Yaskawa DX200 Remote Laser User manual

DX200
Remote Laser FUNCTION
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
DX200 INSTRUCTIONS
DX200 OPERATOR’S MANUAL (for each purpose)
DX200 MAINTENANCE MANUAL
The DX200 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
Part Number:
Revision:
175690-1CD
0
MANUAL NO.
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Copyright © 2016, 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, 2016
Yaskawa America, Inc.
Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com
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DANGER
•
This instruction manual is intended to explain
operating instructions and maintenance procedures
primarily for the Remote Laser FUNCTION.
CAUTION
• Some drawings in this manual are shown with the
protective covers or shields removed for clarity. Be sure
all covers and shields are replaced before operating
this product.
• The drawings and photos in this manual are
representative examples and differences may exist
between them and the delivered product.
• YASKAWA may modify this model without notice when
necessary due to product improvements, modifications,
or changes in specifications.
If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a
YASKAWA representative to order a new copy. The
representatives are listed on the back cover. Be sure to
tell the representative the manual number listed on the
front cover.
• YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids your product’s warranty.
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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
Read this manual carefully before installation, operation,
maintenance, or inspection of the DX200.
In this manual, the Notes for Safe Operation are classified as
“WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.
DANGER
WARNING
CAUTION
Indicates an imminent
hazardous situation which, if
not avoided, could result in
death or serious injury to
personnel.
Indicates a potentially
hazardous situation which, if
not avoided, could result in
death or serious injury to
personnel.
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.
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
“CAUTION” and “WARNING.”
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WARNING
• Before operating the manipulator, check that servo
power is turned OFF when the emergency stop buttons
on the front door of the DX200 and programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED
on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop
circuit cannot stop the manipulator during an emergency. The
manipulator should not be used if the emergency stop buttons do not
function.
Emergency Stop Button
• Once the emergency stop button is released, clear the
cell of all items which could interfere with the
operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator
motion.
TURN
Release of Emergency Stop
• Observe the following precautions when performing
teaching operations within the P-point maximum
envelope of the manipulator:
- View the manipulator from the front whenever
possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point
maximum envelope of the manipulator and that you are
in a safe location before:
- Turning ON the DX200 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of
the manipulator during operation. Always press an emergency stop
button immediately if there are problems.
The emergency stop buttons are located on the right of the front door
of the DX200 and the programming pendant.
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CAUTION
• Perform the following inspection procedures prior to
conducting manipulator teaching. If problems are
found, repair them immediately,
and be sure that all other necessary processing has
been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of
external wires.
• Always return the programming pendant to the hook on
the DX200 cabinet after use.
The programming pendant can be damaged if it is left in the P-point
maximum envelope of manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of the Warning
Labels in the DX200 Instructions before operating the
manipulator.
Definition of Terms Used Often in This
Manual
The MOTOMAN manipulator is the YASKAWA industrial robot
product.
The manipulator usually consists of the controller, the programming
pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment
Manual Designation
DX200 Controller
DX200
DX200 Programming Pendant
Programming Pendant
Cable between the manipulator and the
controller
Manipulator cable
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Customer Support Information
If you need assistance with any aspect of your Remote Laser system,
please contact Motoman Customer Support at the following 24-hour
telephone number:
(937) 847-3200
For routine technical inquiries, you can also contact Motoman Customer
Support at the following e-mail address:
[email protected]
When using e-mail to contact Motoman 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 Motoman Customer
Support at the telephone number shown above.
Please have the following information ready before you call Customer
Support:
• System
Remote Laser
• Robots
___________________________
• Primary Application
___________________________
• 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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Table of Contents
1 Outline of Remote Laser ................................................................................................................. 1-1
1.1 Outline of Remote Laser System....................................................................................... 1-1
1.2 Structure of Remote Laser System.................................................................................... 1-2
1.2.1 Structure of System About Laser Head Made by Y-E DATA................................ 1-2
1.2.2 Structure of System About Laser Head Made by TRUMPF ................................. 1-3
1.2.3 Structure of System About Laser Head Made by HIGHYAG................................ 1-4
2 Operation of Remote Laser with Pendant....................................................................................... 2-1
2.1 Name of Pendant Each Part .............................................................................................. 2-1
2.2 Kind of Laser ..................................................................................................................... 2-2
2.3 Coordinate System of Laser Head..................................................................................... 2-3
2.4 Operation ........................................................................................................................... 2-4
3 Remote Laser Welding Position Registration File........................................................................... 3-1
3.1 Setting of File..................................................................................................................... 3-1
3.2 Type of Welding Line ......................................................................................................... 3-2
3.3 Registration of Welding Position........................................................................................ 3-4
3.4 Setting of Capable Range.................................................................................................. 3-4
3.5 Registration of Timer and Slope Control............................................................................ 3-5
3.6 Addition of PATH ............................................................................................................... 3-6
3.7 Deletion of Path ................................................................................................................. 3-7
3.8 Copy of Path ...................................................................................................................... 3-8
3.9 Paste of Path ..................................................................................................................... 3-8
3.10 Parallel Shift..................................................................................................................... 3-9
3.11 Batch Change of Welding Condition.............................................................................. 3-10
3.12 Deletion of File............................................................................................................... 3-11
3.13 Copy of File.................................................................................................................... 3-12
3.14 Paste of File................................................................................................................... 3-12
3.15 How to Load Remote Laser User File............................................................................ 3-13
3.16 How to Save Remote Laser User File ........................................................................... 3-13
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4 Remote Laser Welding Program..................................................................................................... 4-1
4.1 How to Use Macro Instruction............................................................................................ 4-1
4.2 Macro Instruction for Laser ON.......................................................................................... 4-2
4.3 Macro Instruction for Laser OFF ........................................................................................ 4-2
5 Means to Solve Error ...................................................................................................................... 5-1
6 SxE Parameter Explanation ............................................................................................................ 6-1
6.1 List of SE parameters for remote laser (For Y-E DATA).................................................... 6-1
6.2 The parameters with the need to be reset for TRUMPF .................................................... 6-9
6.3 The parameters with the need to be reset for HIGHYAG ................................................ 6-11
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1
1.1
Remote Laser
1
Outline of Remote Laser
Outline of Remote Laser System
Outline of Remote Laser
1.1
Outline of Remote Laser System
The remote laser system (On The Fly) is a laser welding system by
controlling the position of the laser head while the robot is moving.
Laser Head made by Y-E DATA
Laser Head made by TRUMPF
Laser Head made by HIGHYAG
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1
1.2
Remote Laser
1.2
1.2.1
Outline of Remote Laser
Structure of Remote Laser System
Structure of Remote Laser System
Structure of System About Laser Head Made by Y-E DATA
AC100V
～240V
DX200
YCP21
Laser Head made by Y-E DATA
⑦
⑥
③
②
Laser oscillator
⑤
④
①
Number
Name of Product
Part No.
①
I/O or Device Net Cable
Customer reserve stock
②
CAN(Controller Area
Network)communication cable for
PFO
HS1370057
③
YCP02(for remote laser)+YSL02
JANCD-YCP02-E
JARCH-YSL02
④
CAN-DUC-UNIT
-
⑤
Analog cable
HS1470362-A10
HS1470374-A10
(In the case of IPG oscillator)
⑥
⑦
CAN communication cable
HS1370342
Galvano power cable
HS0471730
AC power cable
Customer reserve stock
1-2
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Remote Laser
1.2.2
1
1.2
Outline of Remote Laser
Structure of Remote Laser System
Structure of System About Laser Head Made by TRUMPF
Laser oscillator
Laser Head made by TRUMPF
DX200
YCP21
①
②
③
Number
Name of Product
Part No.
①
I/O or Device Net Cable
Customer reserve stock
②
CAN (Controller Area Network)
communication cable for PFO
HS0371378
③
YCP02(for remote laser)+YSL02
JANCD-YCP02-E
JARCH-YSL02
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Remote Laser
1.2.3
1
1.2
Outline of Remote Laser
Structure of Remote Laser System
Structure of System About Laser Head Made by HIGHYAG
Laser oscillator
Laser Head made by TRUMPF
DX200
YCP21
①
②
③
Number
Name of Product
Part No.
①
I/O or Device Net Cable
Customer reserve stock
②
CAN (Controller Area Network)
communication cable for PFO
HS0371378
③
YCP02(for remote laser)+YSL02
JANCD-YCP02-E
JARCH-YSL02
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2.1
Remote Laser
2
Operation of Remote Laser with Pendant
Name of Pendant Each Part
Operation of Remote Laser with Pendant
2.1
Name of Pendant Each Part
Start button
e switch
START
REMOTE
PLAY
Hold button
Emergency
stop button
HOLD
TEACH
JOB
EDIT
DISPLAY
JOB CONTENT
J: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
UTILITY
S:0000
TOOL:
MOVJ VJ=0.78
Main Menu
TOOL SEL
LAYOUT
rsor key
GO BACK
DIRECT
OPEN
COORD
PAGE
Multi
ENTRY
MAIN
MENU
X-
L-
MANUAL SPEED
Y+
Z-
Z+
8-
8+
B+
E+
T-
SLOW
SHIFT
INTER
LOCK
7
8
9
ROBOT
INFORM
LIST
4
5
EX.AXIS
WELD
ON/OFF
1
2
MOTION
TYPE
0
.
AUX
Y-
Select key
R+
B-
U+
E-
X+
FAST
Z+
U-
X-
R-
L+
Z-
SELECT
ASSIST
HIGH
SPEED
Y+
AREA
CANCEL
SERVO ON
S+
Y-
SERVO
ON
READY
SIMPLE
MENU
X+
S-
Page key
Turn on servo power
Short Cut
Manual speed k
T+
TEST
START
SHIFT
6
BWD
FWD
3
DELETE
INSERT
-
MODIFY
ENTER
Axis keys
Enter key
Numeric keys / Function keys
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2
2.2
Remote Laser
2.2
Operation of Remote Laser with Pendant
Kind of Laser
Kind of Laser
There are some kinds of lasers used by this function.
・Guide light: It is visible light used when the teaching is done. The
welding start point and the welding end point are taught by using the guide
light.
・Cross laser (Laser Head made by TRUMPF): It is visible light used when
focusing it on work. The focal length is adjusted by making the robot go up
and down Z axially and matching Guide laser to the intersection of Cross
laser.
The cross laser can be turned on with [INTER LOCK] and [5] key to the
pendant, and turned off with [INTER LOCK] and [8] key of the pendant.
e laser
ser
・Green pointer (Laser Head made by Y-E DATA) : It is visible light used
when focusing it on work. The focal length is adjusted by making the robot
go up and down Z axially and matching Guide laser to the green pointer.
The green pointer can be turned on with [INTER LOCK] and [5] key to
the pendant, and turned off with [INTER LOCK] and [8] key of the
pendant.
Guide laser
Green pointer
・Welding laser: It is a laser irradiated when actually welding.
※To shirk away from risk, please do not approach the flash coverage of
the laser, and look straight at the laser.
※Please shade when you weld.
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2
2.3
Remote Laser
2.3
Operation of Remote Laser with Pendant
Coordinate System of Laser Head
Coordinate System of Laser Head
Figure of the coordinate system of the laser head is shown.
+Z
-X
+Y
-Y
+X
-Z
※Figure shows the coordinate system of 3D. There is no Z axis in 2D.
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2
2.4
Remote Laser
2.4
Operation of Remote Laser with Pendant
Operation
Operation
The guide light of a remote laser is irradiated to work, and the guide light
can be moved with robot controller's programming pendant.
You should be opening the laser current position screen or the laser
record position screen to move a remote laser.
( ⅰ ) [OPTION] → [LASER CURRENT
POSITION] is selected.
Remote axis coordinates display the
coordinate value of a peculiar coordinate
system of laser head.
Base axis coordinates display the focus
position of a remote laser by the coordinate
value of the base coordinate system for the
robot.
The guide light of a remote laser can be
moved with [INTER LOCK] and [+X], [-X],
[+Y], [-Y], [+Z], [-Z] key of the pendant.
※ The operation by [+Z],[-Z] key is only 3D.
※The range of the operation limit of a
remote laser is described to Chapter 6.
For PFO-3D, DF(defocus) of a remote
laser can be operated with [INTERLOCK]
and [+B], [-B] key of the pendant.
DF(defocus) is a function to adjust the focal
length in the direction of an optical axis of
the laser.
The laser light can be returned to the
starting point with [INTER LOCK] and [6] key
of the pendant.
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3
3.1
Remote Laser
3
Remote Laser Welding Position Registration File
Setting of File
Remote Laser Welding Position Registration File
The remote laser welding position registration file is for registering
welding positions. The laser refer to the remote laser welding position
registration file specified by the RL_ON instruction while the robot is
moving.
The number of remote laser welding position registration file is 100.
40 or less welding lines can be registered in one remote laser welding
position registration file.
3.1
Setting of File
( ⅰ ) [OPTION] → [LASER RECORD POS] is selected.
( ⅱ ) The welding position registration file is selected.
The welding position registration file is from No.001 to
No.100.
( ⅲ ) When the cursor is moved to the registered part
with [Cursor key], and [SELECT] key is pressed, the
welding position registration screen is displayed.
When at least one welding path is registered,
registration status becomes [REGIST].
・When searching for the file number
When the cursor is moved to the part of No. on this
screen, and the [SELECT] key is pressed, the box
where the file number is input is displayed.
・When you clear the registered file
Please refer to section 3.12 “Deletion of File”.
3-1
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3
3.2
Remote Laser
3.2
Remote Laser Welding Position Registration File
Type of Welding Line
Type of Welding Line
40 or less welding lines can be registered in one remote
laser welding position registration file.
Please register the welding position from welding path
No.01 to a small path numerical order.
[WELDING LINE] VALID/INVALID: This welding path is
not executed when invalidating it.
[LASER POWER]: The laser output [W] is set.
[WELDING SPEED]: The welding speed is set.
[DF(defocus)]: The focal length is adjusted in the direction
[Kind of WELDING LINE]:
STRAIGHT: The welding start point and the welding end
point are welded in the straight line.
CIRCLE: The position of the start point (teach) is assumed
to be a center of a circle, and circle is welded by the
specified radius. The welding start position is on the straight
line that connects the welding end point from the welding
start point. If a positive numerical value is input to [RADIUS],
the direction of the welding becomes direction of
counterclockwise. If a negative numerical value is input to
[RADIUS], the direction of the welding becomes direction of
clockwise. Moreover, a circular arc angle can be specified.
Start point(teach)
Direction of weld
Welding start point
Radius
angle
End point(teach)
'C’: The straight line with the semicircle of the specified
radius and the straight line of the specified length are
added to the straight line from the start point (teach) to
the end point (teach).
* C that reversed left figure can be drawn by putting a
negative figure in the radius.
Welding start point
Width
Width
Start point(teach)
Direction of weld
Direction of weld
End point(teach)
Radius
Radius
Start point(teach)
End point(teach)
When a radius is a numerical value of plus
3-2
Width
Width
Welding start point
When a radius is a numerical value of minus
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Remote Laser
3
3.2
Remote Laser Welding Position Registration File
Type of Welding Line
CHARACTER: The alphabet (Capitals A~Z) and the figure
(1~9) are specified. If the cursor is matched to CHARACTER
and [SELECT] key is pushed, it becomes the screen of the
keyboard. Then select one arbitrary character and push
[ENTER] key.
The direction of the character is set by the start point (teach)
and the end point (teach), and the size of the character is set
by LENGTH.
Start point (teach)
α
α
End point (teach)
USER: The arbitrary form created with dedicated
software can be specified. If the cursor is matched to a file
number and the [SELECT] key is pushed, selection of the
number of 1-10 will be attained. Please choose one
arbitrary file number and determine the file which presses
and uses a [ENTER] key. The direction of the character is
set by the start point (teach) and the end point (teach), and
the size of the character is set by LENGTH.
Refer to section 3.15 “How to Load Remote Laser User
File” for how to load the created arbitrary shape.
Please refer to a "User Definition Laser-Welding Locus form
Creation Tool Operation Manual" for the creation method of
arbitrary shape.
Start point (teach)
End point (teach)
α
α
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3
3.3
Remote Laser
3.3
Remote Laser Welding Position Registration File
Registration of Welding Position
Registration of Welding Position
( ⅰ ) The cursor is moved to the welding start point and
the guide light of a remote laser is moved to the
welding beginning point with [INTER LOCK] key and
[+X], [-X], [+Y], [-Y], [+Z], [-Z] key.
( ⅱ ) Afterwards, the position is registered with
[MODIFY] key and [ENTER] key.
The robot and the laser can be moved to the
registered position by pressing [FWD] key
of the pendant when the cursor is on
「START POINT」 or 「END POINT」.
( ⅲ ) The welding end point is registered as well as ( ⅰ )
( ⅱ ).
The displayed position is an orthogonalization value of
the base coordinate system for the robot.
3.4
Setting of Capable Range
Remote laser will weld within "Remote unit Operation limit", if the taught
path enters in "Remote unit Range of welding beginning".
On a remote laser welding position registration screen, the range which
can be welded can be arbitrarily set up for every path.
The numerical value which can be set up is 1-100 [%].
" Remote unit Range of welding beginning " and " Remote unit Operation
limit " which were set up with the S1E parameter are set to 100 [%], and
the range is reduced arbitrarily.
※ Please refer to S1E parameter explanation of Chapter 6 for an S1E
parameter.
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3
3.5
Remote Laser
3.5
Remote Laser Welding Position Registration File
Registration of Timer and Slope Control
Registration of Timer and Slope Control
[START TIMER]: The laser position is maintained
during the specified time at the start position like
laser power OFF, and the welding begins after time
passes.
[END TIMER]: The laser position is maintained
during the specified time at the end position like
laser power ON, and after time passes, it moves to
the next start point.
[WELD ST. SLOPE]: It welds in specified slope time
while raising the laser power from specified start
power to specified laser power.
[WELD ST. SLOPE]: It welds in specified slope time
while raising the laser power from specified start
power to specified laser power.
Please press the [SELECT] key to the pendant and
Laser Power (W)
Welding Laser Power
End Power
Start Power
Time (sec)
Welding Start Position
Slope Time
3-5
Slope Time
Welding Start Position
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3.6
Remote Laser
3.6
Remote Laser Welding Position Registration File
Addition of PATH
Addition of PATH
(ⅰ) When you add a new path before the displayed
path, [EDIT] → [INSERT PATH] is selected on the
screen of the displayed path.
( ⅱ ) When the message of "Welding path is
inserted. Are you all right?" appears in the dialog
box, [YES] is selected.
( ⅲ )A new path is added before the displayed path.
※ Because path that can be registered in one file
is 40, when a new path is added, information on
40th is annulled.
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3.7
Remote Laser
3.7
Remote Laser Welding Position Registration File
Deletion of Path
Deletion of Path
( ⅰ ) When you delete the displayed path, [EDIT] →
[DELETE PATH] is selected on the screen of the
displayed path.
( ⅱ ) When the message of "Welding path is
deleted. Are you all right?" appears in the dialog
box, [YES] is selected.
( ⅲ ) The displayed path is deleted, and the following path advances one by one.(Ex. PATH No.02 →
PATH No.01, PATH No.03 → PATH No.02)
※ Because path that can be registered in one file is
40, when a path is deleted, a new path is added to
40th.
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3.8
Remote Laser
3.8
Remote Laser Welding Position Registration File
Copy of Path
Copy of Path
( ⅰ ) When you copy the displayed path, [EDIT] →
[COPY PATH] is selected on the screen of the displayed path.
( ⅱ )The information on the path currently
displayed is copied.
3.9
Paste of Path
( ⅰ ) When you paste the copied path, the path
screen which you want to paste is opened, and
[EDIT] → [PASTE PATH] is selected on the screen
of the displayed path.
( ⅱ )When the message of "Paste?" appears in
the dialog box, [YES] is selected.
( ⅲ ) The information on the path copied to the path
currently displayed is overwritten.
3-8
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Remote Laser Welding Position Registration File
3.10 Parallel Shift
Remote Laser
3.10
Parallel Shift
( ⅰ ) When the parallel shift of the position of a
path is carried out, [UTILITY] → [PARALLEL
SHIFT] is selected on the screen of the displayed
path.
( ⅱ )A shift amount and range of a path which
performs a parallel shift is inputted, and
[EXECUTE] is chosen.
( ⅲ ) Shift movement of the arbitrary paths in
an open file is carried out.
※ When it is a position which cannot move the
position after a shift, the message of "STEP
exceeding operation range is made" is
displayed, and the mark of "/OV" comes
beside the start point and the end point of the
path. Please reteach the teaching point which
has the "/OV" mark.
3-9
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Remote Laser Welding Position Registration File
3.11 Batch Change of Welding Condition
Remote Laser
3.11
Batch Change of Welding Condition
( ⅰ ) On the screen of SELECT REMOTE LASER
FILE, the cursor is matched to the file that changes
the welded condition, then [EDIT] → [CHANGE
ALL] is selected.
( ⅱ ) The condition that changes is made “OFF” →
“ON”, and the numerical value is changed. Only the
condition that is “ON” can change the numerical
value.
(ⅲ) When the numerical value is input, [EXECUTE]
is pushed. It automatically returns to the screen of
SELECT REMOTE LASER FILE after the
numerical value is changed. At this time, the
condition that is “OFF” is not changed.
※ It returns to the screen of SELECT REMOTE
LASER FILE without doing anything when
“CANCEL“ is pushed.
3-10
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Remote Laser Welding Position Registration File
3.12 Deletion of File
Remote Laser
3.12
Deletion of File
(1) On the screen of SELECT REMOTE LASER
FILE, the cursor is matched to the file to be
deleted, then [EDIT] → [CLEAR FILE] is selected.
(2) When the message of "Welding line is cleared.
Are you all right?" appears in the dialog box, [YES]
is selected.
(3) The content of the file is cleared, and RECORD
STATUS becomes “UNREGIST” → “REGIST”.
3-11
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Remote Laser Welding Position Registration File
3.13 Copy of File
Remote Laser
3.13
Copy of File
( ⅰ ) When you copy the REMOTE LASER FILE,
[EDIT] → [COPY FILE] is selected on the screen of
the SELECT REMOTE LASER FILE.
(ⅱ)The information in a file with a cursor is copied.
3.14
Paste of File
( ⅰ ) When you paste the copied file, a cursor is
matched with the file which you want to paste, and
[EDIT] → [PASTE FILE] is selected on the screen of
the SELECT REMOTE LASER FILE.
( ⅱ )When the message of "Paste?" appears in the
dialog box, [YES] is selected.
( ⅲ )The information on the file copied to the file with
a cursor is overwritten.
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Remote Laser Welding Position Registration File
3.15 How to Load Remote Laser User File
Remote Laser
3.15
How to Load Remote Laser User File
( ⅰ )The CompactFlash containing remote laser user data is inserted in a
programming pendant.
( ⅱ )[EX.MEMORY] → [LOAD] is selected on main menu.
( ⅲ )[FILE/GENERAL DATA] is selected on the screen of EXTERNAL
MEMORY DEVICE.
( ⅳ )Created remote laser user file is loaded, if [REMOTE LASER USER
DATA] is selected and the [ENTER] key is pressed.
3.16
How to Save Remote Laser User File
( ⅰ )The CompactFlash is inserted in a programming pendant.
( ⅱ )[EX.MEMORY] → [SAVE] is selected on main menu.
( ⅲ )[FILE/GENERAL DATA] is selected on the screen of EXTERNAL
MEMORY DEVICE.
( ⅳ )Remote laser user file is saved, if [REMOTE LASER USER DATA] is
selected and the [ENTER] key is pressed.
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4.1
Remote Laser
4
Remote Laser Welding Program
How to Use Macro Instruction
Remote Laser Welding Program
An example of the program which performs remote laser welding is
shown below.
※ The macroscopic name treated in this chapter and the comment of an
argument are examples.
Robot Position①
Macro Instruction
(for Laser ON）
Robot Position ②
Macro Instruction
(for Laser OFF)
※Please perform welding in a
Robot Position②
RL_OF
Robot Position①
RL_ON
RL
4.1
robot's fixed-speed domain as much
as possible.
How to Use Macro Instruction
When using a macro instruction, the [INFORM LST]
key of a pendant is pressed and [MACRO] is
chosen.
RL_ON:Macro Job for laser on
(Welding file call)
RL_OF:Macro Job for laser off
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4.2
Remote Laser
4.2
Remote Laser Welding Program
Macro Instruction for Laser ON
Macro Instruction for Laser ON
PATH_FILE_NO:The file number called at the time
of laser ON(1-100)
PROGRAM_NO:The program number set up with a
laser oscillator.
CONTINUE_FILE_NO: The number of files
continuously called from PATH_FILE_NO.
※The setting range of the number 1-10.
※In the case of a figure, the file of No1-3 is called
by one RL_ON command.
※PROGRAM_NO to input is decided by setup of a
laser oscillator.
Please check a setup of an oscillator.
4.3
Macro Instruction for Laser OFF
Because there is no argument in a RL_OF
command, please write in a program as it is.
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Means to Solve Error
Remote Laser
5
Means to Solve Error
( ⅰ ) For attention at playback
This function generates a positional instruction of laser head
synchronizing with the robot motion. Therefore, it may not be able to
control laser head at the laser irradiation position when the running speed
of the robot is enlarged.
When laser head doesn't reach the irradiation position, the laser power
is set to '0Ｗ’.
In this case, please set the running speed of the robot small.
( ⅱ ) Holding stop during welding section, Restart after emergency stops
○ About the restart when a hold halt is carried out on the way of the
welding section (when it has not ended the welding file),
･ The restart at the stop position continues welding from where the robot
stopped.
･When the robot is moved by operating it from the stop position with JOG,
it also becomes continuance processing.
However, when the laser doesn't reach the welding section because of
moving the robot, it becomes laser power ‘0W’.
○ About the restart when a emergency stop is carried out on the way of
the welding section (when it has not ended the welding file),
･ Welding is not continued even if it carries out a restart.
( ⅲ ) Alarm list
5-1
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Means to Solve Error
Remote Laser
Alarm
Sub
Number Code
Message
Cause
Remedy
5020
The set values(S1E Parameter)
0 ～ 199 Parameter
error [decimal are incorrect. The decimal data
indicates the parameter number of
data]
the value which is incorrect.
Set the sensor parameter (S1E
parameter) to a value within
the range described in the
parameters list.
5050
1 ～ 233 Motion
extension
processing
error [decimal
data]
An interface error occurs in the
laser tracking processing section
and operating section. The
decimal data indicates the type of
error.
An investigation is necessary
at Yaskawa. Contact your
Yaskawa representative about
the situation, alarm number
and alarm data.
5051
1 ～ 201 Skill command
processing
error [decimal
data]
A description error occurs in the
macro instruction. The decimal
data indicates the type of error. An
investigation is necessary at
Yaskawa.
Contact your Yaskawa
representative about the alarm
number, alarm data, name of
macro and content of macro.
5052
**
0 ～ 21
System error A system error occurs in the laser Take measures according to
(laser tracking) tracking processing section. The the following error type.
[decimal data] decimal data indicates the type of
error.
An error occurs in generalpurpose processing for tracking.
The decimal data indicates the
type of error.
Contact your Yaskawa
representative about the alarm
number, alarm data, name of
macro and content of macro.
30
The temperature of the scanner is Confirm if thermal switch of the
too high in NCL01 unit.
YE-DATA scanner side is
normal. Confirm if temperature
of the scanner is not high.
31
A scanner error occurs in NCL01
unit.
Confirm if YE-DATA scanner
work normally by manual axis
operation. Confirm if
temperature of the scanner is
not high. Contact YE-DATA if
the scanner is trouble.
32
A CAN communication error
occurs in NCL01 unit.
Confirm disconnection and
exchange the CAN
communication cable.
Confirm disconnection and
exchange the power cable of
3D scanner.
40
An error of thermal switch 1 on
CAN-LVDS board occurs in the
3D scanner.
Confirm if thermal switch of the
YE-DATA scanner side is
normal. Confirm if temperature
of the scanner is not high
5-2
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Means to Solve Error
Remote Laser
Alarm
Sub
Number Code
5052
5053
41
Message
Cause
Remedy
System error An error of thermal switch 2 on
(laser tracking) CAN-LVDS board occurs in the
[decimal data] 3D scanner.
Confirm if thermal switch of the
YE-DATA scanner side is
normal. Confirm if temperature
of the scanner is not high
42
Confirm if YE-DATA scanner
A x-axis error of galvanomirror
driver occurs on CAN-LVDS board work normally by manual axis
operation. Confirm if
in the 3D scanner.
temperature of the scanner is
not high. Contact YE-DATA, if
the scanner is trouble.
43
Confirm if YE-DATA scanner
A y-axis error of galvanomirror
driver occurs on CAN-LVDS board work normally by manual axis
operation. Confirm if
in the 3D scanner.
temperature of the scanner is
not high. Contact YE-DATA if
the scanner is trouble.
44
Confirm if YE-DATA scanner
A z-axis error of galvanomirror
driver occurs on CAN-LVDS board work normally by manual axis
operation. Confirm if
in the 3D scanner.
temperature of the scanner is
not high. Contact YE-DATA if
the scanner is trouble.
45
A processing error occurs on the
CAN-LVDS board in the 3D
scanner.
**
Laser tracking
processing
error
[decimal data]
Contact your Yaskawa
representative about the alarm
number, alarm data, name of
macro and content of macro.
A tracking processing error occurs Take measures according to
in the remote laser function. The the following error type.
decimal data indicates the type of
error.
20
A number error of Remote Laser The alarm occurs if the file
Welding Position Registration File number is incorrect when the
LASER ON macro instruction
in robot program is executed.
Confirm the file number.
21
Non-registration of Remote Laser Confirm if the file number of
Welding Position Registration File REMOTE LASER ON macro
instruction is right. Confirm if
there is the file.
22
An error of control group of
Remote Laser Welding Position
Registration File
5-3
An investigation is necessary
at Yaskawa. Contact your
Yaskawa representative about
the situation, alarm number
and alarm data.
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Means to Solve Error
Remote Laser
Alarm
Sub
Number Code
5053
Message
Cause
Remedy
23
Laser tracking Time of MEI processing for
loading Remote Laser Welding
processing
Position Registration File is up.
error
[decimal data]
An investigation is necessary
at Yaskawa. Contact your
Yaskawa representative about
the situation, alarm number
and alarm data.
24
An error of MEI processing for
loading Remote Laser Welding
Position Registration File
The alarm occurs if the file
number is incorrect when the
LASER ON macro instruction
in robot program is executed.
There is not the appointed file.
Make a file of the file number.
25
A making error of pass
coordinate?[-vector]
Confirm if the setting of
Remote Laser Welding
Position Registration File is
right.
26
A making error of pass
coordinate?[-vector]
Confirm if the setting of
Remote Laser Welding
Position Registration File is
right.
27
A making error of character
coordinate?[-vector]
Confirm if the setting of
Remote Laser Welding
Position Registration File is
right.
28
A making error of character
coordinate?[-vector]
Confirm if the setting of
Remote Laser Welding
Position Registration File is
right.
33
A loading error of Remote Laser
User File
Confirm if the contents of
Remote Laser User File are
right.
34
Time of loading Remote Laser
User File is up.
Confirm if the contents of
Remote Laser User File are
right.
35
A control group error
Confirm if the contents of
Remote Laser User File are
right.
36
Time of loading tool file is up.
Confirm if the setting of tool
data is right.
37
A loading error of tool file
Confirm if the setting of tool
data is right.
38
An error of the teaching point
starting number
Confirm if the number of
teaching point is right.
39
A number error of continuous
points
Confirm if the number of
teaching points are more than
the number of continuous
points.
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Means to Solve Error
Remote Laser
Alarm
Sub
Number Code
5053
43
Message
Cause
Remedy
Laser tracking A discrepancy between the
sending file and the position
processing
number
error
[decimal data]
Confirm if the file number in
Remote Laser Welding
Position Registration File is
right.
44
Time of getting universal I/O value An investigation is necessary
is up.
at Yaskawa. Contact your
Yaskawa representative about
the situation, alarm number
and alarm data.
45
A getting error of universal I/O
An investigation is necessary
at Yaskawa. Contact your
Yaskawa representative about
the situation, alarm number
and alarm data.
46
The area for universal output
control don't exist.
An investigation is necessary
at Yaskawa. Contact your
Yaskawa representative about
the situation, alarm number
and alarm data.
50
A CAN communication error
during Remote Laser axis
operation
Confirm if the setting of S1E
parameter is right.
51
A CAN communication error
during control of Remote Laser
axis operation
Confirm if the setting of S1E
parameter is right.
52
A CAN communication error
Confirm if the setting of S1E
parameter is right.
53
A CAN communication error when Confirm if the setting of S1E
parameter is right.
laser delay time is sent by the
cleaning function
54
A connect error of CAN
communication
55
Confirm if S1E parameter is
An error of CAN sending
confirmation of remote laser home right.
position
56
Confirm if S1E parameter is
An error of CAN receiving
confirmation of remote laser home right.
position
5-5
Confirm disconnection and
exchange the CAN
communication cable.
Confirm disconnection and
exchange the power cable of
3D scanner.
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Means to Solve Error
Remote Laser
Alarm
Sub
Number Code
5053
Message
Cause
Remedy
57?58 Laser tracking Can't receive CAN communication
from 3D scanner when remote
processing
laser welding is executed.
error
[decimal data]
Confirm disconnection and
exchange the CAN
communication cable.
Confirm disconnection and
exchange the power cable of
3D scanner.
Lengthen receiving wait
time.(S1E175=2→3 ～ msec)
60
A motion specification error
200
The setting for debug is incorrect. Set S1E190 to zero.
5-6
Confirm if the setting of
Remote Laser Welding
Position Registration File is
right.
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6.1
Remote Laser
6
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
SxE Parameter Explanation
6.1
List of SE parameters for remote laser (For Y-E DATA)
（※ ★ depends on the specifications of the laser oscillator.
★★ depends on your facilities. ★★★ depends on the specifications of
the laser scanner.)
S1E Items
0
System
reservation
1
Laser power
input
restrictions
2
10
Contents
Laser power input is
restricted.
Welding speed Welding speed input is
restricted.
input
restrictions
Servo delay
time
It welds in consideration
of the appointed delay
time.
Unit
Default Remark
---
96
[W]
★
6000
[0.1mm/
sec]
40000
[msec]
160
The function is effective only when
S1E046 is zero. The value
depends on model of the robot. It is
not usually necessary to edit the
value because a default value of
S1E46 is one.
※Cannot edit
Input the max laser power of the
oscillator except if you want to
restrict the laser power.
15
The READY flag of the
Check of
HIGHYAG HIGHYAG head status
head READY data is checked.
signal
---
0
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your
facilities.(Output is nothing if the
value is zero.)
16
Universal
output group
number (For
confirming
0byte of
HIGHYAG
head status)
The data[0] of
HIGHYAG head status
massage is printed on
the appointed universal
output.
---
0
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your
facilities.(Output is nothing if the
value is zero.)
17
Universal
output group
number (For
confirming
1byte of
HIGHYAG
head status)
The data[1] of
HIGHYAG head status
massage is printed on
the appointed universal
output.
---
0
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your
facilities.(Output is nothing if the
value is zero.)
6-1
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S1E Items
6
6.1
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
Contents
Unit
Default Remark
18
HIGHYAG
head status
reception
The status message
reception from HIYAG
head is specified.
1: valid
0:
invalid
0
※Set the value depending on the
specifications of your
facilities.(Output is nothing if the
value is zero.)
19
Wait time for
reception of
HIGHYAG
head status
The value is wait time for 1count
[5msec]
reception after
requesting status from
HIGHYAG head.
0
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your
facilities.(Output is nothing if the
value is zero.)
20
Remote unit
range of
welding
beginning : d1
"Remote unit range of
welding beginning" is
restricted. [Y-axis
direction]
[μm]
★★★ The value depends on the
200000 specifications of the laser head.
Set the value depending on the
specifications of the laser head.
Must set "Remote unit range of
welding beginning" narrower than
"Remote unit operation limit".
Moreover, also when you use the
laser head for 2D, must put the
value of about 10 (mm) which is
the depth of focus into S1E22, 23,
26 and 27.
21
Remote unit
range of
welding
beginning : d2
"Remote unit range of
welding beginning" is
restricted. “X-axis
direction”
[μm]
★★★
200000
22
Remote unit
range of
welding
beginning : Z+
"Remote unit range of
welding beginning" is
restricted. (+Z-axis
direction
[μm]
★★★
50000
23
Remote unit
range of
welding
beginning : Z-
"Remote unit range of
welding beginning" is
restricted. (-Z-axis
direction)
[μm]
★★★
-50000
24
Remote unit "Remote unit operation
operation limit limit" is restricted. (Yaxis direction)
: d1
[μm]
★★★
200000
25
Remote unit "Remote unit operation
operation limit limit" is restricted. (Xaxis direction)
: d2
[μm]
★★★
200000
26
Remote unit "Remote unit operation
operation limit limit" is restricted. (+Zaxis direction)
: Z+
[μm]
★★★
50000
27
Remote unit "Remote unit operation
operation limit limit" is restricted. (-Zaxis direction)
: Z-
[μm]
★★★
-50000
28
JOG Feed
distance
[μm/sec]
The value is the guide
light speed at the time of
teaching. (Speed 1)
6-2
1000
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S1E Items
6
6.1
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
Contents
Unit
Default Remark
29
JOG Low
distance
[μm/sec]
The value is the guide
light speed at the time of
teaching. (Speed 2)
1000
30
JOG Middle
distance
[μm/sec]
The value is the guide
light speed at the time of
teaching. (Speed 3)
8000
31
JOG High
distance
[μm/sec] 10000
The value is the guide
light speed at the time of
teaching. (Speed 4)
32
JOG Highspeed
distance
[μm/sec] 10000
The value is the guide
light speed at the time of
teaching. (Speed 5)
39
2D/3D
The scanner is specified
specification for 2D or 3D.
0:3D
1:2D
40
The appointed universal Univers
Universal
al
Output number output is turned on
Output
specification during welding.
number
during welding
45
Laser head for It sets whether the 3D
scanner is CANCAN
communicatio compliant.
n
46
Servo
simulator
★★★ Set the value depends on the
0
specifications of the laser head.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
0:nonco ★★★ YE-DATA 3D scanner:1
1
mpliant
Otherwise:0
1:compli
ant
It welds in consideration
of the delay time.
0:OFF/
1:ON
50
The movement speed to
Welding
the welding starting
starting
position move point is restricted.
speed limit
[μm/
msec]
51
Universal
Output number
for the laser
pointer
The laser pointer is
turned on if the
appointed Universal
Output is turned on.
Univers
al output
number
0
※Set the value depend on your
facilities. “Output is nothing if the
value is zero.”
52
Universal
Output number
for the alarms
outside a
working range
The appointed Universal Univers
Output is turned on if it al output
comes outside a working number
range during welding.
0
※Set the value depend on your
facilities. “Output is nothing if the
value is zero.”
53
Universal
Output group
number for the
alarms outside
a working
range
The path number which Univers
al output
is outside a working
group
range is printed on the
number
appointed universal
output group.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
6-3
1
★★★ Set the value depends on the
4000 specifications of the laser head.
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S1E Items
6
6.1
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
Contents
Unit
Default Remark
54
Universal
Output number
for the alarms
outside a start
range
The appointed universal Univers
al output
output is turn on if
welding starting point is number
out of the start range.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
55
Universal
Output group
number for the
alarms outside
a start range
The path number which Univers
is outside a start range al output
group
is printed on the
number
appointed universal
output group.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
56
Universal
output number
at the time of
laser OFF
The appointed universal Univers
al output
output is turned on if
laser OFF command is number
executed.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
57 Universal input
number for
correcting
laser power
The laser power is
corrected if the
appointed universal
input is turned on.
universa
l input
number
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
58
Register
number for
laser power
correction
factor
M
The value is the register
number for laser power register
number
correction factor.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
59
Register
number for
laser power
M
The laser power is
printed on the appointed register
number
universal register.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
60
The direction
operation limit
of Z+:h1(Y
coordinate)
The operation limit of the
laser light is
restricted.(+Z-axis
direction)
[μm]
61
The direction
operation limit
of Z+:h2(X
coordinate)
The operation limit of the
laser light is
restricted.(+Z-axis
direction)
[μm]
62
The direction The operation limit of the
operation limit laser light is restricted.(Z-axis direction)
of Z-:l1(Y
coordinate)
[μm]
★★★
200000
63
The direction The operation limit of the
operation limit laser light is restricted.(Z-axis direction)
of Z-:l2(X
coordinate)
[μm]
★★★
200000
[msec]
0
64
AliveTime
The time of AliveTime is
set to TRUMPF
TRUEDISK.
6-4
★★★ Set the value depend on the
200000 specifications of the laser head.
(The shape of operation limit is a
cylinder if the values are zero. The
shape of operation limit is a
truncated cone if the values are not
zero.)
★★★
200000
The parameter is for TRUMPF
TRUEDISK. Alive Time function is
invalid if the value is zero.
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Remote Laser
S1E Items
6
6.1
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
Contents
Unit
66
Welding working range
Welding
working range monitoring method is
monitoring set.
method
67
The laser pointer control 0:OFF
Laser
continuation of test operation is set. 1:Contin
uation
specification
for uniting the
focal length at
the time of test
operation
72
Starting point
operation
specification
when
laser pointer
is ON
The guide light is
operated to starting
point when laser pointer
is ON.
73 Welding speed The welding speed is
control at the restricted at the time of
time of test test operation.
operation
0:Only
start
point
1:Path
whole
Default Remark
1
Only line, circle and letter C are
valid.
1
0:OFF
1:ON
0
[%]
0
76
HIGHYAG It supports HIGHYAG
scanner.
scanner
specification
0:Invalid ★★★ HIGHYAG scanner:1, Otherwise: 0
0
1:Valid
77
The alarm reception
Alarm
from NCL01 unit and
reception
specification scanner is set.
0:Invalid
1:Valid
1
78
Laser power The laser power output
output ceiling ceiling value is specified.
value
[W]
0
The ceiling is nothing if the value is
zero.
The laser power input is restricted
by the value of S1E001.
79
Universal
Output number
for a laser
power
maximum
check
The appointed universal Univers
output is turned on if the al output
laser power exceeds the number
value of S1E078.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
80
Universal
Output group
number for a
laser power
maximum
check
The path number which Univers
al output
exceeds laser power
group
maximum is printed on
the appointed universal number
output group.
0
※Set the value depend on your
facilities. (Output is nothing if the
value is zero.)
85
Welding point All welding point is
correction (X- corrected. (X-axis
axis direction) direction)
[0.1mm]
0
6-5
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S1E Items
6
6.1
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
Contents
Unit
Default Remark
86
Welding point All welding point is
correction (Y- corrected. (Y-axis
axis direction) direction)
[0.1mm]
0
87
Welding point All welding point is
correction (Z- corrected. (Z-axis
axis direction) direction)
[0.1mm]
0
88
System
reservation
89
The welding
time limit of
one path
93
Rate control
specification at
the time of test
operation
95
0
The welding time of one
path is restricted.
[msec]
5000
Welding speed is
restricted according to
the robot speed limit
ratio at the time of test
operation.
1:Valid
0
Welding after Rewelding after
emergency emergency is specified.
stop and alarm
0Invalid
1Valid
1
96
CAN communication
CAN
communicatio between DX100 and
laser head is confirmed.
n check
[msec]
5
99
0:No
Starting point The laser unit operation
operatio
when welding ends is
operation
n
specification specified.
1:Startin
when welding
g point
ends
operatio
n
The check is invalid if the value is
zero.
0
211 X degree data The value is used at the
transformation time of operation.
factor
0.01
291270 For YE-DATA scanner
212 Y degree data The value is used at the
transformation time of operation.
factor
0.01
291270 For YE-DATA scanner
213 Z degree data The value is used at the
transformation time of operation.
factor
0.01
145635 For YE-DATA scanner
214
Oscillator
maximum
power
The value is maximum
power for CAN-DAC
NCL01 unit.
[W]
6-6
★
6000
Oscillator maximum power
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S1E Items
215
6
6.1
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
Contents
The value is maximum
Maximum
analog voltage analog voltage from
CAN-DAC unit.
related to
oscillator
maximum
power
Unit
[V]
Default Remark
★
10
The maximum analog input voltage
of oscillator laser power
216
X-axis focal
length
The value is used at the [0.1mm]
time of operation.
3730
For YE-DATA scanner
217
Y-axis focal
length
The value is used at the [0.1mm]
time of operation.
3730
For YE-DATA scanner
218 3D head dist4 The value is used at the
time of operation.
0.1
380
For YE-DATA scanner
219 3D head dist5 The value is used at the
time of operation.
0.1
5953
For YE-DATA scanner
220
X-axis mirror The value is used at the
time of operation.
operation
angle
calculation
factor
0.001
2000
For YE-DATA scanner
221
Y-axis mirror The value is used at the
time of operation.
operation
angle
calculation
factor
0.001
2000
For YE-DATA scanner
222
Galvano
maximum
operation
angle(X)
The value is maximum
operation angle of Xaxis mirror.
51700 For YE-DATA scanner
223
Galvano
minimum
operation
angle(X)
The value is minimum
operation angle of Xaxis mirror.
13836 For YE-DATA scanner
224
Galvano
maximum
operation
angle(Y)
The value is maximum
operation angle of Yaxis mirror.
51700 For YE-DATA scanner
225
Galvano
minimum
operation
angle(Y)
The value is minimum
operation angle of Yaxis mirror.
13836 For YE-DATA scanner
226
Galvano
maximum
operation
angle(Z)
The value is maximum
operation angle of Z-axis
mirror.
61895 For YE-DATA scanner
227
Galvano
minimum
operation
angle(Z)
The value is minimum
operation angle of Z-axis
mirror.
3641
6-7
For YE-DATA scanner
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Remote Laser
6
6.1
SxE Parameter Explanation
List of SE parameters for remote laser (For Y-E DATA)
S1E Items
Contents
Unit
228
Operation
method
Operation method is
specified.
1:3D
standar
d
230
Z-axis factor
1(integer)
The value is used at the
time of operation.
231
Z-axis factor
1(decimal)
The value is used at the
time of operation.
232
Z-axis factor
2(integer)
The value is used at the
time of operation.
233
Z-axis factor
2(decimal)
The value is used at the
time of operation.
234
Z-axis factor
3(integer)
The value is used at the
time of operation.
235
Z-axis factor
3(decimal)
The value is used at the
time of operation.
239
Alarm invalid The alarm of the laser
bit
head is invalidated
individually.
240
The alarm reception of
Alarm
reception from the laser head is
specified.
the board
Default Remark
1
For YE-DATA scanner
-651586 For YE-DATA scanner
10
For YE-DATA scanner
414003 For YE-DATA scanner
04
9
For YE-DATA scanner
872664 For YE-DATA scanner
626
10
For YE-DATA scanner
D0:Ther
mostat1,
D1:Ther
mostat2,
D2:X,3:
Y,4:Z
0
For YE-DATA scanner
0Invalid
1Valid
1
For YE-DATA scanner
241
Parameter
data endian
conversion
The value is used at the
time of operation.
1:Valid
0
For YE-DATA scanner
242
Position data The value is used at the
time of operation.
endian
conversion
1:Valid
0
For YE-DATA scanner
243
X-axis sign
inversion
The value is used at the
time of operation.
1:Valid
1
For YE-DATA scanner
244
Y-axis sign
inversion
The value is used at the
time of operation.
1:Valid
0
For YE-DATA scanner
245
Z-axis sign
inversion
The value is used at the
time of operation.
1:Valid
1
For YE-DATA scanner
Defocus sign The value is used at the
inversion
time of operation.
1:Valid
1
For YE-DATA scanner
246
6-8
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6.2
Remote Laser
6.2
S1
E
Items
SxE Parameter Explanation
The parameters with the need to be reset for TRUMPF
The parameters with the need to be reset for TRUMPF
Contents
Unit
Default Remarks
Reference
***
Input the max laser power of the
(6000) oscillator except if you want to
restrict the laser power.
Laser power input is
restricted.
[W]
Remote unit
range of
welding
beginning : d1
"Remote unit range of
welding beginning" is
restricted. (Y-axis
direction)
[μm]
The value depends on the
***
(180000 specifications of the laser head. Set
the value depending on the
)
specifications of the laser head.
Must set "Remote unit range of
welding beginning" narrower than
"Remote unit operation limit".
Moreover, also when you use the
laser head for 2D, must put the
value of about 10 (mm) which is the
depth of focus into S1E22, 23, 26
and 27.
21
Remote unit
range of
welding
beginning : d2
"Remote unit range of
welding beginning" is
restricted. (X-axis
direction)
[μm]
***
(50000)
22
Remote unit
range of
welding
beginning : Z+
"Remote unit range of
welding beginning" is
restricted. (+Z-axis
direction)
[μm]
***
(30000)
23
Remote unit
range of
welding
beginning : Z-
"Remote unit range of
welding beginning" is
restricted. (-Z-axis
direction)
[μm]
***
(-30000)
24
Remote unit "Remote unit operation
operation limit limit" is restricted. (Yaxis direction)
: d1
[μm]
***
(240000
)
25
Remote unit "Remote unit operation
operation limit limit" is restricted. (Xaxis direction)
: d2
[μm]
***
(140000
)
26
Remote unit "Remote unit operation
operation limit limit" is restricted. (+Zaxis direction)
: Z+
[μm]
***
(40000)
27
Remote unit "Remote unit operation
operation limit limit" is restricted. (-Zaxis direction)
: Z-
[μm]
***
(-40000)
0:3D
1:2D
0
1
Laser power
input
restrictions
20
39
2D/3D
specification
The scanner is specified
for 2D or 3D.
6-9
Set the value depends on the
specifications of the laser head.
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S1
E
Items
6
6.2
SxE Parameter Explanation
The parameters with the need to be reset for TRUMPF
Contents
45 Laser head for It sets whether the 3D
scanner is CANCAN
communicatio compliant.
n
Unit
0:nonco
mpliant
1:compli
ant
[μm/
msec]
Default Remarks
Reference
0
***
Set the value depends on the
(4000) specifications of the laser head.
50
The movement speed to
Welding
the welding starting
starting
position move point is restricted.
speed limit
60
The direction
operation limit
of Z+:h1(Y
coordinate)
The operation limit of the
laser light is
restricted.(+Z-axis
direction?
[μm]
0
61
The direction
operation limit
of Z+:h2(X
coordinate)
The operation limit of the
laser light is
restricted.(+Z-axis
direction)
[μm]
0
62
The direction
operation limit
of Z-:l1(Y
coordinate)
The operation limit of the
laser light is
restricted.(+Z-axis
direction)
[μm]
0
63
The direction
operation limit
of Z-:l2(X
coordinate)
The operation limit of the
laser light is
restricted.(+Z-axis
direction)
[μm]
0
67
The laser pointer control 0:OFF
Laser
continuation of test operation is set. 1:Contin
uation
specification
for uniting the
focal length at
the time of test
operation
0
77
The alarm reception
Alarm
from NCL01 unit and
reception
specification scanner is set.
0:Invalid
1:Valid
0
99
0:No
Starting point The laser unit operation
operatio
when welding ends is
operation
n
specification specified.
1:Startin
when welding
g point
ends
operatio
n
1
6-10
YE-DATA 3D scanner:1
Otherwise:0
Set the value depend on the
specifications of the laser head.
(The shape of operation limit is a
cylinder if the values are zero. The
shape of operation limit is a
truncated cone if the values are not
zero.)
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6
6.3
Remote Laser
6.3
SIE Items
SxE Parameter Explanation
The parameters with the need to be reset for HIGHYAG
The parameters with the need to be reset for HIGHYAG
Contents
Laser power input is
restricted.
Unit
[W]
Default Remarks
(Reference
***
Input the max laser power of the
(6000) oscillator except if you want to
restrict the laser power.
1
Laser power
input
restrictions
15
The READY flag of the
Check of
HIGHYAG HIGHYAG head status
head READY data is checked.
signal
---
***
(0)
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your facilities.
16
Universal
Output Grp
number (For
confirming
0byte of
HIGHYAG
head status)
The data[0] of
HIGHYAG head status
massage is printed on
the appointed universal
output.
---
***
(0)
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your
facilities.(Output is nothing if the
value is zero.)
17
Universal
Output Grp
number (For
confirming
1byte of
HIGHYAG
head status)
The data[1] of
HIGHYAG head status
massage is printed on
the appointed universal
output.
---
***
(0)
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your
facilities.(Output is nothing if the
value is zero.)
18
HIGHYAG
head status
reception
The status message
reception from HIYAG
head is specified.
1:valid
0:invalid
***
(0)
※Set the value depending on the
specifications of your facilities.
19
Wait time for
reception of
HIGHYAG
head status
The value is wait time for 1count
[5msec]
reception after
requesting status from
HIGHYAG head.
***
(0)
The function is valid if S1E18 is
one.
※Set the value depending on the
specifications of your facilities.
20
Remote unit
range of
welding
beginning : d1
"Remote unit range of
welding beginning" is
restricted. (Y-axis
direction)
[μm]
The value depends on the
***
(180000 specifications of the laser head. Set
the value depending on the
)
specifications of the laser head.
Must set "Remote unit range of
welding beginning" narrower than
"Remote unit operation limit".
Moreover, also when you use the
laser head for 2D, must put the
value of about 10 (mm) which is the
depth of focus into S1E22, 23, 26
and 27.
21
Remote unit
range of
welding
beginning : d2
"Remote unit range of
welding beginning" is
restricted. (X-axis
direction)
[μm]
***
(50000)
6-11
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Remote Laser
SIE Items
6
6.3
SxE Parameter Explanation
The parameters with the need to be reset for HIGHYAG
Contents
Unit
Default Remarks
(Reference
22
Remote unit
range of
welding
beginning : Z+
"Remote unit range of
welding beginning" is
restricted. (+Z-axis
direction)
[μm]
***
(30000)
23
Remote unit
range of
welding
beginning : Z-
"Remote unit range of
welding beginning" is
restricted. (-Z-axis
direction)
[μm]
***
(-30000)
24
Remote unit "Remote unit operation
operation limit limit" is restricted. (Yaxis direction)
: d1
[μm]
***
(240000
)
25
Remote unit "Remote unit operation
operation limit limit" is restricted. (Xaxis direction)
: d2
[μm]
***
(140000
)
26
Remote unit "Remote unit operation
operation limit limit" is restricted. (+Zaxis direction)
: Z+
[μm]
***
(40000)
27
Remote unit "Remote unit operation
operation limit limit" is restricted. (-Zaxis direction)
: Z-
[μm]
***
(-40000)
39
The scanner is specified
2D/3D
specification for 2D or 3D.
0:3D
1:2D
0
Set the value depends on the
specifications of the laser head.
45
Laser head It sets whether the 3D 0:nonco
mpliant
scanner is CANfor CAN
1:compli
communicati compliant.
ant
on
0
YE-DATA 3D scanner:1
Otherwise:0
50
The movement speed to
Welding
the welding starting
starting
position move point is restricted.
speed limit
60 The direction The operation limit of the
operation laser light is
restricted.(+Z-axis
limit of
direction)
Z+:h1(Y
[μm/
msec]
***
Set the value depends on the
(4000) specifications of the laser head.
[μm]
0
[μm]
0
coordinate)
61
The direction The operation limit of the
operation limit laser light is restricted.
of Z+:h2(X (+Z-axis direction)
coordinate)
6-12
Set the value depend on the
specifications of the laser head.
(The shape of operation limit is a
cylinder if the values are zero. The
shape of operation limit is a
truncated cone if the values are not
zero.)
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6.3
Remote Laser
SIE Items
SxE Parameter Explanation
The parameters with the need to be reset for HIGHYAG
Contents
Unit
Default Remarks
(Reference
62
The direction The operation limit of the
operation limit laser light is restricted.(Z-axis direction)
of Z-:l1(Y
coordinate)
[μm]
0
63
The direction The operation limit of the
operation limit laser light is restricted.(Z-axis direction)
of Z-:l2(X
coordinate)
[μm]
0
67
The laser pointer control 0:OFF
Laser
continuation of test operation is set. 1:Contin
uation
specification
for uniting the
focal length at
the time of test
operation
0
76
HIGHYAG
scanner
specification
It supports HIGHYAG
scanner.
0:Invalid
1:Valid
1
77
Alarm
reception
specification
The alarm reception
from NCL01 unit and
scanner is set.
0:Invalid
1:Valid
0
99
0:No
Starting point The laser unit operation
operatio
when welding ends is
operation
n
specification specified.
1:Startin
when welding
g point
ends
operatio
n
1
HIGHYAG scanner:1 Otherwise:0
Remote Laser unit ：Y coordinates
d1
d2
CAUTION
Remote Laser unit ：X coordinates
・When you change the value of an S1E parameter, please set to a
number carefully.
If a numerical value is changed indiscriminately, it may not
operate correctly.
6-13
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DX200
Remote Laser FUNCTION
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
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone +46-480-417-800
Fax +46-480-417-999
YASKAWA Electric (China) Co., Ltd.
22/F 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 Co., Ltd
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Phone +82-2-784-7844
Fax +82-2-784-8495
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12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333
Fax +886-2-8913-1513
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Phone +65-6282-3003
Fax +65-6289-3003
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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.
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