YASKAWA DX100 Instructions Manual
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YASKAWA DX100 Instructions Manual

For laser-tracking function: motoeye-lt
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DX100 OPTIONS
INSTRUCTIONS
FOR LASER-TRACKING FUNCTION: MOTOEYE-LT
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain
for future reference.
MOTOMAN INSTRUCTIONS
DX100 INSTRUCTIONS
DX100 OPERATOR'S MANUAL
DX100 MAINTENANCE MANUAL
The DX100 operator's manual above corresponds to specific usage.
Be sure to use the appropriate manual.
Part Number:
164276-1CD
Revision:
0
MANUAL NO.
HW1481577
1/92
0
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Summary of Contents for YASKAWA DX100

  • Page 1 Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain for future reference. MOTOMAN INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual. Part Number: 164276-1CD Revision: MANUAL NO.
  • Page 2 If such modification is made, the manual number will also be revised. • If the 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.
  • Page 3 HW1481577 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,” “MANDATORY,” or “PROHIBITED.” Indicates a potentially hazardous situation which, if not WARNING avoided, could result in death or serious injury to personnel.
  • Page 4 Injury may res during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of front door of the DX100 and the programming pendant. HW1481577 - iv -...
  • Page 5 • DX100 MOTOEYE-LT function uses the laser sensor manufactured by Servo-Robot, Inc. whose power is classified into Class 3B. The laser beam emitted from the laser has a high power density, and could harm the human body even in small amounts. In Japan, in order to prevent injuries to operators of the laser products, guidelines based on the standard of International Electrotechnical Commission (IEC), “Safety of laser products”...
  • Page 6 HW1481577 The outline of the classification is as follows. Class Outline of risk evaluation Class 1 Essentially safe in design Class 1M Low output (wavelength: 302.5 to 4000 nm) Safe under certain conditions, including visual contact with the inside of the beam.
  • Page 7 • Read and understand the Explanation of the Warning Labels in the DX100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and manipulator cables.
  • Page 8 HW1481577 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: Equipment Manual Designation Programming Pendant 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.

  • Page 9: Table Of Contents

    2.4 Emergency Stop Button on Power-BOX .............. 2-2 Start-up ........................3-1 3.1 Start-up of the Power-BOX .................. 3-1 3.2 Start-up of the DX100 ..................3-1 3.3 Start-up of the WELDCOM .................. 3-2 Settings for Sensor Parameters and Job Files ............4-1 4.1 Sensor Parameters .....................
  • Page 10 164276-1CD 10 Settings for the Gap Adaptation Function ..............10-1 10.1 Settings for the Gap Condition File ..............10-2 10.2 Conditions for Welding ..................10-3 10.3 Conditions for Position ..................10-4 10.4 Conditions for Speed ..................10-5 11 Inspection Before Starting Operations ..............11-1 11.1 Automatic Inspection Before Starting Operations ..........

  • Page 11: Laser-Tracking Function

    The laser-tracking function uses a laser sensor manufactured by ServoRobot, Inc. and is the DX100 option. This function can be used to correct the target position during welding according to the information of the target position on the welding line detected by the laser sensor.
  • Page 12 Included in  LAN cable between personal computer for monitor and the Power-BOX (5 m) Included in  LAN cable between the DX100 and the Power-BOX (5 m) Included in  (the customer prepares a Sensor monitor application WELDCOM personal computer) Insulation support Purchased from ServoRobot Inc.

  • Page 13: Functions

    164276-1CD Laser-tracking Function Functions 1.1 Functions ■ Start Point Search • The laser sensor detects the start point of the welding line by an LTSRCH command. • The difference between the detected point and the start point that is registered is calculated.
  • Page 14 Laser-tracking Function 164276-1CD Functions ■ Real-time Tracking Using the target position data from the laser sensor, the welding line data is prepared in the base coordinate system. Based on the welding line data and the taught direction of movement, the path of the center point of the manipulator’s tool is corrected. This function is carried out by an LTRCKON command and an LTRCKOF command.

  • Page 15: Hardware Setup

    Cooling OUT CN104 Cooling IN 24VDC/1A Constant voltage power supply Controller: DX100 Laser sensor camera： Power-CAM Fig. 2-1 Laser Vision System Connection Diagram Before installing the laser vision system of ServoRobot Inc., thoroughly read the following manuals provided by ServoRobot Inc. and fully observe the precautions: •...

  • Page 16: Settings For Cooling Air

    Refer to "13.9 Robot system input terminal block (MXT)" in the "DX100 INSTRUCTIONS" {162536-1CD}. ...

  • Page 17: Start-Up

    Power-CAM. 3.2 Start-up of the DX100 To start up DX100, turn ON the main power supply of the DX100. => When the DX100 properly starts up, the laser beam automatically goes out. (The laser ON lamp  does not go out.)

  • Page 18: Start-Up Of The Weldcom

    Start-up 164276-1CD Start-up of the WELDCOM 3.3 Start-up of the WELDCOM WELDCOM is application software for the personal computer. WELDCOM is used for Ethernet communication with the Power-BOX, the settings for image processing, and the monitoring of the detected status. Though WELDCOM does not start up, the manipulator tracking operates properly.

  • Page 19: Settings For Sensor Parameters And Job Files

    164276-1CD Settings for Sensor Parameters and Job Files Sensor Parameters 4 Settings for Sensor Parameters and Job Files 4.1 Sensor Parameters • Minimum interval for sampling The minimum interval for sampling must be set using the sensor parameters. The minimum interval is the minimum value of the distance between the points detected by the sensor.
  • Page 20 Settings for Sensor Parameters and Job Files 164276-1CD Sensor Parameters 2. Determine the value to be entered as a sensor parameter from the obtained minimum interval for sampling, and enter the value. Table 4-1 Sensor Parameter S5E32 “the Minimum Interval for Sampling” Calculated Minimum Interval 0 to 1000 1001 to 2000...

  • Page 21: Required Application Job Files

    * Set the security mode of the DX100 to “Management mode”. * If any job is missing, load the job from the CD-ROM “DX100 MOTOEYE-LT” provided with the DX100 to the Compact Flash card or USB memory storage, and then load the job to the DX100.
  • Page 22 Settings for Sensor Parameters and Job Files 164276-1CD Required Application Job Files 4.2.2 Job Table 4-3 Job List Job File Description LT-CALIB.JBI Job for execution of the sensor calibration SMPL0.JBI An example of a tracking job without the search for the start point SMPL1.JBI An example of a tracking job with the search for the start point and end point search...

  • Page 23: Laser Sensor Calibration

    Workpiece for Calibration 5 Laser Sensor Calibration The data obtained by the laser vision sensor is sent to the DX100 as data for a three-dimensional position in the camera coordinate system of the camera. The DX100 converts the input data to position data in the robot coordinate system. For this conversion, the manipulator’s current position in the tool coordinate system and that in the camera...

  • Page 24: Tool Calibration For Reference Tool

    Laser Sensor Calibration 164276-1CD Tool Calibration for Reference Tool 5.2 Tool Calibration for Reference Tool • Refer to "Tool Dimensions" and “Tool Calibration” of “DX100 INSTRUCTIONS” for the information about how to calibrate the tool. Welding torch Tool center point...

  • Page 25: Sensor Camera's Mounting Position

    164276-1CD Laser Sensor Calibration Sensor Camera’s Mounting Position 5.3 Sensor Camera’s Mounting Position The following procedure describes how to position the sensor camera. Adjust the mounting position of the camera so that the joint of the workpiece can be detected at the center of the sensor’s field of vision when the processing posture is taken for the target workpiece.
  • Page 26 Laser Sensor Calibration 164276-1CD Sensor Camera’s Mounting Position Fig. 5-4 WELDCOM Graphic Display Fig. 5-5 FOV Auto Zoom Selection For the sensor camera position adjustment, set the WELDCOM graphic display so that it will be at full range, with the horizontal and vertical scale size of 1:1. Click icon for the display setting.

  • Page 27: Sensor Adjustment

    164276-1CD Laser Sensor Calibration Sensor Adjustment Adjust the camera’s position so that the プロファイル画像が下図の様に WELDCOM graphic display shows the なるまでカメラ位置を調整します。 image shown in the screen shot. The height is near the center. ほぼ中央の高さ Fig. 5-6 Sensor Camera Position Adjustment 5.4 Sensor Adjustment The laser vision sensor can be adjusted to detect the target position on the lap joint of the workpiece.

  • Page 28: Teaching Of Calibration Job [Lt-Calib]

    Laser Sensor Calibration 164276-1CD Teaching of Calibration Job [LT-CALIB] 5.5 Teaching of Calibration Job [LT-CALIB] • To carry out sensor calibration, a job for calibration called [LT-CALIB] must be prepared. • The job, [LT-CALIB], includes the macro command “LTCLIB” to instruct the laser-tracking function to do calibration calculations.
  • Page 29 164276-1CD Laser Sensor Calibration Teaching of Calibration Job [LT-CALIB] Press [SELECT]. The contents of the display change. Press [SELECT]. The ARGUMENT SETTING display appears. ■ LT-CALIB Macro Arguments Item Setting Remarks LT FUNC. FILE An integer between The tracking function file* number to be used 1 and 40 The file number 40 is recommended for calibration.
  • Page 30 Laser Sensor Calibration 164276-1CD Teaching of Calibration Job [LT-CALIB] 5.5.2 Teaching of Tool Reference Points • The following procedure describes how to teach the tool reference points. • Move the end of the tool to the end of the marked line on the lap join, and register it. Marked line Reference point Fig.
  • Page 31 164276-1CD Laser Sensor Calibration Teaching of Calibration Job [LT-CALIB] Press [ENTER] twice. When [ENTER] is pressed the second time, the ARGUMENT SETTING display closes, and the JOB CONTENT display appears. Press [ENTER]. When [ENTER] is pressed the third time, the settings updated on the ARGUMENT SETTING display are registered.
  • Page 32 Laser Sensor Calibration 164276-1CD Teaching of Calibration Job [LT-CALIB] 5.5.3 Teaching of Calibration Reference Point 1 The following procedure describes how to teach the calibration reference point 1. 1. Shine the laser beam on the workpiece. • Laser turn ON: Push both the Key [inter lock] and Key [5]. (Laser turn OFF: Push both the Key [inter lock] and Key [8].) •...
  • Page 33 164276-1CD Laser Sensor Calibration Teaching of Calibration Job [LT-CALIB] Press icon to display the laser power adjustment screen. The laser power adjustment screen is displayed. After changing the control to [Manual], adjust the Manual Power to approximately 5%. レーザー光 Laser beam The laser beam becomes sharp and not bright.
  • Page 34 Laser Sensor Calibration 164276-1CD Teaching of Calibration Job [LT-CALIB] • Move the manipulator so that the laser beam passes through the edge of the marked line of the lap joint, and then register the manipulator's position. Move the manipulator so that the laser beam is focused along the marked line.
  • Page 35 164276-1CD Laser Sensor Calibration Teaching of Calibration Job [LT-CALIB] 5.5.4 Teaching of Calibration Reference Point 2 The following procedure describes how to teach the calibration reference point 2. 1. Shine the laser beam on the workpiece. 2. Using the following procedure, register the position shown in the figure below as calibration reference point 2.
  • Page 36 Laser Sensor Calibration 164276-1CD Teaching of Calibration Job [LT-CALIB] 5.5.5 Teaching of Calibration Reference Point 3 The following procedure describes how to teach the calibration reference point 3. 1. Shine the laser beam on the workpiece. 2. Using the following procedure, register the position shown in the figure below as calibration reference point 3.
  • Page 37 164276-1CD Laser Sensor Calibration Teaching of Calibration Job [LT-CALIB] 5.5.6 Teaching of Calibration Reference Point 4 The following procedure describes how to teach the calibration reference point 4. 1. Shine the laser beam on the workpiece. 2. Using the following procedure, register the position shown in the figure below as calibration reference point 4.
  • Page 38 Laser Sensor Calibration 164276-1CD Teaching of Calibration Job [LT-CALIB] 5.5.7 Teaching of Escape Position 1. Register the position shown in the figure below as the escape position (ESCAPE REFP.). • The escape position is required to avoid interference between the end of the tool and the workpiece when moving from the tool reference point to calibration reference point 1.

  • Page 39: Execution Of Calibration

    5.6.1 Execution of a Calibration Job The following procedure describes how to carry out a calibration job. 1. Move the cursor to the beginning of the calibration job, and set the DX100 to the play mode. 2. Press [START] to execute the calibration job.
  • Page 40 Laser Sensor Calibration 164276-1CD Execution of Calibration 5.6.2 Confirmation of the Calibration Results The following procedure describes how to confirm the results of the calibration. 1. Confirm that the [START] lamp is unlit and that the execution of the job has stopped. 2.

  • Page 41: Settings For Tracking Job

    164276-1CD Settings for Tracking Job Tracking without a Welding-start-point Search 6 Settings for Tracking Job 6.1 Tracking without a Welding-start-point Search This section explains how to make settings for tracking without a search for the start point of the welding. Those settings can be used when the deviation of the start point of the welding is so small that the laser beam always shines on the welding line while the manipulator is approaching the start point of the welding.
  • Page 42 Settings for Tracking Job 164276-1CD Tracking without a Welding-start-point Search 6.1.1 Teaching of Sample Job “SMPL0” Approach point SFTOF Set the approach point so that the laser beam is shone 5 mm to 10 mm before the SFTOF3D start point of the welding. ’-- TL mode [B000]------------------------- Start point of the welding ’...
  • Page 43 6.1.2 Settings for Macro Commands ■ LTRCKON With moving the manipulator to the start point of the welding registered in the LTRCKON command, the DX100 starts the laser tracking. SFTOF SFTOF3D ’-- TL mode [B000]------------------------- ’ 0:W/O TRACKING, 1:TRACKING - - ’-------------------------------------------------...
  • Page 44 ■ LTEDSRCH The LTEDSRCH command starts the search for the end point of the welding. The search automatically ends at the last detected point when the DX100 recognizes the welding end in the section that was continuously undetected. SFTOF SFTOF3D ’-- TL mode [B000]-------------------------...
  • Page 45 164276-1CD Settings for Tracking Job Tracking without a Welding-start-point Search ■ LTRCKOF The LTRCKOF command ends the tracking. SFTOF SFTOF3D ’-- TL mode [B000]------------------------- ’ 0:W/O TRACKING, 1:TRACKING - - ’------------------------------------------------- SET B000 1 SPEED V=16.7 MOVL V=500 MOVL V=500 LTRCKON SW=B000 LT:1 V=100 ’arcon MOVL...

  • Page 46: Tracking With A Welding-Start-Point Search

    Settings for Tracking Job 164276-1CD Tracking with a Welding-start-point Search 6.2 Tracking with a Welding-start-point Search This section explains how to make settings for tracking with a search for the start point of the welding. The sample job, “SMPL1”, is used as an example in the search for the start point, OKNG.
  • Page 47 164276-1CD Settings for Tracking Job Tracking with a Welding-start-point Search Teach the points  to  as shown in the following diagram. Fig. 6-2 Teaching Points of Job “SMPL1” HW1481577 - 6-7 - 47/92...
  • Page 48 Settings for Tracking Job 164276-1CD Tracking with a Welding-start-point Search 6.2.2 Settings for Macro Commands ■ LTSRCH The LTSRCH command starts the search for the start point of the welding. SFTOF SFTOF3D ’-- TL mode [B000]------------------------ ’ 0:W/O TRACKING, 1:TRACKING -- ’------------------------------------------------ SET B000 1 SPEED V=16.7...
  • Page 49 164276-1CD Settings for Tracking Job Tracking with a Welding-start-point Search SEARCH END REFP. (Teaching (Teaching The point to end the search. point) point) SEARCH SPEED 20 to 80 The motion speed during the search. ETECT POS.(P#) 0 to 127 Specifies the P variable number to save the start point of the welding obtained by the search function.
  • Page 50 Settings for Tracking Job 164276-1CD Tracking with a Welding-start-point Search Arguments Initial Value Setting Range Remarks LT MODE(B var.) B000 B000 to B099 B variable number to specify Excluding B030 whether to carry out or skip the macro command. 1: Carries out the macro command 0: Skips the macro command DETECT POS.(P#) 0 to 127...
  • Page 51 Settings for Tracking Job Tracking with a Welding-start-point Search ■ LTRCKON Moving the manipulator to the start point of the welding taught in the LTRCKON command, the DX100 starts the laser tracking. SFTOF SFTOF3D ’-- TL mode [B000]------------------------ ’ 0:W/O TRACKING, 1:TRACKING -- ’------------------------------------------------...
  • Page 52 ■ LTEDSRCH The LTEDSRCH command starts the search for the end point of the welding. The search automatically ends at the last detected point when the DX100 recognizes the welding end in the section that was continuously undetected. SFTOF SFTOF3D ’-- TL mode [B000]------------------------...
  • Page 53 164276-1CD Settings for Tracking Job Tracking with a Welding-start-point Search LT FUNC.FILE# 1 to 40 Specifies the tracking function file to be used for the search for the end point of the welding. ■ LTRCKOF The LTRCKOF command ends the tracking. SFTOF SFTOF3D ’-- TL mode [B000]------------------------...
  • Page 54 Settings for Tracking Job 164276-1CD Tracking with a Welding-start-point Search 6.2.3 Settings for the Laser-tracking Function File Refer to chapter “7 Settings for the Laser-tracking Function File” to set the number of each tracking function file which was specified for each macro command. HW1481577 - 6-14 - 54/92...

  • Page 55: Settings For The Laser-Tracking Function File

    Settings for the Laser-tracking Function File 164276-1CD 7 Settings for the Laser-tracking Function File The laser-tracking function file includes the conditions for each process in laser tracking. ■ File Components HW1481577 - 7-1 - 55/92...

  • Page 56: Conditions For The Laser Sensor

    Settings for the Laser-tracking Function File 164276-1CD Conditions for the Laser Sensor 7.1 Conditions for the Laser Sensor JOINT FILE NO. Selects one of the joint files stored in the SMART-BOX of the laser vision sensor. The joint file includes the conditions to specify the processing method for detection. •...

  • Page 57: Conditions For Welding-Start-Point Search

    164276-1CD Settings for the Laser-tracking Function File Conditions for Welding-start-point Search 7.2 Conditions for Welding-start-point Search SEARCH TYPE Specifies the search type. • Setting range: NGOK; OKNG; STOP • Initial setting: OKNG Three search types are available: Type NGOK and type OKNG: Searches for the transition point to and from the section that is continuously detected to and from the section that is continuously undetected, and recognizes this point as the start point.
  • Page 58 Settings for the Laser-tracking Function File 164276-1CD Conditions for Welding-start-point Search • Type OKNG Searches for the transition point from the section that is continuously detected to the section that is continuously undetected. Teach the motion for the search to be done from the welding line to a section away from the welding line.

  • Page 59: Conditions For Welding-End-Point Search

    164276-1CD Settings for the Laser-tracking Function File Conditions for Welding-end-point Search WELD DETECTION OVERLAP For the search type, NGOK, specifies the length of the section that is continuously detected to be recognized as the welding line. • Setting range: 5 to 50 •...

  • Page 60: Conditions For Laser Tracking

    Settings for the Laser-tracking Function File 164276-1CD Conditions for Laser Tracking 7.4 Conditions for Laser Tracking XYZ CORRECTION Turns the output of the path correctional amount ON/OFF. • Setting range: ON or OFF • Initial setting: ON RxRyRz CORRECTION For future use. Do not change the initial setting. SENSING POSITION CORRECTION For future use.

  • Page 61: Conditions For Non-Detection And Error Detection

    164276-1CD Settings for the Laser-tracking Function File Conditions for NON-detection and Error Detection TCP Rx-SHIFT (TOOL FRAME) For future use. Do not change the initial setting. TCP Ry-SHIFT (TOOL FRAME) For future use. Do not change the initial setting. TCP Rz-SHIFT (TOOL FRAME) For future use.

  • Page 62: Conditions To Pass Over

    Settings for the Laser-tracking Function File 164276-1CD Conditions to Pass Over Specifies the distance to be checked. Specify approximately half the distance of the “lookahead”. If the detecting ratio is low, specify a longer distance. If the detecting ratio is high, specify a shorter distance. •...

  • Page 63: Settings For Inspection Job Before Starting Operations

    Settings for Inspection Job Before Starting Operations 164276-1CD 8 Settings for Inspection Job Before Starting Operations When the sensor mounted onto the manipulator is displaced, the tracking deviation occurs. The inspection job before starting checks the deviation of the sensor before the actual operation by tracking.

  • Page 64: Teaching An Inspection Job Before Starting

    Settings for Inspection Job Before Starting Operations 164276-1CD Teaching an Inspection Job Before Starting 8.1 Teaching an Inspection Job Before Starting Position for checking the welding point 'AUTO/MANUAL switching flag [0: AUTO, 1: MANUAL] deviation SET LB000 0 'Initial setting flag [0: Normal, 1: Initial setting] SET LB001 0 'Standby position MOVJ VJ=5.0...
  • Page 65 164276-1CD Settings for Inspection Job Before Starting Operations Teaching an Inspection Job Before Starting Position for checking the camera deviation 'AUTO/MANUAL switching flag [0: AUTO, 1: MANUAL] SET LB000 0 'Initial setting flag [0: Normal, 1: Initial setting] SET LB001 0 'Standby position MOVJ VJ=5.0 'Approach motion====...

  • Page 66: Acquisition Of Reference Data

    Settings for Inspection Job Before Starting Operations 164276-1CD Acquisition of Reference Data 8.2 Acquisition of Reference Data The following procedure describes how to get the reference data. 1. Set [1] (initial setting) to the initial setting flag. 2. Set [0] (AUTO) to the AUTO/MANUAL switching flag. 3.

  • Page 67: Tool Offset Setting

    164276-1CD Tool Offset Setting How to Obtain the Tool Offset Amount 9 Tool Offset Setting If the tool center point (TCP) always deviates from the target in one direction, the deviation can be corrected by using the tool offset function. 9.1 How to Obtain the Tool Offset Amount The following procedure describes how to obtain the amount of the tool offset.
  • Page 68 Tool Offset Setting 164276-1CD How to Obtain the Tool Offset Amount 7． Register the corrected position of the TCP as the reference point, “Corrected Position”. 'Deviated Position REFP 1 'Corrected Position REFP 2 8． Move the cursor to the beginning of the job, and carry out the test run. 9．...

  • Page 69: How To Set The Tool Offset Amount

    164276-1CD Tool Offset Setting How to Set the Tool Offset Amount 9.2 How to Set the Tool Offset Amount 10． Open the tracking function file used for tracking, and add the values obtained in Step 9 of “9.1 How to Obtain the Tool Offset Amount” to the offset settings. ...
  • Page 70 Tool Offset Setting 164276-1CD How to Set the Tool Offset Amount HW1481577 - 9-4 - 70/92...

  • Page 71: Settings For The Gap Adaptation Function

    • The user sets the change value of the welding condition which adapts to the gap into GAP CONDITION FILE. • The DX100 makes linear functions from the first ’GAP CONDITION FILE’. The controller calculates the correction values which adapts to GAP by using the function.

  • Page 72: Settings For The Gap Condition File

    Settings for the Gap Adaptation Function 164276-1CD Settings for the Gap Condition File 10.1 Settings for the Gap Condition File The Gap Condition file includes the conditions for each gap value. ■ File Components HW1481577 - 10-2 - 72/92...

  • Page 73: Conditions For Welding

    164276-1CD Settings for the Gap Adaptation Function Conditions for Welding 10.2 Conditions for Welding SWITCH of FUNCTION • ON: Enable of adaptive control. / OFF: Disable of adaptive control. • Initial setting: OFF GAP VALUE The gap value to make the condition correspond. It is possible to set gap by ten stages.

  • Page 74: Conditions For Position

    Settings for the Gap Adaptation Function 164276-1CD Conditions for Position ANALOG 4ch. RATIO Analog 4ch. is corrected in proportion to gap. Set ratio of changing analog 4ch. output, which is programed by AOUT (4) in the JOB. Analog channel No. is changeable by sensor parameter S1E043. •...

  • Page 75: Conditions For Speed

    164276-1CD Settings for the Gap Adaptation Function Conditions for Speed 10.4 Conditions for Speed SWITCH of FUNCTION • ON: Enable of adaptive control. / OFF: Disable of adaptive control. • Initial setting: OFF GAP VALUE The gap value to make the condition correspond. It is possible to set gap by ten stages.
  • Page 76 Settings for the Gap Adaptation Function 164276-1CD Conditions for Speed 1. When using gap adaptation function of analog output, ensure to add INSTRUCTION (ARCSET) set by analog output before starting the tracking. 2. Changing analog output by INSTRUCTION is invalid during the tracking, when using gap adaptation function of analog output.

  • Page 77: Inspection Before Starting Operations

    164276-1CD Inspection Before Starting Operations Automatic Inspection Before Starting Operations 11 Inspection Before Starting Operations 11.1 Automatic Inspection Before Starting Operations For the best performance of the laser-tracking function, perform the inspection before starting operations. HW1481577 - 11-1 - 77/92...

  • Page 78: Manual Inspection Before Starting Operations

    Inspection Before Starting Operations 164276-1CD Manual Inspection Before Starting Operations 11.2 Manual Inspection Before Starting Operations HW1481577 - 11-2 - 78/92...

  • Page 79: Camera Deviation Check At Welding-Point Deviation Check

    164276-1CD Inspection Before Starting Operations Camera Deviation Check at Welding-point Deviation Check 11.3 Camera Deviation Check at Welding-point Deviation Check HW1481577 - 11-3 - 79/92...

  • Page 80: Verification Of Tool Constants

    Inspection Before Starting Operations 164276-1CD Verification of Tool Constants 11.4 Verification of Tool Constants HW1481577 - 11-4 - 80/92...

  • Page 81: Verification Of Detected Data

    164276-1CD Inspection Before Starting Operations Verification of Detected Data 11.5 Verification of Detected Data HW1481577 - 11-5 - 81/92...

  • Page 82: Troubleshooting

    Troubleshooting 164276-1CD Corrective Actions after Torch Collision 12 Troubleshooting 12.1 Corrective Actions after Torch Collision Take corrective actions following the flowchart. HW1481577 - 12-1 - 82/92...

  • Page 83: Corrective Actions For Target Deviation

    164276-1CD Troubleshooting Corrective Actions for Target Deviation 12.2 Corrective Actions for Target Deviation Take corrective actions following the flowchart. HW1481577 - 12-2 - 83/92...

  • Page 84: Corrective Actions For Tool Deviation

    Troubleshooting 164276-1CD Corrective Actions for Tool Deviation 12.3 Corrective Actions for Tool Deviation Take corrective actions following the flowchart. HW1481577 - 12-3 - 84/92...

  • Page 85: Corrective Actions For Camera Deviation

    164276-1CD Troubleshooting Corrective Actions for Camera Deviation 12.4 Corrective Actions for Camera Deviation Take corrective actions following the flowchart. HW1481577 - 12-4 - 85/92...

  • Page 86: Alarm List

    5050 1 to 233 Motion extension An interface error Requires investigation at processing error, between the tracking Yaskawa. Contact your [decimal data] processing system and Yaskawa representative, stating the operating section for the situation, the alarm number, the laser-tracking and the decimal data of the function.
  • Page 87 164276-1CD Alarm List Alarm List Laser tracking An error occurred in the Return the manipulator to its processing error, sensing mode. standby position, and restart the [decimal data] job for tracking from the beginning. Laser tracking Use either coordinate move processing error, Coordinate/Independent instructions or independent...
  • Page 88 [decimal data] 5054 Laser tracking An error occurred in the communications between the DX100 processing error, and the Power-BOX. [decimal data] The decimal data indicates the type of error. 0 to 9 Check the communications...
  • Page 89 Turn OFF the power supply of the Power-BOX, and turn it ON again. The value instructed from Requires investigation at the DX100 is out of the Yaskawa. Contact your allowable range. Yaskawa representative, stating the alarm number, decimal data, and the macro command where the error occurred.

  • Page 90: Sensor Parameters

    Sensor Parameters 164276-1CD S5E Parameters 14 Sensor Parameters 14.1 S5E Parameters Description Initial Value Setting Range Real-time data delay time (* when using MOTOMAN-UP6) * 286 [ms] Updated angle for seam frame reference [0.01 deg.] 6000 Updated distance for seam frame reference [μm] 1000 Average number of travels for stabilizing workpiece direction...
  • Page 91 164276-1CD Sensor Parameters S5E Parameters Initial Description Setting Range Sensor IP address 1 Do not change. Sensor IP address 2 Do not change. Sensor IP address 3 Do not change. Sensor IP address 4 Do not change. Sensor Ethernet port 6344 Do not change.
  • Page 92 DX100 OPTIONS INSTRUCTIONS FOR LASER-TRACKING FUNCTION: MOTOEYE-LT Specifications are subject to change without notice for ongoing product modifications and improvements. MANUAL NO. HW1481577 92/92...

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