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DX100 9 General Purpose Application
9.1 Simplified Teaching and Playback
9.1.3.3 Confirmation of Cutting Operation (Speed Limitation Drive)
The speed limitation drive is executed to confirm the taught path. All the operations operate below the limitation speed during teach mode (250mm/s usually) in the speed limitation drive. If the taught speed is below the limitation speed, the operation is executed at the same speed as the teaching procedure.
1. Switch the mode switch on the programming pendant to “PLAY.”
REMOTE
REMOTE PLAY TEACH
PLAY
TEACH
REMOTE
PLAY
TEACH
2. Select {UTILITY} and {SETUP SPECIAL RUN}.
The SPECIAL PLAY window appears.
3. Move the cursor to the “SPEED LIMIT” setting and press [SELECT]. The condition becomes
“VALID” and the speed limit is turned ON.
SELECT
Cutting Execution
Once the path has been determined, cutting is finally executed at actual speed. If the job is played back with the speed limitation drive disabled, cutting is executed at taught speed.
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9 General Purpose Application
9.2 Operation for Tool Control
9.2
Operation for Tool Control
The function keys for tool control are assigned to the Numeric keys as described below.
7 8 9
4 5 6
1
0
MANUAL
OPEN
2
TOOL ON
.
TOOL OF
3
TOOL ON
JOB
-
TOOL OF
JOB
2
TOOL ON
.
TOOL OF
Registers the TOOLON instruction.
If [INTERLOCK] is pressed simultaneously, the TOOLON operation is executed.
Registers the TOOLOF instruction.
If [INTERLOCK] is pressed simultaneously, the
TOOLOFF operation is executed.
Registers the CALL instruction for the reserved job
TOOLONxx.
3
TOOL ON
JOB
-
TOOL OF
JOB
Registers the CALL instruction for the reserved job
TOOLOFxx.
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DX100 9 General Purpose Application
9.2 Operation for Tool Control
9.2.2 Tool Control Settings
The following setting can be performed on the GENERAL DIAGNOSIS window .
1. Select {GENERAL} under the main menu.
2. Select {GENERAL DIAGNOSIS}.
– The GENERAL DIAGNOSIS window appears.
– Select "CONT" to continue the work operation when the manipulator is restarted after it abort for any reason during the work operation.
Select "STOP" to abort the work operation if the manipulator stops.
When the manipulator is restarted, it moves without doing any work.
Use the work start command to restart the work instruction.
3. Select the setting data of "WORKING ABORT PROCESS."
– Each time [SELECT] is pressed, "CONT" and "STOP" is alternately displayed. The displaying state is the current setting.
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9.2 Operation for Tool Control
1. These instructions are to perform TOOLON/TOOLOFF. The function keys are [TOOLON] and [TOOLOF].
TOOLON
2
TOOL ON
TOOLOF
.
TOOL OF
1. Select {JOB} under the main menu.
2. Select {JOB}.
3. Press [TOOLON] or [TOOLOF].
– The TOOLON or TOOLOF instruction is displayed in the input buffer line. Or press [INFORM LIST] to display the instruction box and select the TOOLON/TOOLOF instruction.
TOOLON
– TOOLON
Turns ON the work instruction.
Turns ON the work start command (system output relay #51530) and waits for the work start response (system input relay #41130).
The next instruction is executed when the work response turns ON.
The work start response relay turns ON immediately after the work start command is output.
– TOOLOF
Turns OFF the work instruction.
Turns ON the work end command (system output relay #51531) and waits for the work end response (system input relay #41131).
The next instruction is executed when the work end response turns
ON.
The work end response relay turns ON immediately after the work end command is output. The work instruction is programmed to hold after the work start command turns ON and to turn OFF when the work end command turns ON.
When the manipulator stops during the work operation, the work instruction turns OFF.
When restarting, turn ON the work instruction when "WORKING
ABORT PROCESS" is set to "CONT." Do not turn OFF the work instruction when "STOP" is set.
WORK START WORK END INHB WORK CONT #70040
WORK INST
HOLD
WORK START
WORK END
WORK START
RESPONSE
WORK END
RESPONSE
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9.2 Operation for Tool Control
4. Press [INSERT].
5. Press [ENTER].
This instruction calls a reserved job TOOLONxx or TOOLOFxx. The function keys for registration are [TOOLON JOB] and [TOOLOF
JOB].
1. Select {JOB} under the main menu.
2. Select {JOB}.
3. Press [TOOLON JOB] or [TOOLOF JOB].
– The CALL instruction is displayed in the input buffer line.
CALL JOB:TOOLON
4. Select the job name.
– The JOB LIST window appears.
5. Press [SELECT].
– The window for character input appears.
The job name can now be changed. Modify the job name and press
[ENTER].
6. Press [INSERT].
7. Press [ENTER].
This instruction starts the weaving motion. Specify conditions in the weaving condition file when registering the WVON instruction .
1. Select {JOB} under the main menu.
2. Select {JOB}.
3. Press [INFORM LIST].
4. Select the WVON instruction.
– The WVON instruction is displayed in the input buffer line.
WVON WEV#(1)
– To register the instruction displayed in the input buffer line without editing, press [INSERT] and then press [ENTER].
5. Select the file number and edit.
– The input line is displayed.
Weaving_file_no.
=
WVON WEV#( ) ON
– Input weaving file number using the Numeric keys and press
[ENTER]. (In the following example, 2 is entered.)
WVON WEV#( 2 )
6. Press [INSERT].
7. Press [ENTER].
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9.2 Operation for Tool Control
This instruction ends the weaving motion.
1. Select {JOB} under the main menu.
2. Select {JOB}.
3. Press [INFORM LIST].
4. Select the WVOF instruction.
– The WVOF instruction is displayed in the input buffer line.
WVOF
5. Press [INSERT].
6. Press [ENTER].
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9.3 Using Files
9.3
Using Files
9.3.1 Weaving Basic Coordinate System
Weaving is performed based on the following coordinate system. This coordinate system is automatically generated according to the conditions described in a weaving condition file.
Wall direction
Direction of travel
Horizontal direction
Weaving Basic Coordinate System
Wall Direction: Z-direction of the robot axis
Horizontal Direction: The direction of approach point from the wall
Direction of Travel: The direction in which the manipulator moves from the weaving start point to the end point
SUPPLE-
MENT
The approach point is a point indicated by a step immediately before the step where weaving starts.
Z-axis
Wall direction
Approach point
Horizontal direction
NOTE
Depending on the mounting and shape of the workpiece, a definition of the above coordinate system may not be sufficient to generate a weaving pattern. In that case, register the reference point REFP1 or REFP2. For details,
refer to section 9.3.3.3 “Cases that Require the Registration of Reference Points” on page 9-34 “.
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9.3 Using Files
9.3.2 WEAVING CONDITION Window
(6)
(7)
(8)
(1)
(2)
(3)
(4)
(5)
0 : Single
oscillation
WEAVING CONDITION Window
(1) WEAVING COND NO. (1 to 255)
– Displays a weaving condition file number.
(2) MODE (Weave type)
– There are three weave type: single oscillation, triangle oscillation, and L-type oscillation. Each type can be specified with or without smoothing.
0: With smoothing
2 : L-type
oscillation
1: Without smoothing
1 : Triangle
oscillation
Weave Type Smoothing
(3) SPEED
– Specifies how the oscillation speed is defined.
0: Defined by the frequency.
1: Defined by the weaving time for each weaving section.
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9.3 Using Files
(4) FREQUENCY
– Specifies the weaving frequency if “SPEED (3)” is set to “0: FREQ.”
Note that the maximum frequency is determined by the amplitude as illustrated in the graph below. Specify a frequency within the allowable range. Note that the graph only indicates tentative values.
Amplitude
(mm)
60
50
40
30
20
10
0 12345
Frequency(Hz)
Maximum Frequencies for Different Amplitudes
(5) PATTERN
– If “MODE (2)” is set to “0: SINGL,” the angle must be specified.
Wall direction
Angle
Horizontal direction
Angle : 0.1 to 180.0
°
"Mode " (Weave Type): Single oscillation
– If “MODE (2)” is set to “1: TRI” or “2: L”, the following information on the triangle must be specified: vertical distance, horizontal distance, and angle.
Wall direction
Vertical distance
Angle
Angle: 0.1 to 180.0
°
Vertical/horizontal distance:
1.0 to 25.0mm
Horizontal direction
Horizontal distance
"Mode " (Weave Type): Triangle or
L-type oscillation
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9.3 Using Files
(6) ANGLE
– The oscillation angle as measured from the weld line.
– Range: from - 90(deg.) to + 90(deg)
Direction of travel
View A
Angle
0 °
-
+
Angle
View A
(7) TIMER (Timer mode)
– As shown below, a single weaving period is divided into three or four sections. A timer count can be specified for pauses at a point (node) between sections. (The circled number indicates section number.)
Wall direction Wall direction
Single oscillation
Horizontal direction
Horizontal direction
Triangle oscillation
Set one of the following timer modes:
Wall direction
L-type oscillation
Horizontal direction
0 : Weaving stops but manipulator moves.
1 : Manipulator pauses.
0: Weaving stops but manipulator moves.
1: Manipulator pauses.
(8) TIMER (Timer count)
– If “Speed (3) is set to “1: MOVING TIME,” a timer count specified here determines the duration of a pause (weaving stop or manipulator pause) at a mode between two sections of (8).
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9.3 Using Files
9.3.3.1 Displaying a Weaving File
1. Select {ARC WELDING} under the main menu.
2. Select {WEAVING}.
3. Display the desired file number.
– The weaving condition file can be displayed using the page key
GO BACK .
PAGE
Press the page key
GO BACK
to call the next file number.
PAGE
Press [SHIFT]+ page key GO BACK to call the previous file number.
PAGE
Press the page key to input the desired file number, then press enter key.
9.3.3.2 Editing Condition Data
1. Select the item to be edited.
2. Input the value using the Numeric keys.
9.3.3.3 Cases that Require the Registration of Reference Points
The registration of the reference point REFP1 or REFP2 is not usually required. They are required only with a special workpiece condition, etc.
The REFP1, which defines the wall direction, is a point on the wall surface or its expansion plane. The REFP2, which defines the horizontal direction, is a point at the right or left side of the wall.
REFP1
On the wall surface or its expansion plane
Wall
REFP1
REFP2
At the right or left side of the wall
Wall
REFP2
Wall direction
REFP1
Direction of travel
Wall direction
REFP2
Direction of travel
Horizontal direction
SUPPLE-
MENT
For information on registering REFP, refer to section 3.2.3.2
“Registering Reference Point Instructions” on page 3-18 .
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9.3 Using Files
< Example 1 > REFP1 is registered because the wall direction is not parallel to the Z-axis of the robot coordinate.
Z-axis
Wall direction
REFP1
Example
003
004
005
006
007
MOVL V=120
WVON WEV#(1)
REFP 1
MOVL V=50
WVOF
< Example 2 > REFP2 is registered because the approach point is at another side of the wall.
Example
Approach point
Wall
Approach point
REFP2
009 MOVJ VJ=25.00
010
011
012
MOVL V=120.0
WVON WEV#(1)
REFP 2
MOVL V=16.7
WVOF
If the weaving instruction is registered during the check mode of the play mode or “TEST RUN” or FWD operation in the teach mode, weaving is executed as well as other move instructions. However, in some cases when weaving is not wanted because of a workpiece collides, etc., follow the procedure below to prohibit weaving.
9.3.3.5 Method to Prohibit Weaving in the Check Mode
1. Press [AREA].
2. Select {UTILITY}.
3. Select {SPECIAL PLAY}.
4. Select prohibit weaving during the check mode.
– The SPECIAL PLAY window appears.
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9.3 Using Files
9.3.3.6 Method to Prohibit Weaving During a “TEST RUN” or FWD Operation
1. Press [AREA].
2. Select {UTILITY}.
3. Select {SPECIAL TEACH}.
4. Select prohibit weaving during the FWD/TEST RUN operation.
– The SPECIAL TEACH window appears.
The system input signal #40047 is used.
The system input signal can prohibit weaving at any time during a play operation, regardless of whether or not it is in a check mode.
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9 General Purpose Application
9.4 Table of Work Instructions
9.4
Table of Work Instructions
• < > indicates alpha-numerical data.
• If multiple items are shown in one additional item section, select one.
Table 9-1: General-purpose Instructions
Function Turns ON work tools (work instructions).
TOOLON
Additional
Item
TOOL1, TOOL2
Displayed only when using multiple manipulators.
TOOLOF
Example TOOLON
Function Turns OFF work tools (work instructions).
Additional
Item
TOOL1, TOOL2
Displayed only when using multiple manipulators.
Example TOOLOF
WVON
WVOF
Function Starts weaving.
Additional
Item
RB1, RB2
WEV#(<weaving condition file number>)
Example WVON WEV# (1)
Displayed only when using multiple manipulators.
1 to 255
Function Ends weaving.
Displayed only when using multiple manipulators.
Additional
Item
RB1, RB2
None
Example WVOF
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DX100 10 Handling Application
10.1 Outlines
10 Handling Application
10.1
Outlines
7
4
8
f 5
5
f 3
9
f 6
6
f 4
1
0
REFP
2
f 1
.
TOOL1
ON/OFF
3
f 2
-
TOOL2
ON/OFF
2
.
Table 10-1: Key Function f 1
TOOL1
ON/OFF
3
f 2
TOOL2
ON/OFF
Switches the signal output of [f•1] and [f•2] ON and OFF when [INTERLOCK] is simultaneously pressed. "1" side gripper valve signals (HAND 1-1 to HAND 4-1 ) can be allocated to [f•1] and "2" side gripper valve signals
(HAND 1-2 to HAND 4-2) can be allocated to [f•2].
Alternatively, user signals can be allocated to the keys.
The key allocations can be changed from the HANDLING window or by changing the AP parameters directly.
Switches gripper 1 (HAND 1-1/HAND 1-2) output or the gripper 2 (HAND 2-1/HAND 2-2) output ON and OFF when [INTERLOCK] is simultaneously pressed. The output signal is a double-solenoid-type signal.
Also, press these keys during editing on the JOB
CONTENT window in the teach mode to register the
HAND instructions.
Not used.
8
f 5
9
f 6
5
f 3
6
f 4
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