 1 per robot
• Limits robots access as follows:
• Complete perimeter access granted in “TEACH MODE”.
• Three axis limits are defined per robot depending on light
curtain status in “PLAY MODE”
• Station 1 valid/allowed (light curtain 2 blocked)
• Station 2 valid/allowed (light curtain 1 blocked)
• Allowed in only “center” of the cell valid (light curtains 1
& 2 blocked)
• Manages when the external axes in the system are in “Axis
Speed Monitoring” based on the light curtain clear inputs
• Station 1 must be stationary if Station 1 light curtains 1 blocked
• Station 2 must be stationary if Station 2 light curtains 1 blocked
• Safety Gate Interlock - tongue type: mechanical (qty 1):
–Dual channel dry contact outputs
• (Standard Op Station) Multi-button Operator Station:
– Red [E-Stop] button - dual channel with illumination
– Red [Hold] button - single channel
– Three Position Joystick - Three single channel contacts
– Red [Alarm/Alarm Reset] button - single channel with illumination
– Green [Cycle Start] button - single channel with illumination
– Green [Servo On] push button - single channel with illumination
– Green [External Start] push button - single channel
– Yellow [Light Curtain Rest] button - single channel with illumination
– 4 digit Thumbwheel Switch - 8 wire (4 inputs, 4 outputs)
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1.2
1.2.4.4

Introduction
System Overview
Safety Logic Implementation (all cells)
Teach/Play Mode (all AW-2000):
Disabling the FSU function can be difficult when the robot violates a
station's safety and the operator needs to take corrective action. Disabling
the FSU functions requires the SAFETY MODE password to disable
individual functions. Before beginning “PLAY MODE” production, enable
all functions. To eliminate these issues, “TEACH MODE” is sent from the
Machine Safety Unit to quickly disable and re-enable FSU functions as the
controller toggles between “TEACH MODE” and “PLAY MODE”. Putting
the system into “TEACH MODE” is beneficial to bypass or recover
from many of the FSU's monitoring functions.
Fig. 1-2: In “TEACH MODE”, the robot(s) are limited to motions with the
cell. This perimeter definition is in a Range Limiting file to match the cell
fencing.
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1.2 System Overview

Functional Safety Unit: Safety Logic Implementation
(1 Robot Zone shown):
TEACH MODE
In “TEACH MODE” a “R1 Teach Zone” has been established for the
purpose of ensuring that the robot remains within the confines of the work
cell. Since “TEACH MODE” speeds are already limiting speed to
250 mm/sec no additional safeguards will be taken. In “TEACH MODE”,
“Axis Speed Monitoring” on either headstock will be disabled so that the
programmer can jog and teach with the positioners.
Fig. 1-3: Teach Zone
Fig. 1-4: Robot 1 - Axis Range Limit Files
Zone#1: “R1 Safe/Center” → FSOUT#01
Zone#3: “R1 In Station 2” → FSOUT#03
Zone#2: “R1 In Station 1” → FSOUT#02
Safety Logic Circuit Ext. Signal Allocation:
(R1 only shown / R2 allocates 3 additional)
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System Overview
PLAY MODE
In “PLAY MODE”, a combination of FSU-based Axis Range Limiting and
“Axis Speed Monitoring” (positioners) will ensure safe operation of the cell.
The FSU-based “Axis Speed Monitor” function will be used to ensure that
the appropriate headstock remains stationary in “PLAY MODE” anytime
the light curtains at that station are violated. The robot(s) are also
restricted from entering the station until the light curtains at that station are
reset. Any violations result in an E-Stop.
Robot 1 - Robot Range Limit Files:
Fig. 1-5: Robot Range Limits: One active zone that prevents the robot
from reaching beyond tooling or impacting the fence.
Fig. 1-6: Robot Range Settings: This zone is active all the time and
prevents collisions in PLAY or TEACH mode. In PLAY mode, this zone
also enforces light curtain stopping distances..
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Station 1/2 - Axis Speed Monitor Files:
Fig. 1-7: Axis Speed Monitor Files Used (used for motion detection):
Always enabled:
Fig. 1-8: Station#1 Axis Speed Monitor: When output signal goes “off”
then motion is occurring.
Fig. 1-9: Station#2 Axis Speed Monitor: When output signal goes “off”
then motion is occurring.
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Introduction
System Overview
In Case of 2 robot system/AW2200 (FSU #2 Zone Configuration)
• All input signals come to FSU #2 to control activation of Robot 2’s
limitation.
• Zone 4 - Same Function as R1/Zone 1. Center of cell, like Zone 1,
same S-Axis values.
• Zone 5 - Same Function as R1/Zone 2. Same station access as
Zone 2, negated S-Axis values due to robot rotation 180 degrees.
• Zone 6 - Same Function as R1/Zone 3. Same station access as
Zone 3, negated S-Axis values due to robot rotation 180 degrees.
NOTE
If any robot orientation is changed from standard drawing
layout, then the s-axis values should be evaluated again.
Fig. 1-10: Safety Logic Circuit
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1.3 Reference Documentation
1.3
Reference Documentation
For additional information on individual components of the YASKAWA
ArcWorld® 2000 system, refer to the following documentation that is
included with your system:
• MA1440 Manipulator Manual (P/N 165830-1CD)
• MA2010 Manipulator Manual (P/N 169627-1CD)
• MA3120 Manipulator Manual (P/N 173359-1CD)
• Brake Release Manual (P/N 165310-1CD)
• DX200 Controller Manual (P/N 165292-1CD)
• Maintenance Manual for DX200 (P/N 165293-1CD)
• Operator's Manual for Arc Welding (P/N 166346-1CD)
• Concurrent I/O Manual (P/N 165294-1CD)
• MH-Series Positioner Manual (P/N 168961-1CD)
• DX200 Independent/Coordinated Control Function Manual
(P/N 165836-1CD)
• INFORM User’s Manual (P/N 165301-1CD)
• Functional Safety Board Operation Manual (P/N165988-1CD)
• Vendor manuals for system components not manufactured by
YASKAWA
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1.4
1.4
Introduction
Reference Table
Reference Table
The table below provides location(s) for various operations.
ArcWorld Chap 3
Center of Gravity, Lifting
Positioner &
Manipulator Chap 2
Anchoring
ArcWorld Chap 3
Vibration Dampening
Positioner Chap 2
Manipulator Chap 3
Assembly & Mounting Condition
Positioner Chap 2
Manipulator Chap 3

Space Needed for Maintenance
ArcWorld Chap 3
Connecting Power
ArcWorld Chap 3
Waste Removal
Controller Chap 1
Protective Measures by Users
Throughout Manuals
Initial Checks
ArcWorld Chap 3 & 4
Description of system, fittings, and
protective devices
ArcWorld Chap 3






Range of Applications
ArcWorld Chap 1
Safety Function Perform Correctly
ArcWorld Chap 3 & 4

 






Controller Functions, Operator Panels, ArcWorld Chap 2 & 3
Teach Pendants and Enabling Devices

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 


Throughout Manuals
and Included
Outside Manuals


Hazards and Measuring Methods
Throughout Manuals

Technical Documents concerning
Electrical Equipment
Included Outside
Manuals


Documents of Complying with
Mandatory Requirements
Included Outside
Manuals

Modifications Made to Protective
Equipment
Drawings

Load Analysis
Documents Included
Energy Loss, Human Interventions
ArcWorld Chap 2 & 4
Maintenance and Intended Life
ArcWorld Chap 5

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 
Drawings and Diagrams
1-13
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 



Robot Specific
Information
Mass Value(s)



Emergency
Situations
ArcWorld Chap 3

Decommissioning
Dimensions

Maintenance

Use of System
Manipulator &
Controller Chap 3,
Positioner Chap 2
System
Information
Environmental Information
Installation &
Commissioning
Manual/Chapter
Handling
Description
Start-up
Table 1-1: Reference Table
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
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
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


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1 Introduction
1.4 Reference Table
Throughout Manuals
Foreseeable Misuse
Throughout Manuals
Material Flow
Manipulator Chap 4
Positioner Chap 5
Intended Use
ArcWorld Chap 2
Residual Risk for Various Tasks
Throughout Manuals
Span of Control
ArcWorld Chap 2
Description of Manual Controls
ArcWorld Chap 2
Settings and Adjustments
ArcWorld Chap 4
Modes and Means for Stopping
ArcWorld Chap 2 & 4
Fault ID, Repair, and Restarting
ArcWorld Chap 4
Personal Protective Equipment
Throughout Manuals
Test and Examination After Changing
Components
ArcWorld Chap 3 & 4









Instructions for Disconnecting
Pendants
Controller Chap 4
 
Instructions for Fault and Emergency
Recovery
ArcWorld Chap 4
 
Training Requirements
ArcWorld Chap 1

Drawings and Diagrams allowing
Maintenance Carry Out Task
Throughout Manuals
 





Information to Replace Safety Devices ArcWorld Chap 3


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



 

Contact Information
ArcWorld Chap 1
Safe Working Practices for Manual
Suspension of Safeguards
Controller Chap 14
Dismantling
Manipulator Chap 3
Positioner Chap 2
 
Emergency Situations
ArcWorld Chap 4
Raising and Lowering Speed Using
Pendant
Controller Chap 8


Information on Limiting Device
ArcWorld Chap 2 & 3
Information on Operating and Enabling
Devices
ArcWorld Chap 3
Stopping Time and Distance
Drawings;
Positioner Chap 4
1-14

 
Robot Specific
Information
Risks with Certain Applications



  


 
Emergency
Situations
Throughout Manuals
Decommissioning
Risks that Can Not be Eliminated
Maintenance
ArcWorld Chap 2 & 4



Use of System
Dynamic Limiting Zones
System
Information
ArcWorld Chap 3
Start-up
Interface Requirements
Installation &
Commissioning
Manual/Chapter
Handling
Description
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Relevant Standards
Included Outside
Manuals
Instruction on Synchronized Motion
ArcWorld Chap 2
Programmed Limits
Controller Chap 11
Robot Suitable for Integration
Documents Included
1-15
Robot Specific
Information
ArcWorld Chap 2
Emergency
Situations
Limits for Range of Motion

Decommissioning
Manipulator Chap 9
Positioner Chap 6
Maintenance
Specifications for Fluids
Use of System
Manual/Chapter
Handling
Description
System
Information
Introduction
Reference Table
Start-up
1
1.4
Installation &
Commissioning
ArcWorld® 2000
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1 Introduction
1.5 Customer Support Information
1.5
Customer Support Information
If you need assistance with any aspect of your ArcWorld® 2000 system,
please contact YASKAWA Customer Support at the following 24-hour
telephone number:
(937) 847-3200
For routine technical inquiries, you can also contact YASKAWA Customer
Support at the following e-mail address:
[email protected]
When using e-mail to contact YASKAWA Customer Support, please
provide a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.
NOTE
Please use e-mail for routine inquiries only. If you have an
urgent or emergency need for service, replacement parts,
or information, you must contact YASKAWA Customer
Support at the telephone number shown above.
Please have the following information ready before you call:
• System
ArcWorld® 2000
• Robots
MA1440, MA2010, or MA3120
• Positioner
MHT-Series Positioner
• Primary Application
Arc Welding
• Controller
DX200
• Software Version
Access this information on the
Programming Pendant’s LCD
display screen by selecting {MAIN
MENU} - {SYSTEM INFO} {VERSION}
• Robot Serial Number
Located on the robot data plate
• Robot Sales Order Number
Located on the DX200 controller
data plate
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2
2 Equipment Description
2.1 Robot Description
Equipment Description
2.1
Robot Description
The ArcWorld® 2000 system is available with three different Motoman
six-axis robot(s). These robots are specifically designed for arc-welding
applications. The MA1440 robot has a payload capacity of 6 kg and
features a horizontal reach of 1440 mm. The MA1440 robot features a
relative positioning accuracy of ±0.08 mm. The MA2010 robot has a
payload capacity of 10 kg and features a horizontal reach of 2010 mm.
The MA2010 robot features a relative positioning accuracy of ±0.08 mm.
The MA3120 robot has a payload capacity of 6 kg and features a
horizontal reach of 3,121 mm. The MA3120 robot features a relative
positioning accuracy of ±0.15 mm
The MA-Series robots feature an internal cabling design that provides high
flexibility and streamlines the robot profile, thus allowing access into
confined spaces. The robot’s B-axis (Pitch/Yaw) features an expanded
range of motion that improves circumferential welding on cylindrical work
pieces. The T-axis (Twist) can rotate the welding torch ±210 degrees
without cable interference.
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2.2 DX200 Controller
2.2
DX200 Controller
The ArcWorld® 2000 system features a single or dual DX200 controller.
The dual robot controller assembly consists of a DX200 controller mated
to a full sized cabinet (see Fig. 2-1).
Through specific internal cable interconnections, the DX200–DRC is
configured as controller R1 and controller R2 (see Fig. 2-1). This
configuration allows the two robots to operate as a dual system that takes
advantage of all the unique functions available only in a dual system
configuration.
Both the single and dual DX200 robotic controllers (see Fig. 2-1) include a
Windows® CE Programming Pendant with a color touch screen, highspeed processing, built-in Ethernet, and a robust PC architecture. The
DX200 easily handles multiple tasks and can control up to eight robots (up
to 72 axes, including robots and external axes) and input/output (I/O)
devices. Advanced Robot Motion (ARM) control provides highperformance path accuracy and vibration control.
The DX200 coordinates the operation of the ArcWorld® 2000 system. It
controls manipulator movement and welding power supply, processes
input and output signals, and provides the signals to operate the welding
system.
For additional information on the YASKAWA DX200 controller, please
refer to the DX200 Controller Manual that is included with your ArcWorld®
2000 documentation package (see section 1.3).
Figure 2-1: DX200 Controller (Dual Controller Shown)
Welding Power Supply
M12 Eye Bolts
[(8 Places (4 Places Each)]
Power
Distrubution
Programming Pendant
(2 Places)
Power
ON-OFF
Data Plate
(2 Places)
Door Lock
(4 Places)
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2.2 DX200 Controller
2.2.1
Programming Pendant
The Programming Pendant (see Fig. 2-2) provides the primary means of
programmer/operator interaction with the ArcWorld® 2000 system. The
pendant features the Windows® CE operating system and displays
information on a 6½ -inch, color LCD, touch-screen display (640 X 480
VGA). The pendant also incorporates a CompactFlash® card slot and
USB part for program backups.
The Programming Pendant provides icon-driven system programming. It
also features a menu-driven interface to simplify operator interaction with
the robots. Most operator controls are located on the Programming
Pendant. This allows remote installation of the DX200 controller. By using
the Programming Pendant, the operator can teach the robots motion;
perform programming, editing, maintenance, and diagnostic functions;
and enable or disable Operator Station control of the ArcWorld® 2000
system. For detailed information on the pendant’s programming keys,
programming functions, and display functions, please refer to the DX200
Operator’s Manual for Arc Welding that is included with your ArcWorld®
2000 system documentation package (see section 1.3).
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2 Equipment Description
2.2 DX200 Controller
Figure 2-2: DX200 Programming Pendant
Start button
Mode switch
START
REMOTE
Menu area
PLAY
Emergency
stop button
HOLD
TEACH
JOB
EDIT
DISPLAY
JOB CONTENT
TEST01
CONTROL GROUP:R1
0000 NOP
0001 SET B000 1
0002 SET B001 0
0003 MOVJ VJ=80.00
0004 MOVJ VJ=80.00
0005 DOUT OT#(10) ON
0006 TIMER T=3.00
0007 MOVJ VJ=80.00
0008 MOVJ VJ=100.00
0009 MOVJ VJ=100.00
0010 MOVJ VJ=100.00
0011 MOVJ VJ=100.00
General-purpose
display area
Hold button
UTILITY
S:0000
TOOL:
Insertion slot for
Compact Flash
MOVJ VJ=0.78
Main Menu
TOOL SEL
LAYOUT
Cursor key
GO BACK
DIRECT
OPEN
COORD
PAGE
Multi
ENTRY
MAIN
MENU
X-
S-
Y+
Z-
Z+
L-
U-
E-
Enable switch
Located on the back of
the programming pendant.
When you lightly squeeze it,
the power turns ON.
When you firmly squeeze it,
the power turns OFF.
AREA
SELECT
CANCEL
ASSIST
SERVO ON
S+
Y-
SERVO
ON
READY
SIMPLE
MENU
X+
Page key
Turn on servo power
Short Cut
X-
X+
Y-
Y+
Z-
Z+
8-
8+
R-
HIGH
SPEED
L+
B-
R+
B+
Manual speed keys
FAST
MANUAL SPEED
U+
E+
T-
SLOW
SHIFT
INTER
LOCK
7
8
9
ROBOT
INFORM
LIST
4
5
EX.AXIS
WELD
ON/OFF
1
2
AUX
MOTION
TYPE
0
.
Select key
T+
Axis keys
TEST
START
SHIFT
6
BWD
FWD
3
DELETE
INSERT
-
MODIFY
ENTER
Enable switch (option)
Enter key
Motion
Numeric keys / Function keys
Type key Press to input numbers.
These keys are also used as function keys
to input instructions, etc. Key’s function is
automatically switched when function keys
are available.
NOTE
• The Programming Pendant’s LCD display goes dark after
a few minutes of inactivity. Press any key to restore the
screen.
• Operator Station Enable or Disable is accomplished with
the Programming Pendant’s Mode Select Switch. To
transfer control of the ArcWorld® 2000 system to the
Operator Station, set the Mode Select Switch to REMOTE.
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2.3 Operator Station
2.3
Operator Station
The Operator Station (see Fig. 2-3) includes a fence mounted NEMA
enclosure. The following paragraphs describe the controls on the
Operator Station.
Figure 2-3: Operator Station
2.3.1
Operator Station — CYCLE START/CYCLE LATCHED
WARNING
Do not alter the operation of the CYCLE START/CYCLE LATCHED
button.
The operation of the CYCLE START/CYCLE LATCHED button is
dependent on the structure of the Control Master job.
If not avoided, could result in death or serious injury to personnel.
Pushing the green CYCLE START/CYCLE LATCHED button initiates a
positioner sweep cycle if the robot(s) are in HOME (Safe) position. If the
CYCLE START/CYCLE LATCHED push button is pressed while the
robot(s) are welding, or otherwise not in HOME (Safe) position, the Cycle
Start command is “latched” into (stored in) the DX200 controller circuitry.
When the robots return to HOME (Safe) position, the “latched” Cycle Start
command is executed and the positioner sweeps. Circuitry in the DX200
controller prevents the positioner from continuously cycling should the
operator depress and hold the CYCLE START/CYCLE LATCHED push
button.
2.3.2
Operator Station — EMERGENCY STOP (E-STOP)
Pressing the Operator Station’s Emergency Stop (E-STOP) push button
initiates an Emergency Stop (E-STOP). Refer to section 2.6.4 for a
discussion of the E-STOP function and the procedures for recovering the
ArcWorld® 2000 system from the Emergency stop (E-STOP) condition.
2.3.3
Operator Station — ROBOT HOLD
Pressing the red ROBOT HOLD button stops robot operation and
interrupts the job until the operator presses the green START button to
resume operation. Operation resumes at the point in the program where
the ROBOT HOLD state was initiated.
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2.3 Operator Station
2.3.4
Operator Station — ALARM/RESET
A red ALARM lamp illuminates to indicate that the DX200 controller has
encountered an alarm condition.
2.3.5
Operator Station — START
Pressing the green START button starts the current, active job. The
Programming Pendant’s Mode Select Switch must be set to REMOTE and
servo power must be ON for the START button to function.
2.3.6
Operator Station — SERVO ON
The green SERVO ON push button turns servo power ON if the
Programming Pendant’s Mode Select Switch is set to REMOTE.
2.3.7
Operator Station — JOYSTICK CONTROL
The Home joystick controls positioner rotation and user defined load
positions. The MHT-Series positioners have the ability to position the
headstock ±360° in 2.5° increments for better part-loading and unloading
ergonomics. This rotation of the headstock in 2.5° increments (also known
as “jogging”) is accomplished with the JOYSTICK CONTROL located on
the Operator Station (see Fig. 2-3).
2.3.8
Operator Station — LIGHT CURTAIN RESET
This button will flash after the light curtains on this side have been
violated. The flashing indicates a manual reset is required and is done by
pressing the button momentarily.
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2.4 MHT-Series Positioner
2.4
MHT-Series Positioner
The MHT-series positioners consist of the following Motoman positioners:
• MHT-555
• MHT-1655
• MHT-3155
These positioner systems include a headstock drive assembly, tailstock
column, and the MotoMount tool mounting system. Parts fixturing is
mounted between the headstock and tailstock faceplates providing a
highly versatile work area.
Refer to the MH(T)-Series SIGMA-5 Positioner MH(T)185, MH(T)555, and
MH(T)1655 Tooling and MotoMount Manual (P/N 168961-1CD) for
MotoMount and technical details.
The ArcWorld® 2000 system is capable of synchronized motion between
various components depending on the job configuration. The robot can be
synchronized with the positioner to work simultaneously with a rotating
work piece. For additional information on this type of independent control
and coordinated motion, refer to the DX200 Independent/Coordinated
Control Function Manual that is included with the ArcWorld® 2000 system
documentation package (see section 1.3).
For additional positioner information, including specifications, an
illustrated parts list, load capabilities, and dimensions, refer to the
Motoman Positioner Manuals included with the ArcWorld® 2000 system
documentation package (see section 1.3).
NOTE
• The customer shall supply all tooling and fixtures for the
positioner.
• YASKAWA recommends application of a corrosion/rust
preventive compound to tooling and fixtures located in a
high-humidity environment.
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2.5 Welding Equipment
2.5
Welding Equipment
In its standard configuration, the ArcWorld® 2000 system includes a
welding power source, wire feeder, torch, and torch mount for each robot.
Optional equipment may also be included with your ArcWorld® 2000
system (refer to section 1.2.3).
2.5.1
Welding Power Sources
YASKAWA offers various brands and types of welding power sources. The
welding power sources supplied with the ArcWorld® 2000 system
depends on the customer’s specific application and preference. For
specific information on the welding power sources supplied with your
ArcWorld® 2000 system, refer to the welding power source manual that is
included with the system documentation package (see section 1.3).
2.5.2
Wire Feeder
A welding wire feeder is mounted on the upper arm (U-Axis) of each robot.
The wire feeder is the “4-roll” type and provides reliable wire feeding at
rates up to 750 inches per minute (ipm). An electronically controlled gas
valve provides fast welding gas response time. Interchangeable feed rolls
are used to accommodate different wire gauges and wire types. For
additional information on how the wire feeder is mounted to the robot’s
upper arm, including allowable load and installation position, refer to the
wire feeder documentation that is included with the ArcWorld® 2000
system documentation package (see section 1.3).
2.5.3
GMAW Torch
The ArcWorld® 2000 system uses either an air-cooled or water-cooled
robotic/automatic GMAW torch for each robot. These are heavy-duty
torches designed for quick replacement and minimum of robot
reprogramming. The GMAW torch is installed in a torch mount at the end
of the robot’s wrist flange. The torch mount provides multi-dimensional
impact (collision) detection to protect the robot, torch, fixture, positioner,
and work piece from damage in the event of a collision. Any torch impact
(collision) triggers an Emergency Stop condition (refer to section 4.3.2 and
section 4.3.3).
For applications that use the optional water-cooled torch, the ArcWorld®
2000 system includes a water circulator kit for each robot. For additional
information on the torches that are supplied with your system, refer to the
vendor documentation that is included with the ArcWorld® 2000 system
documentation package (see section 1.3).
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2.6 Safety Features
2.6
Safety Features
The ArcWorld® 2000 system includes a total safety environment. If you
comply with all the safety instructions and precautions given throughout
this manual, the safety equipment helps to ensure safe operation of the
robot work cell.
NOTE
2.6.1
Users are responsible for determining that the safeguards
provided with the ArcWorld® 2000 system are adequate for
their plant conditions. Users must also ensure that all
safeguards are maintained in working order.
Welding Arc Protection
One by-product of the welding arc is an intense level of ultraviolet light.
The ultraviolet light radiates outwardly (equal strength in all directions)
from the weld point whenever an arc is established. If not attenuated, the
radiated ultraviolet light can present a health risk to personnel near the
welding arc.
WARNING
Although safety fence arc curtains block the radiation of ultraviolet light,
never look directly at the welding arc without protective eye wear.
The arc curtains filter (or “block”) most of the ultraviolet light radiation that
would otherwise escape the work cell from the sides. The arc curtains
protect other personnel who are near the work cell. Appropriate PPE
should be worn when working with and near the cell during normal
operation.
2.6.2
Safety Fencing (Standard)
The heavy-gauge, welded wire safety fencing that is provided with the
ArcWorld® 2000 system encloses the entire work cell. It forms a physical
barrier that prevents personnel from entering the work cell during
automatic operation.
2.6.3
Safety Light Curtains
The safety light curtains work in conjunction with the Functional Safety
Unit to help prevent serious injury to anyone entering a station safety zone
while the robot is working in that area. In PLAY mode, if the robot is at
station 1 and the operator steps into the station 1 safety zone, servo
power is removed from the system and all positioner motion stops. Servo
power can be re-applied and operation resumed by pressing SERVO ON
and START. Light curtains must be manually reset before operation can
resume.
For additional information on the safety light curtain system, refer to the
vendor documentation that is included with the ArcWorld® 2000 system
documentation package (see section 1.3).
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2.6 Safety Features
2.6.4
Emergency Stop (E-STOP)
Emergency Stop (E-STOP) is a primary safety feature of the ArcWorld®
2000 system. A work-cell access door interlock, the safety light curtain
system, robot welding torch impact (collision) detection circuitry (refer to
section 2.5.3), and E-STOP push buttons can all trigger an E-STOP
condition. An E-STOP condition immediately de-energizes the control
system and activates the robot emergency braking system (refer to
section 2.6.6). The E-STOP push buttons are used for an intentional
shutdown of the ArcWorld® 2000 system and are installed at the following
locations:
• Programming Pendant
• Operator Station
To resume operation after an E-STOP system shutdown, the operator
must clear and reset the action that caused the E-STOP condition (refer to
section 4.3.2).
2.6.5
Programming Pendant’s ENABLE Switch
The ENABLE switch is part of the Programming Pendant and provides a
safety feature that controls servo power while the system is in TEACH
mode (see Fig. 2-2). When pressed in, this switch allows the operator to
enable servo power. Should the operator release the switch or grasp it too
tightly, however, servo power is immediately disabled, thus preventing
further robot movement. For detailed information about the operation of
the ENABLE switch, refer to the DX200 Operator’s Manual for Arc
Welding that is included with the ArcWorld® 2000 system documentation
package (see section 1.3).
2.6.6
Emergency Braking System
The robot incorporates a braking system that protects personnel from
injury and prevents equipment damage if servo power is removed. Upon
loss of servo power, the brake system activates to hold all robot axes in
place. The brake system incorporates a feature that allows the operator to
release the brake of a specific robot axis, even if drive power is disabled.
Brake release is accomplished with the Programming Pendant. Refer to
the DX200 Manual Brake Release manual included with the ArcWorld®
2000 system documentation package (see section 1.3).
2.6.7
Interlocked Work-cell Access Door
The work-cell access door features a safety interlock (see Fig. 1-1). Any
attempt to open the access door while the robots are in PLAY mode
triggers an E-STOP condition (refer to section 2.6.4).
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3
3.1
Installation
Required Materials
Installation
CAUTION
Have the ArcWorld® 2000 system installed by qualified personnel
who are familiar with the installation and setup of a robotic
system.
Potentially hazardous situation which, could result in minor or moderate
injury to personnel and damage to equipment.
Two to three qualified technicians can install the ArcWorld® 2000 system
in a reasonable amount of time. Always comply all the safety instructions
and precautions given throughout this manual during the installation
process.
The instructions given in this section are general guidelines for installing
the ArcWorld® 2000 system. Refer to your system drawings and relevant
system component manuals for specific installation information (see
section 1.3).
3.1
Required Materials
All system components and most hardware items required for installation
of the ArcWorld® 2000 system are included with your shipment. There are,
however, some required items that the customer must supply, such as
typical installation and maintenance tools (refer to section 3.1.2) and
special anchor bolts (refer to chapter 6 “Anchoring”).
3.1.1
Customer-supplied Items
• Shielding gas for the welding torches
• Local electrical service
• Earth ground wires for the robots, the DX200 controller, and
peripheral equipment
• Earth ground rods and/or buried copper sheeting (quantity and
placement depth as required to achieve specified resistance-toground reading of 100 ohms or less)
• Chemical (optional) to increase the conductivity of soil in the vicinity
of the earth ground system
• Welding wire
• Clean, dry air supply (for torch tender or wire cutter options):
• Flow Rate: 0.425 m3/min. (15 cfm)
• Pressure: 620 kPa (gauge) [90 psi (gauge)]
• Forklift(s) and/or overhead crane
• Special anchor bolts and drill bits (refer to chapter 6 “Anchoring” for
suggested anchoring hardware)
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3.1 Required Materials
3.1.2
Recommended List of Hand Tools and Equipment
• Safety glasses
• Face shield
• Gloves (heavy-duty leather recommended)
• Levels (short and long)
• Ratchet handle (with 3/4-inch hex socket)
• Adjustable wrench
• Hammer drill with appropriate concrete bits
• Phillips and flat-blade screwdrivers
• Hammers (dead-blow and steel)
• Hammer (non-marring)
• Socket sets (SAE and metric)
• Air-impact gun (with 3/4-inch hex socket)
• Open-end wrench sets (SAE and metric)
• Allen® wrench sets (SAE and metric)
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3.2
3.2
Installation
Site Preparation
Site Preparation
WARNING
Provide sufficient room for access to the work-cell door, Operator
Station, and system components that are exterior to the work cell.
Indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury to personnel.
To prepare your site, proceed as follows:
1. Clear the floor and overhead space needed for the ArcWorld® 2000
system (see Fig. 3-1). Allow an additional 1.2m to 1.5m on all sides of
the work cell to provide the clearances needed for installation.
2. Gather all the customer-supplied items and required tools (refer to
section 3.1).
Figure 3-1: Plan View - Example Only - Refer to System Prints
3213
7609
POINT OF OPERATION
6680
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3.3 Removal of System Components from Shipping Skids
3.3
Removal of System Components from Shipping Skids
WARNING
Use a lifting device rated to safely handle the load.
Each robot weighs approximately 130 to 500 kg.
The controller base (with equipment) weighs approximately 1600 kg.
Indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury to personnel.
System components are attached to shipping skids at the factory prior to
shipment to the customer. The customer is responsible for removing the
components from the skids and inspecting the components for shipping
damage.
NOTE
If you notice any equipment damage, notify your shipping
contractor as soon as possible.
1. Unbolt each component from its shipping skid using a 3/4-inch socket
(see Fig. 3-2).
2. Use a forklift(s) or overhead crane to lift each component away from its
shipping skid.
Fig. 3-2: Typical Stabilizing Screw and Removal of A Shipping Lag Bolt
NOTE – An air-powered tool is not required for removal of the shipping bolts, as these fasteners can be
removed with ordinary hand tools. However, the air-powered tool does make quick work of the
task.
AIR IMPACT DRIVER WITH ¾ INCH
SOCKET (see NOTE)
TYPICAL WORK
CELL COMPONENT
Y
IDDEN B
BOLT (H ET
G
IN
P
SHIP
OCK
DRIVE S
¾ INCH
STABILIZING SCREW
(HOLLOW CORE)
WOODEN SHIPPING
PALLET
3. Remove and discard or recycle all shipping materials, including the
shipping skids.
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3.4
3.4
Installation
Installation — Robot(s)
Installation — Robot(s)
The robot(s) should be firmly mounted on a base plate or foundation rigid
enough to support the robot(s) and withstand repulsion forces. The
surface of the floor should be level and even. The concrete thickness of
the floor must be at least 150 mm.
WARNING
Use a lifting device rated to safely handle the load.
•
A MA1440 robot weights approximately 130 kg.
•
A MA2010 robot weights approximately 280 kg.
•
A MA3120 robot weights approximately 500 kg.
Indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury to personnel.
1. Move robot(s) in place according to system drawings.
2. Carefully remove protective plastic wrapping from robots and torches.
3. Inspect each robot for shipping damage.
4. Anchor each robot securely in place (refer to chapter 6 “Anchoring” for
anchor requirements).
3.5
Installation — MHT-Series Positioner Modules
Refer to the appropriate positioner manual for detailed instructions on
installation of your MHT-Series positioner.
Mount the positioners on a foundation rigid and strong enough to support
the positioner and withstand dynamic repulsion forces. If the foundation
surface is not level and even, grind the swell to flatten the surface. The
minimum thickness for a concrete foundation is 150 mm (6 in).
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3.6 Installation — Controller Base
3.6
Installation — Controller Base
The ArcWorld® 2000 uses a separate controller base mounted on the
outside of the system fencing. The controller base contains the robot
controller, welders, service disconnects, and optional water circulators.
The base is shipped on wood blocks. To install the controller base,
proceed as follows:
WARNING
Use a lifting device rated to safely handle the load.
The controller base (with equipment) weighs approximately 1600 kg.
Indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury to personnel.
1. Loosen and remove lag bolts securing the base to the wooden
shipping skid.
2. Carefully remove all protective packaging materials and discard or
recycle.
3. Carefully inspect the base, and associated equipment for shipping
damage.
NOTE
If you notice any equipment damage, notify your shipping
contractor as soon as possible.
4. Using a forklift, lift the robot common base away from the wooden
shipping skid (forklift pockets are located at each end of the base).
5. Using the dimensions in your system drawings, carefully place the
controller base in position.
WARNING
Wear protective eye wear during the anchoring process.
Failure to observe this WARNING could result in eye injury.
6. Adjust the leveling screws as required to level and stabilize the
controller base.
7. Insert a drill bit through the center of a leveling bolt on the controller
base and drill a hole into the foundation to accept an anchor bolt (refer
to section 6 for foundation and anchoring suggestions).
8. Repeat the drilling process for each leveling bolt associated with the
controller base.
9. Use compressed air to remove all concrete dust from each drilled hole.
10. At each drilled location, install and secure a suitable anchor bolt (refer
to section 6 for foundation and anchoring suggestions).
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3.7
3.7
Installation
Installation — Safety Fence Assembly
Installation — Safety Fence Assembly
The fencing that surrounds the positioner and completes the welding cell’s
protective walls is shipped on its own skid with all the hardware needed for
installation.
CAUTION
Wear protective gloves and use caution when cutting the metal
bands.
The metal bands are under tension and may cause injury to anyone
near the bands when cut.
See Fig. 1-1 "System Layout (single controller shown)" on page 1-3 and
Fig.3-1 "Plan View - Example Only - Refer to System Prints" for the
general arrangement and positioning of the safety fence assembly. Refer
to the safety fence manufacturer instructions for details of safety fence
placement, erection, and anchoring. The safety fence instructions are
included in the ArcWorld® 2000 system documentation package (refer to
section 1.3 “Reference Documentation” on page 1-12).
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3.7 Installation — Safety Fence Assembly
3.7.1
Door Latch Alignment
Adjust the location of the door latch as necessary to provide smooth
operation of the door assembly. A #14 spanner bit is provided to loosen
and adjust the location of the latch assembly. Shims can also be placed
beneath the fence posts to make gross adjustments. See Fig. 3-3(a)
through Fig. 3-3(c) for various latch adjustments.
NOTE
You can use lockout/tagout procedures with the door
interlock by attaching a lock to the door handle key.
Fig. 3-3(a): Door Latch Alignment
DOOR HANDLE
SPACER BLOCK
5/16-18x3/4
PAN HEAD
SCREW
INTERLOCK
SWITCH KIT
SWITCH MOUNTING
BRACKET
Fig. 3-3(b): Right Hand Sliding Configuration
DOOR HANDLE KEY
5/16-18
T-SLOT NUT
FENCE POST
FENCE PANEL
5/16-18x3/4
PAN HEAD
SCREW
SWITCH
MOUNTING
BRACKET
3-8
#-24 x 1-1/2”
SCREW-18x3/4
M5 CONCICAL
SPRING WASHER
#10-24 x 5/8”
SCREW
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3.7
Installation
Installation — Safety Fence Assembly
Fig. 3-3(c): Left Hand Sliding Configuration
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3.8 Installation — Arc Curtains
3.8
Installation — Arc Curtains
The arc curtains are packaged in an accessories box that is shipped with
the ArcWorld® 2000 system.
WARNING
Make sure the work-cell safety fence is anchored in place before
installing the arc curtains.
Unanchored fence panels can fall and cause injury or damage to
equipment.
Install the arc curtains as follows:
1. Unfold each arc curtain and install one on the inside of each work-cell
safety fence panel using the supplied plastic cable ties and the eyelets
in each arc curtain (see Fig. 3-4).
NOTE
The arc curtains are precut to match the work-cell fence
panels. Each arc curtain bag contains documentation that
includes the arc curtain dimensions. If necessary, these
dimensions can be used to match the arc curtain to the
correct work-cell fence panel.
2. Make sure that there are no gaps between the arc curtains.
3. Install the work-cell door arc curtain on the inside of the door panel
using the supplied plastic cable ties and the eyelets in the arc curtain
(see Fig. 3-4).
Fig. 3-4: Arc Curtain Installation on Typical Safety Fence Panel
PLASTIC CABLE TIE
ARC CURTAIN EYELET
FENCE PANEL
ARC CURTAIN
NOTE – Arc curtain is installed on the fence panel side
that faces the INTERIOR of the robotic work cell
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3.9
3.9
Installation
Installation — Safety Light Curtain System
Installation — Safety Light Curtain System
NOTE
One set of safety light curtain components (Send and
Receive unit) are mounted to the safety fence panels at the
factory and then secured for shipment to the customer. An
additional set is shipped separately for floor mounting.
The procedure for installing the safety light curtain system is as follows:
1. Unpack both safety light curtain fence panels from their shipping
position and move them into position. The light curtain units are
oriented properly when their status lights are located near the base of
the positioner.
2. Use the three bolt holes located on the fence post to mount the light
curtain fence panels.
3. Unpack the floor mounted safety light curtain units and move them into
position.
4. Mount the light curtain units to the floor. Refer to the light curtain
manufacturer’s literature included in the ArcWorld® 2000 system
documentation package (see section 1.3 “Reference Documentation”
on page 1-12).
5. Unpack the light curtain cables and connect them to the matching
connectors on the light curtain Send and Receive units.
6. Align the Send unit with the Receive unit. Refer to the light curtain
manufacturer’s literature included in the ArcWorld® 2000 system
documentation package (see section 1.3 “Reference Documentation”
on page 1-12).
7. After the light curtain units are installed and aligned, anchor the light
curtain fence panel posts to the foundation (refer to chapter 6
“Anchoring” for suggested anchor drills and bolts).
8. Check the alignment of the light curtain Send and Receive units after
the fence posts are anchored to the foundation. If indicated, readjust
alignment of the light curtain Send unit and Receive unit.
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3.10 Installation — Operator Stations
3.10
Installation — Operator Stations
NOTE
The operator stations are mounted to safety fence panels at
the factory and then secured for shipment to the customer.
The procedure for installing the Operator Station is as follows:
1. Unpack both operator station fence panels from their shipping position
and move them into position according to the system drawings.
2. Use the three bolt holes located on the fence post to mount the
operator station fence panels.
3. Remove any packaging or protective plastic wrapping from the
Operator Station.
4. Inspect the Operator Station for shipping damage.
NOTE
Notify your shipping contractor if you notice any shipping
damage.
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Installation
3.11 Cable Connections
3.11
Cable Connections
After the ArcWorld® 2000 system components and peripherals are
anchored in their correct locations, locate the interconnect cables for the
system components and route them according to the system drawings
and schematics included in the ArcWorld® 2000 system documentation
package. All cables and connectors are labeled to ensure correct
connection to the mating connectors on the applicable system component.
NOTE
3.11.1
A small gap exists between the bottom of the work-cell
safety fence and the floor. This gap provides a passage for
cables that run between the components outside the work
cell and those inside the work cell.
Connection to Earth Ground
WARNING
Do not use the ArcWorld® 2000 system unless specified
components are connected to a low-resistance earth ground.
Do not connect the earth ground wire with the wires for the
electric power source, welder, etc.
The low-resistance earth ground must be a “dedicated” ground that is a
direct connection between a component and the earth ground point.
Operator injury or death, as well as equipment damage, can result from
an inadequate or defective earth ground system.
The robot and DX200 controller must be connected to a low-resistance
earth ground. If a ground stake is used, it should be driven at least 2.43m
into the soil. The soil surrounding the driven ground stake should be
treated with a chemical that increases the soil conductivity in the vicinity of
the driven ground stake. This is often referred to as a “low-resistance
earth ground” and may require more than a single driven ground rod,
depending on soil conditions. Multiple ground rods (bonded together) or
even a bonded network of buried copper sheeting (plus conductionenhancing chemicals) may be required, depending on local soil
conditions. In any event, the “low-resistance earth ground” must indicate a
resistance of 100 ohms or less (when measured directly between
grounded equipment and the earth ground system). Be advised that
specialized measuring equipment is usually required to get an accurate
“resistance-to-ground” reading. Consult a specialist in this field, if
required.
NOTE
The customer shall supply all wires associated with the
earth ground. The customer is responsible for establishing
the correct gauge of all wires associated with the earth
ground and maintaining an adequate earth ground
(measured resistance of 100 ohms or less).
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3.11 Cable Connections
Connect the robots and controller assembly to the earth ground as
follows:
1. Connect one end of an earth ground wire to the lug marked EARTH
GROUND on the connector panel of robot R1. Connect the other end
of the earth ground wire to the low-resistance earth ground.
See Fig. 1-1 "System Layout (single controller shown)" on page 1-3 for
the location of robot R1.
2. Connect one end of an earth ground wire to the COMMON GROUND
BUS BAR located inside DX200 controller. Connect the other end of
the earth ground wire to the low-resistance earth ground.
Fig. 3-5: Grounding Method
A
A
Section A-A’
2
5.5 mm or more
Bolt M8 (For grounding)
Delivered with the manipulator
3.11.2 Connecting the Robot Cables
Two cables, 1BC and 2BC, connect each robot to the controller. The 1BC
cable provides position feedback from the robot to the controller. The 2BC
cable provides power to the robot’s servo motors. To connect the robot
cables, proceed as follows:
CAUTION
Do not use excessive force and make sure the cable connectors
are correctly aligned with the mating connectors.
The connectors are a “multi-pin” type and are easily damaged if forced
into position.
If not avoided, damage to equipment can occur.
1. Unpack the Programming Pendant and plug its connector into the
receptacle on the front door of the controller.
2. Unpack the large black manipulator cables and route one end to the
controller and the other to the back of the robot.
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Installation
3.11 Cable Connections
3. Connect one end of each cable (labeled 1BC and 2BC) to the 1BC and
2BC connections on the back of each robot (see Fig. 3-6). Connect the
other ends of the 1BC and 2BC cables to the 1BC and 2BC
connections on the side of the controller.
Fig. 3-6: Manipulator Cables
The DX200 Side
The Manipulator Side
X11
1BC
X11
1BC
1BC
molex
molex
Encoder Cable
The DX200 Side
The Manipulator Side
2BC
X21
ArcWorld® 2000
2BC
X21
2BC
Power Cable
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3.11 Cable Connections
Fig. 3-7(a): Manipulator Cable Connectors (Manipulator Side)
Connector Details
(Manipulator Side)
2BC
1BC
3BC
Positive Weld Cable
Ground Lug
(300A Max)
Fig. 3-7(b): Manipulator Cable Connection to the DX200
11
X
X
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3.11 Cable Connections
3.11.3
Connection to Local Electrical Service
WARNING
Use a qualified, licensed electrician to connect the local electrical
service connection to the ArcWorld® 2000 system.
Electrical and grounding connections must comply with the National
Electrical Code (NEC), as well as all local electrical codes.
Indicates a potentially hazardous situation which, if not done, could
result in death or serious injury to personnel.
NOTE
The ArcWorld® 2000 system is configured for three-phase
460/480VAC primary power. For additional information, refer
to the electrical drawings and schematics that are included
with your system documentation package (see section 1.3
“Reference Documentation” on page 1-12).
After all the system components have been properly installed and
interconnected, connect local electrical service to the DX200 controller
and welding power source (refer to chapter 3.11.3.1 and chapter 3.11.3.2).
3.11.3.1
DX200 Controller
For detailed electrical service interconnect procedures for the DX200
controller, refer to the DX200 Controller Manual and ArcWorld® 2000
system drawings and schematics that are included with your system
documentation package (see section 1.3 “Reference Documentation” on
page 1-12).
3.11.3.2
Welding Power Sources
Refer to the welding power source documentation and ArcWorld® 2000
system drawings and schematics for electrical service connection
procedures and diagrams for the welding power sources.
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3 Installation
3.12 Safety/Operation Check
3.12
Safety/Operation Check
Before installing the tooling and fixtures for your application, take a few
minutes to perform the following safety/operation check:
1. Ensure the correct alignment and operation of the safety light curtain
system (refer to the safety light curtain documentation that is included
with the ArcWorld® 2000 system).
2. Check the security and integrity of all cable connections.
3. Ensure that the work-cell sliding access door is closed and the door
interlock is engaged.
4. Verify the correct settings for the welding power sources (refer to the
welding power source documentation that is included with your
ArcWorld® 2000 system).
5. Verify that local electrical service complies with the power
requirements for your ArcWorld® 2000 system.
6. Verify that local electrical service is correctly wired into the DX200
controller assembly and the welding power sources (refer to section
3-5).
CAUTION
The ArcWorld® 2000 system is now ready for power-up. Only qualified,
trained personnel who are familiar with this system should perform the
power-up sequence.
7. Set the power ON-OFF switch on the DX200 controller to ON (see
Fig. 2-1 "DX200 Controller (Dual Controller Shown)" on page 2-2).
NOTE
An electrical service disconnect box for the DX200
controller shall be supplied (if desired) by the customer. It is
not part of the ArcWorld® 2000 system shipment.
8. Set the service disconnect boxes for the welding power sources to ON
(see section 2-1 “DX200 Controller (Dual Controller Shown)” on page
2-2).
9. Set the power ON-OFF switch on the welding power sources to ON.
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Installation
3.13 Installation of Tooling and Fixtures
WARNING
Make sure each E-STOP push button disables servo power when
pressed.
E-STOP should disable servo power and immediately stops the robot
and positioner movement when activated (pushed in).
Indicates a potentially hazardous situation that could result in death or
serious injury to personnel.
10. Check for correct operation of all E-STOP push buttons (refer to
section 2.6.4 “Emergency Stop (E-STOP)” on page 2-10).
11. Check for correct operation of the system HOLD buttons on the
Programming Pendant and Operator Station (ROBOT HOLD). Refer to
the Operator’s Manual for Arc Welding for more information on the
pendant’s HOLD button (see section 1.3 “Reference Documentation”
on page 1-12). Refer to section 2.3.3 “Operator Station — ROBOT
HOLD” on page 2-5 and the manipulator manual for more information
on the Operator Station’s ROBOT HOLD button (see section 1.3
“Reference Documentation” on page 1-12).
12. Check for correct operation of the work-cell access door safety
interlock.
13. Remove power from the ArcWorld® 2000 system after completion of
the safety/operation check.
3.13
Installation of Tooling and Fixtures
Your ArcWorld® 2000 system is now ready for installation of tooling and
fixtures for your particular application. Personnel who are familiar with the
operation of the ArcWorld® 2000 system should do the installation. After
tooling installation, test the positioners for correct operation. Refer to the
positioner manual for information on how to test that the positioners are
operating correctly (see section 1.3 “Reference Documentation” on page
1-12).
NOTE
• All tooling and fixtures for the positioner shall be supplied
by the customer.
• YASKAWA recommends application of a corrosion/rust
preventive compound to tooling and fixtures located in a
high-humidity environment.
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4
4 Operation
4.1 Programming
Operation
This section provides a brief overview of the operating procedures and
precautions for your ArcWorld® 2000 system. For more detailed operating
information, refer to the specific component manuals that are part of the
ArcWorld® 2000 system documentation package (see section 1.3).
The ArcWorld® 2000 system is a fully integrated robotic GMAW welding
cell. The robot(s) weld parts on the active station, while the operator loads
or unloads parts on the opposite side. Once the robot(s) are finished with
the welding process, they return to the Home position. The operator is
then able to enter the safety zone and safely process the parts while the
robot works at the opposite station.
The ArcWorld® 2000 offers two workstations containing any combination
of the following station kits: MHT-555, MHT-1655, and MHT-3155.
NOTE
4.1
The customer shall supply all tooling fixtures for the
positioner.
Programming
The operation of this system is programming dependent. The following
operating instructions are based on one possible configuration of this
system. Your system configuration and job structure may differ slightly
from that presented here; however, basic operation will remain the same.
For additional programming procedures and information, refer to the
DX200 controller documentation included with your ArcWorld® 2000
system documentation package (see section 1.3 “Reference
Documentation” on page 1-12).
Any changes made to your system configuration and/or job structure will
alter the operation of the system. YASKAWA recommends that you do not
modify the original jobs and system configuration of your ArcWorld® 2000
system. If you determine a need to modify the original jobs and
system configuration, make any modifications to a copy of the
original. Keep the original as a backup. Do not modify the original.
Modifications must be performed by trained and experienced personnel
who are familiar with the operation of the ArcWorld® 2000 system. If you
have questions concerning the configuration of your system, please
contact YASKAWA’s 24-hour Customer Support (refer to section 1.5
“Customer Support Information” on page 1-16).
A major advantage of the ArcWorld® 2000 system is its high degree of
flexibility. The operator can fine tune the movement of both the robots and
positioners according to parts configuration. The robots can be
programmed to weld parts with the headstock stationary, or the robots and
headstock can move simultaneously. The robots can be programmed to
weld different seams on the same part and to move from part to part to
continue welding.
With the programming pendant, the operator can develop a series of jobs
for the robots. You can program the robots independently, the station axis
independently, or the robots and station axis together. You must select the
axis combination when teaching the job initially. YASKAWA recommends
programming the robots and station axis together to reduce the risk of
interference.
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4.2
4.2
Operation
Daily Operation
Daily Operation
The procedures below represent the typical operating sequence from
power-up to shutdown. Your basic operating procedures may vary
depending on your situation.
CAUTION
This Robot Cell has Collaborative Motion functionality:
Collaboration is a special type of operation between a person and robot
sharing a common workspace. The following are the guidelines for
collaborative operation.
1. Used for pre-determined tasks.
2. Possible when all protective measures are active.
3. For robots with features specifically designed for collaborative
operation.
The integrator shall include information for the use of safeguards and
mode selections required for collaborative operation.
• Perform the start-up procedure (refer to section 4.2.1.)
• Move the robot(s) to HOME position (refer to section 4.2.2.)
• Perform a Safety Circuit Check (refer to section 4.2.3.)
• Select the Control Master job (refer to section 4.2.4.)
• Perform the Operation cycle (refer to section 4.2.5.)
• Perform the Shutdown procedure (refer to section 4.2.6.)
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4 Operation
4.2 Daily Operation
4.2.1
Start-up Procedure
To start up the ArcWorld® 2000 work cell from a power-off condition,
proceed as follows:
1. If installed, switch the DX200 controller electrical service disconnect
box to ON.
NOTE
An electrical service disconnect box for the DX200
controller shall be supplied (if desired) by the customer. It is
not part of the ArcWorld® 2000 system shipment.
2. Set the power ON-OFF switch on the DX200 controller to ON (see Fig.
2-1 "DX200 Controller (Dual Controller Shown)" on page 2-2).
3. Switch the welding power source electrical service disconnect box to
ON (see Fig. 2-1 “DX200 Controller (Dual Controller Shown)” on page
2-2).
4. Set the power ON-OFF switch on the welding power source(s) to ON
(the ON-OFF indicator lamp on each welding power source
illuminates).
5. Open the regulator valve for the welding gas supply.
6. Make sure that the work-cell access door is closed and operating
properly and the door safety interlock is engaged.
7. Make sure all E-STOP buttons are released. E-STOP buttons are
installed at the following locations:
• Programming Pendant
• Operator Station
8. Select “TEACH MODE” on the Programming Pendant.
9. Place the robot in HOME position (refer to section 4.2.2).
4.2.2
Robot HOME Position
To move the robot(s) to HOME position:
1. Select “TEACH MODE” on the Programming Pendant.
2. Select MAIN MENU on the Programming Pendant’s touch screen.
3. Select JOB on the Programming Pendant’s touch screen.
4. Select SELECT JOB on the Programming Pendant’s touch screen
(a job list appears on the screen).
5. Use the navigation cursor key to move the cursor to SAFE job and
then press SELECT (the job appears on the display screen).
6. Turn servo power ON by pressing SERVO ON and holding in the
ENABLE switch.
7. Use the FWD button on the Programming Pendant to jog the robot to
HOME position.
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4
4.2
4.2.3
Operation
Daily Operation
Safety Circuit Check
Test each of the following safety circuit items daily for proper operation. If
any of these items do not work as instructed, YASKAWA’s 24-hour
Customer Support (refer to section 1.5 “Customer Support Information” on
page 1-16). before operating the cell.
4.2.3.1
Gate Interlock
Open gate interlock while robot is in PLAY mode with servo power ON.
Verify that servo power goes off.
4.2.3.2
Emergency Stop (E-STOP) Buttons
Press each Emergency Stop (E-STOP) button with the robot in PLAY
mode and the servo power on. After each button is pressed, verify that
servo power goes off and the Programming Pendant reads “Robot is
Stopped.”
4.2.4
Master Job
With the system powered up and in TEACH mode, call up the Master job:
1. Select JOB on the Programming Pendant’s touch screen.
2. Select CTRL MASTER on the Programming Pendant’s touch screen.
3. Press SELECT twice to activate the Master job.
4. Select PLAY mode on the Programming Pendant (job playback
operation is enabled).
5. Press the SERVO ON button on the Programming Pendant.
6. Press the START button on the Programming Pendant (the Control
Master job cycles, waiting for a Cycle Start input from the Operator
Station).
7. Transfer control to the Operator Station by selecting REMOTE on the
Programming Pendant’s Mode Select Switch.
The ArcWorld® 2000 work cell is now ready for operation.
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4 Operation
4.2 Daily Operation
4.2.5
Operation Cycle
The following is the typical sequence of operation for the ArcWorld® 2000
work cell after start-up:
CAUTION
This Robot Cell has Collaborative Motion functionality:
Collaboration is a special type of operation between a person and robot
sharing a common workspace. The following are the guidelines for
collaborative operation.
1. Used for pre-determined tasks.
2. Possible when all protective measures are active.
3. For robots with features specifically designed for collaborative
operation.
The integrator shall include information for the use of safeguards and
mode selections required for collaborative operation.
1. The operator loads the fixture on the operator side of station 1 with
parts to be welded.
2. The operator steps out of the safety zone created by the safety light
curtain system and moves to the Operator Station.
3. The operator presses the green CYCLE START/CYCLE LATCHED
button on the Operator Station.
4. The robot(s) begin welding the parts.
5. While the robot(s) are welding, the operator loads the operator side of
station 2 with the next group of parts to be welded.
6. The operator again moves to the Operator Station and presses the
green CYCLE START/CYCLE LATCHED button (the Cycle Latched
light illuminates). When the robot(s) are finished welding at station 1,
they return to Home position allowing the operator to process parts at
station 1.
7. The operator moves back to the operator side of station 1 and unloads
the completed, welded parts.
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4
4.2
4.2.6
Operation
Daily Operation
Shutdown Procedure
Use the following procedure to perform a normal shutdown of the
ArcWorld® 2000 system:
1. Make sure the robot(s) are in HOME position.
2. Turn off the system servo power by pressing the E-STOP button on the
Operator Station or Programming Pendant.
3. Select TEACH mode on the Programming Pendant.
4. Set the DX200 controller power ON-OFF switch to the OFF position.
5. Set both welding power source power ON-OFF switches to the OFF
position.
6. Close the regulator valve for the welding gas supply.
7. Switch the DX200 controller disconnect box (if installed) to OFF.
NOTE
An electrical service disconnect box for the DX200
controller shall be supplied (if desired) by the customer. It is
not part of the ArcWorld® 2000 system shipment.
8. Switch the welding power source disconnect box to OFF (see Fig. 2-1
"DX200 Controller (Dual Controller Shown)" on page 2-2).
The ArcWorld® 2000 system is now shut down.
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4 Operation
4.3 System Recovery
4.3
System Recovery
When a system error or alarm occurs, you must clear the error or alarm to
return the system to normal operation. The paragraphs below describe the
different types of alarms and errors you might encounter and how to
remedy them when you do.
4.3.1
Alarms and Errors
There are three levels of alarms and errors that will stop the program:
• Error messages
• Minor alarms
• Major alarms
For more detailed information on alarm and error recovery, refer to the
maintenance and DX200 controller documentation that is included with
your ArcWorld® 2000 system (refer to section 1.3 “Reference
Documentation” on page 1-12).
4.3.1.1
Error Messages
Error messages are usually the result of simple, easily cleared operation
errors. One example of this type of error is pressing the START button
when the robots are not in PLAY mode.
Clear errors of this type by pressing the CANCEL button on the
Programming Pendant.
4.3.1.2
Minor Alarms
Minor alarms usually involve programming errors. Clear alarms of this
type by pressing the CANCEL button on the Programming Pendant.
4.3.1.3
Major Alarms
Major alarms usually involve hardware failures. Examples of this type of
error include an overload condition and abnormal speed.
Clear alarms of this type by cycling the DX200 controller in accordance
with the following steps:
1. Rotate the DX200 controller’s power ON-OFF switch to OFF.
2. Allow the controller’s power ON-OFF switch to remain in the OFF
position for approximately 10 seconds.
3. Rotate the controller’s power ON-OFF switch to ON.
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4.3
4.3.2
Operation
System Recovery
E-STOP Recovery
An E-STOP (emergency stop) will occur under any of the following
conditions:
• An E-STOP button is pushed in (activated).
• The work-cell access door is opened while the robots are not in
TEACH mode.
• The safety light curtain system is triggered while the positioner is
sweeping.
• A welding torch collision triggers a shock sensor output (refer to
section 4.3.3).
After an E-STOP condition occurs, restart the ArcWorld® 2000 system as
follows:
1. To clear the E-STOP condition, perform any of the following actions
that apply:
• Release the activated E-STOP push button
• Close the work-cell access door
• Clear the area in front of the positioner that is protected by the safety
light curtain system and use the manual reset button on the Operator
Station.
• Clear the shock sensor condition (refer to section 4.3.3).
CAUTION
If an E-STOP condition occurs while the positioner is sweeping,
the positioner will continue the sweep when the ArcWorld® 2000
system is restarted.
Indicates a potentially hazardous situation that could result in minor or
moderate injury to personnel and damage to equipment.
2. Press the SERVO ON button on the Programming Pendant.
3. Select REMOTE mode on the Programming Pendant’s Mode Select
Switch to transfer control of the system to the Operator Station.
4. Press the green START button on the Operator Station.
The ArcWorld® 2000 system is now ready to continue operation.
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4 Operation
4.3 System Recovery
4.3.3
Shock Sensor Recovery
Each robot is equipped with a Motoman gun mount. This mount is
designed to protect the torch from damage in case of a crash (collision). A
slight deflection of the torch activates a SHOCK SENSOR signal that
triggers an E-STOP condition. To clear the E-STOP condition, you must
override the shock sensor and move the affected robot clear of the impact.
To override the shock sensor, proceed as follows:
1. Select MAIN MENU on the Programming Pendant’s touch screen.
2. Select ROBOT on the Programming Pendant’s touch screen.
3. Select OVERRUN-S.SENSOR on the Programming Pendant’s touch
screen.
4. Select RELEASE to release the shock sensor.
5. Turn servo power ON (press in on the pendant’s ENABLE switch while
pressing SERVO ON READY).
6. Move the affected robot clear of the impact position.
The ArcWorld® 2000 system is now ready to continue operation.
4.3.4
Brake Release
The robot brakes are designed to protect the robot and other system
components from damage in the event of things like a system or robot
failure, a loss of drive power, or any other occurrence that activates the
brakes. It is then necessary to release the brakes on the robot in order to
move it. To release the brakes, proceed as follows:
WARNING
Support the axis being released before proceeding.
Releasing brakes can cause a potentially hazardous situation which,
could result in death or serious injury to personnel.
1. On the Programming Pendant, select TEACH mode and turn servo
power OFF.
2. Select ROBOT on the Programming Pendant’s touch screen.
3. Select the MANUAL BRAKE RELEASE option. A Warning dialog box
appears.
4. Select YES in the Warning dialog box.
5. Select the axis to be released using the cursor key.
6. Engage the ENABLE switch and press the INTERLOCK and SELECT
keys. The brake for the selected axis releases.
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5
5
Maintenance
Maintenance
Maintenance must be performed by authorized personnel who are familiar
with the ArcWorld® 2000 system. Be sure to read and understand the
documentation for a particular component before doing repair
maintenance or preventive maintenance on that component. Be sure that
you understand the maintenance procedures, have the proper tools at
hand, and comply with all the safety instructions and precautions given
throughout this manual.
The maintenance intervals given in Table 5-1 are recommendations only.
Adjust the frequency and level of repair maintenance and preventive
maintenance to suit your specific equipment schedules and shop
environment.
For periodic maintenance procedures and schedules for the individual
components of your ArcWorld® 2000 system, refer to the documentation
that is included with your system documentation package (refer to section
1.3 “Reference Documentation” on page 1-12).
CAUTION
If your system uses water-cooled torches, use only YASKAWAspecified antifreeze. Typical automotive antifreeze contains additives
that can clog the small cooling ports in the torches and damage sealing
gaskets in the water circulator pumps.
Table 5-1: Periodic Maintenance
FREQUENCY
COMPONENT
Daily
Water Circulators
(or on condition) (water-cooled torch
application only)
All safeguard items –
work-cell door interlocks,
E-STOP push buttons,
safety light curtains, arc
curtains, etc.
PROCEDURE
Add a mixture of YASKAWA
Motoman antifreeze (P/N 1312241) and distilled water, as required.
Mix antifreeze and distilled water
in proportions shown on the
antifreeze container.
Check the physical condition of
the safeguard item and ensure
that it is working correctly.
One Month
ArcWorld® 2000 Work Cell Remove accumulated dirt,
grease, and debris from inside
(or on condition)
and outside the work cell.
As Required
Relays for Interface
(check
(Teach/Play) or optional
SISTEMA report Tooling Power
for details)
5-1
Replace relays with new parts
based on expected lifetime.
(Determine relays expected life
and replace based on frequency
of operation. They should be
replaced at predetermined
intervals to prevent system
failures/
shut-down in the future.)
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6
6
Anchoring
Anchoring
The purchaser must determine all anchoring and foundation requirements
and supply the appropriate anchoring hardware for a particular
installation. Always use chemical anchors for equipment with dynamic
loads. Use appropriate sized anchors, relative to the clearance holes, to
anchor equipment to the floor. Table 6-1 provides sample anchor and
foundation requirements for peripheral equipment. Refer to equipment
manuals included with your system documentation package (see section
1.3 “Reference Documentation” on page 1-12) for anchoring
requirements.
CAUTION
Do not mount robots directly to the floor without the indicated
floor plate.
Failure to follow floor-plate requirements can result in minor or
moderate injury to personnel and damage to equipment.
Table 6-1: Minimum Recommended Equipment Anchor Requirements
EQUIPMENT
MINIMUM HILTI®
ANCHOR ROD
DIAMETER/TYPE
MINIMUM FLOOR-PLATE MINIMUM FOUNDATION
REQUIREMENTS
REQUIREMENTS
ROBOTS
Refer to the manipulator manual included with your system documentation package
(Section 1.3) for anchoring requirements. Always use chemical anchors for equipment
with dynamic loads. Use appropriate sized anchors, relative to the clearance holes, to
anchor equipment to the floor.
POSITIONER
Refer to the positioner manual included with your system documentation package
(Section 1.3) for anchoring requirements. Always use chemical anchors for equipment
with dynamic loads. Use appropriate sized anchors, relative to the clearance holes, to
anchor equipment to the floor.
PERIPHERAL
EQUIPMENT
1/2-inch Kwik Bolt II
Style Anchor (Note 1)
WORK-CELL
FENCE POSTS
3/8-inch Kwik Bolt II
Style Anchor (Note 1)
OPERATOR
STATION
PEDESTAL
(Touch Screen
Models)
1/4-inch Kwik Bolt II
Style Anchor (Note 1)
Not Applicable
3-inch minimum thickness or
1.3 embedment depth
(whichever is larger)
4000 psi Reinforced Concrete
Not Applicable
3-inch minimum thickness or
1.3 embedment depth
(whichever is larger)
4000 psi Reinforced Concrete
Not Applicable
3-inch minimum thickness or
1.3 embedment depth
(whichever is larger)
4000 psi Reinforced Concrete
NOTE:
(1) Reference source: Hilti® Product Technical Guide (Section 4.3.3) for hardware specifications or
equivalent.
Refer to http://us.hilti.com or http://ca.hilti.com for further information.
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Appendix A
A.1 Checklist
Appendix A
A.1
Checklist
Since our customer is very important to us we include a checklist to use
before start-ups and after maintenance for your convenience and safety.
Time/Date
Checked By
BEFORE APPLYING POWER
(Refer to System Drawings)
Check Mounting
(Refer to Installation Section in all Manuals)
Check Power
(Refer to Connections, Controller Manual)
Check Ground
(Refer to Grounding in all Manuals)
Check Water
(Refer to Operation and Vendor Manuals)
Check Air
(Refer to Manipulator and Vendor Manuals)
Check Gas
(Refer Operation and Vendor Manuals)
Check Interlocks
(Refer to Work Cells in all Manuals)
Check Limiting Devices/Software
(Refer to Limits in all Manuals)
Check Environment
(Refer to Installation in Controller Manual)
Check Version
(Refer to Confirmation of Software Version)
Other Items to Check Before Applying Power
(Vendor or Integrator Supplied)
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Appendix A
A.1 Checklist
Time/Date
Checked By
AFTER APPLYING POWER
Check Control Switches
(Refer to Operator Station, Controller Manual)
Check Axis Move and are Restricted
(Refer to Basic Specifications, Manipulator Manual)
Check Emergency Stop(s)
(Refer to E-Stop in all Manual(s)
Check External Power Disconnect
(Refer to Turning OFF The Power Supply,
Controller Manual)
Check Teach Mode
(Refer to Teach Mode, Controller Manual)
Check Playback Mode
(Refer to Play Mode, Controller Manual)
Check Environment
(Refer to Location in Manipulator Manual)
Check Safeguards
(Refer to Safeguards in all Manuals)
Check Manual Mode
(Refer to Manual Mode in Operations Manual)
Check Automatic Mode
(Refer to Automatic Mode in Operations Manual)
Other Items to Check After Applying Power
(Vendor or Integrator Supplied)
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Appendix A
A.1 Checklist
Time/Date
Checked By
DOCUMENTATION INCLUDED
System Drawings
Modifications Made to Original Protective
Equipment
End Effector Load Analysis
Instructions on Synchronized Motion
(More than one piece of moving synchronized
equipment)
Programmed Limits
Collaborative Operation Declaration
(Robot is suitable for integration that includes
requirements met and types of operation)
Compliance Documents
(ANSI, ISO, RIA, etc.)
Risk Assessment
Other Documents to Include (Vendor or Integrator Supplied)
(Vendor Manuals, Supplier Certifications, Compliance
Documents, etc.)
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Appendix A
A.1 Checklist
Time/Date
Checked By
MARKINGS INCLUDED ON EQUIPMENT
Business Name, Address, Info
Machinery Designation and Type
Year Built
Explosive Proof
Order Number (Serial Number)
Other Markings on Equipment
(Vendor Machine Designation, Type, Serial No, Version, etc.)
OTHER ITEMS
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SYSTEM MANUAL
HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703
Fax +81-93-645-7802
YASKAWA America Inc. (Motoman Robotics Division)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200
Fax +1-937-847-6277
YASKAWA Europe GmbHRobotics Divsion )
Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100
Fax +49-8166-90-103
YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800
Fax +46-486-414-10
YASKAWA Electric (China) Co., Ltd.
22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200
Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858
Fax +86-10-6788-2878
YASKAWA India Private Ltd. (Robotics Division)
#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500
Fax +91-124-475-8542
YASKAWA Electric Korea Corporation
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844
Fax +82-2-784-8495
YASKAWA Electric Taiwan Corporation
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333
Fax +886-2-8913-1513
YASKAWA Electric (Singapore) PTE Ltd.
151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003
Fax +65-6289-3003
YASKAWA Electric (Thailand) Co., Ltd.
59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099
Fax +66-2-017-0199
PT. YASKAWA Electric Indonesia
Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470
Fax +62-21-2982-6741
Specifications are subject to change without notice
for ongoing product modifications and improvements.
MANUAL NO.
172990-1CD
8
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