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kawasaki robot controller manual

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kawasaki robot controller manualOnce the contents of these manuals are thoroughly read and understood the robot can be used. Should any unexplained questions or problems arise, please contact Kawasaki Machine Systems. 2. Safety related contents described in this manual apply to each individual work and not to all robot work. In this manual, the names of software keys and switches are enclosed by “ For details about other materials, see the standard operation manual, specification sheets, etc. For details about other standard keys, refer to Operation Manual for E series controller- 2.4 Switches on Teach Pendant and Functions of Hardware Keys. For details about other standard operating screens, the functions available on each screen and their operation procedures refer to Operation Manual for E series controller-2.4 Switches on Teach Pendant and Functions of Hardware Keys. For other F keys, see the Operation Manual for E series controller 2.6 Operation Keys on Teach Pendant Screen. Operation. To display auxiliary function screens, refer to Operation Manual for E series controller- 8.2 How to Use Auxiliary Functions. For details on programming via AS language, refer to Arc Welding AS Language Reference Manual for E series controller. Teaching point Teaching contents Step1 Starts operation from P. Set the teaching points with auxiliary data, instructions (Mtd). Additional data must also be taught to the robot, for example the speed for moving from P. Parameter of weld condition Description Weld speed Sets motion speed in welding. For standard teaching methods, refer to Operation Manual for E series controller- 5.0 Teaching. 5.2.1 CREATING A PROGRAM SHEET Once the teaching contents are determined, fill in the auxiliary data on program sheet. For more details about using teaching screens, refer to Operation Manual for E series controller- 5.0 Teaching. 1. Displays weld condition No. (0 - 99) or D (Direct) 2.https://equinelibertysports.com/userfiles/kreg-router-fence-manual.xml

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Teaching point Teaching contents Step1 Point for starting operations (P Step2 Moves from P to P by linear interpolation. Generates arc at P starts welding. This point is also welded by horizontal fillet.Option Switch Refer to 5.3.1 Setting Option Switches. For details about the setting of these switches, refer to related option manual and 9.0 Touch Sensing Function (Option). Any changes made to the weld conditions can then be overwritten onto taught data in check mode. To overwrite weld condition data with the current changes, press. During weld OFF, weld conditions cannot be modified. This chapter describes the functions available for arc welding application during repeat operation. For details about standard repeat operation procedure, refer to Operation Manual for E series controller- 6.0 Repeat Operation. For general operations of the program editing screen, see the Operation Manual for E series controller- 7.3 Edit on the Program Edit Screen. 7.1 PROGRAM EDITING SCREEN 7.1.1 STEP MODIFICATION ON PROGRAM EDIT SCREEN. Modification procedure differs according to the type of data as 1 and 2 below. See the table below for how to input the values. Item Explanation See 5.3.1 Setting Option Switches. This section explains about the online editing function for arc weld specification. For online operations common to all specifications, refer to the Operation Manual for E controller 7.3 Edit. For other auxiliary functions, refer to Operation Manual for E series controller- 8.0 Auxiliary Functions, and for methods on calling up the auxiliary function screen, see 8.2 How to Use Auxiliary Functions. ARC SPOT WELD Displays and sets arc spot weld condition data. To specify or display the arc weld condition of direct setting, see 3. Move cursor to each item and input required data by Number (0-9).To match these characteristics, linearization table is prepared inside the robot controller.Press to display the graph showing the set data.http://go2cargo.com/userfiles/kreg-user-manual.xml Air cut point Air cut point Inching Air cut point. For example, the. The following three setting items can also be set in Aux.2007-2 External Axis Servo Parameter- Full Spec Tuning. To change the weld conditions for a range of points taught by indirect method, use Aux.1401. Move cursor to each item and input required data by Number (0-9).To change the arc spot weld conditions for a range of points taught by indirect method, use Aux.1402. Move cursor to each item and input required data by Number (0-9).Direction of (1) Condition of workpiece workpiece deviation Control 1) Workpiece moves parallel in space (in surface 2 three directions). For standard teaching methods, refer to 5.0 Teaching and Operation Manual for E series controller- 5.0 Teaching. 9.2.1 TEACHING FOR WIRE CHECK FUNCTION Teach the movement in the right figure. The teach screen appears as in Figure 9.2. Wire check function does not operate under any other conditions. For standard teaching methods, refer to 5.0 Teaching and Operation Manual for E series controller- 5.0 Teaching. 9.3.1 TEACHING FOR WORKPIECE DETECTION FUNCTION Teach the movement in the figure below. Workpiece detection function does not operate under any other conditions. In arc weld specification robot, sensing patterns for compensation are classified into seven types as in the table below depending on shape of workpiece, deviate direction, etc. This section describes the teaching operations. For standard teaching methods, refer to 5.0 Teaching and Operation Manual for E series controller- 5.0 Teaching. Teach the movement in the figure below. Execute the sensing to the mother workpiece (cylinder workpiece) by pattern 6. Note that points (3) and (5) define the sensing direction to the sensing points (4) and (6) respectively where deviation compensation is taught (that is, robot moves (3) to (4) and (5) to (6) when sensing). This section describes the teaching operations. For standard teaching methods, refer to 5.https://www.becompta.be/emploi/boss-me-50b-bass-multiple-effects-manual-00 Teaching and Operation Manual for E series controller- 5.0 Teaching. Teach the movement in the figure below. As a general point, move. Deviation compensation does not operate under any other conditions. Note that incorrect operation causes sensing error or defect. However, if torch is parallel to the control surface when touching, error does not occur. Incorrect touch sensing (1) Correct touch sensing 6. Countermeasure: 1. In the case of the program above, inset a new step containing an Air Cut point before step4 (which includes workpiece detection). When an error occurs, robot holds creation of the workpiece coordinates and stops in that step. Main cause: For example, when the error occurred in step2 of the program below, the following are considered probable causes. When an error occurs, robot stops in the place the error occurred. Main cause: For example, when the error occurred in step7 of the program below, the following are considered probable causes. Countermeasure: 1. In the case of the program above, specify the same sensing pattern to complete the workpiece coordinates as below. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 10.0 SPECIAL PATTERN WEAVING FUNCTION (OPTION) This section describes special pattern weaving function, an optional specification. 10.1 OVERVIEW OF SPECIAL PATTERN WEAVING 10.1.1 SPECIAL PATTERN WEAVING By using this special pattern weaving function, weaving shapes which are normally simple harmonic can be created or changed freely. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual Pattern No.Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 10.1.2 PENDULUM WEAVING For weaving in a narrow groove, the torch posture often needs to be changed during weaving operation.Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 10.1.https://codicicolori.com/images/colt-le6920-owners-manual.pdf4 FLOW CHART FOR USING SPECIAL PATTERN WEAVING FUNCTION To use special pattern weaving function, follow the flow chart described below. Decide weaving pattern type to use. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 10.2 STANDARD WEAVING PATTERNS REGISTERED FOR ROBOT The standard weaving patterns registered in this function include: simple harmonic both ends stop weaving, triangular weaving, reciprocating triangular weaving, circular weaving, etc. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 10.3 TEACHING OPERATION FOR SPECIAL PATTERN WEAVING Point at teaching Weaving motion in repeat operation Weld end point Weld line Weld start point Teach the motion pattern at Welding executed by repeating the weld end or weld continue points. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 4. Torch angle rotation (pendulum weaving) As robot travels along weld direction, this weaving rotates the torch vertical to surface of weld with torch tip set as center of rotation.Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 10.4.2 CREATING WEAVING PATTERNS 1. Flow chart for creating a weaving pattern When creating a weaving pattern, follow the procedure described in the flow chart below. A blank program sheet is attached in Appendix 3. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual 2. Follow the flow chart steps to create weaving pattern. (1) Draw a figure showing motion of desired weaving pattern. Create a weaving pattern with a max.See diagrams at bottom.Calculate the time, motion amount in vertical, lateral directions, etc. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual (4) Fill in sheet with the data from the expansion pattern diagram created in (3). Using the expansion weaving pattern diagram created in Case 1 in (3) above, the data will be as follows. Special Pattern Weaving Function (Option) Kawasaki Robot Arc Welding Operation Manual (5) Fill in the conditions. For weaving patterns with stops at both ends or a center stop, do not fail to fill in the ratio of stopping time. Servo Torch Function (Option) Kawasaki Robot Arc Welding Operation Manual 11.0 SERVO TORCH FUNCTION (OPTION) This chapter describes servo torch function by optional specification and the teaching operation. 11.1 OVERVIEW OF SERVO TORCH FUNCTION Typically when a robot and weld machine are used together to perform arc welding, the weld machine controls the wire feeding. For more details on the procedure for setting external axes, refer to External Axis Addition of E Series Controller, a separate volume. Servo Torch Function (Option) Kawasaki Robot Arc Welding Operation Manual 11.3 SERVO TORCH SPECIFICATION 11.3.1 AUXILIARY FUNCTIONS FOR SERVO TORCH For details on auxiliary functions specific to the servo torch, see Aux.1404-16 in 8.0 Auxiliary Functions. Servo Torch Function (Option) Kawasaki Robot Arc Welding Operation Manual 11.4 ERROR HANDLING WHEN OPERATING SERVO TORCH FUNCTION This section describes errors occurring during servo torch operation and the error handling. 11.4.1 ERROR MESSAGE LIST Error. Error Message for Arc Weld Specification Kawasaki Robot Arc Welding Operation Manual 12.0 ERROR MESSAGE FOR ARC WELD SPECIFICATION This chapter describes errors occurring in arc weld specification robot. Some errors only occur if optional functions for arc weld application are installed. Error Message for Arc Weld Specification Kawasaki Robot Arc Welding Operation Manual 12.1 ERROR MESSAGE LIST Error Error message Option code P6502 No weld database. Standard P6503 Cannot change weld condition. Standard E6500 No welding Interface board. Error Message for Arc Weld Specification Kawasaki Robot Arc Welding Operation Manual 12.2 ERRORS AND COUNTERMEASURES This section describes troubleshooting for standard errors occurring in arc specification. For errors which occur in optional functions for arc welding, refer to the related Option Manuals. Error Message for Arc Weld Specification Kawasaki Robot Arc Welding Operation Manual 2. E6503 Wire stuck. Robot stops at the point where the error occurs. Main cause: Wire is stuck to the base material when welding has completed. Error Message for Arc Weld Specification Kawasaki Robot Arc Welding Operation Manual 5. E6505 Arc weld insulation defect. Robot stops at the point where the error occurs.Error Message for Arc Weld Specification Kawasaki Robot Arc Welding Operation Manual 12-6. Instruction Interpolation Speed Accuracy Timer Weld condition Arc Spot condition. Be advised these conditions may not be best for the planned work. Kawasaki cannot guarantee that this database will provide the best possible welding operation and quality for every work. If you continue browsing the site, you agree to the use of cookies on this website. See our User Agreement and Privacy Policy.If you continue browsing the site, you agree to the use of cookies on this website. See our Privacy Policy and User Agreement for details.If you wish to opt out, please close your SlideShare account. Learn more. You can change your ad preferences anytime. The writer was able to write my paper by the deadline and it was very well written. So guys don’t hesitate to use it.Operation ManualCaution. Read this manual carefully before you use the robotRead this manual and the related documents thoroughly before installation, operation,Denotes easily-misunderstood items regarding productKawasaki Robot Operation ManualExplosion-Proof Type. Please read the Safety Manual thoroughly, a separate volume, before reading this manual. Also, this manual should be read before actual operation of the robot, and be stored forThis manual is written on the following assumptions. The robot is installed according to the Installation and Connection Manual (for robot arm), aThe controller is installed and connected according to the Installation and Connection ManualThis manual intends to explain the operational procedures as detailed as possible. As not allTherefore, only the operation of functions specifically described herein can be guaranteed. Because Kawasaki constantly strives to improve the quality of its products, this manual mayThis manual may not, in whole or in part, be reproduced or copied without the prior writtenThough this manual was prepared to be as thorough and accurate as possible, the authorsThe screen examples in this manual may differ depending on software version. Some functions may not be installed depending on software version. This manual concerns operating procedures. It is not a guarantee of safety, and KawasakiMS-DOS is a registered trademark of Microsoft Corporation, USA. The other company and product names are also registered.Kawasaki Robot Operation ManualController, Explosion-Proof Type. Overview and basic operations that need to be understood first for using Kawasaki Robot. Controller are explained. Operations which are common in every application and are peculiar toMany functions for making full use of the controller are also explained and should be readA glossary is included at the end of the manual as a reference for commonly used language andTheFor example,A-142 indicates that the auxiliary function 142Kawasaki Robot Operation ManualSelect a teaching method that best suits the needs of your application and level of expertise. Explosion-proof teach pendant. Manual operation and teaching for theManual operation can be conductedMultifunction panel. Various data can be displayed and setPC (Option). It is possible to create an advancedLanguage (AS Language) functions canKawasaki Robot Operation ManualKawasaki. Robot. C Series. Controller. Multifunction Panel. Explosion-Proof. Teach Pendant. Peripheral. Equipment. Multifunction PanelControllerExplosion-Proof Teach Pendant. KOSMOS MonitoringMonitoring software for PC isOS needs to be prepared by theMultifunction Panel. Program selection. Displays programs and steps. Monitoring the signals. Setting the repeat conditions. General teaching. Explosion-Proof Teach Pendant. Regular operation. Programs and steps Display. Manual operation of the robot. Positional teaching. General teachingKeyboard entry of AS LanguageKawasaki Robot Operation ManualKawasaki Robot Operation ManualKawasaki Robot Operation ManualKawasaki Robot Operation ManualKawasaki Robot Operation ManualKawasaki Robot Operation ManualKawasaki Robot Operation ManualKawasaki Robot Operation ManualKawasaki Robot Operation ManualAlso, safety measures and the speed, motion range limitations on the robot are described.The safety content described here applies only to operationsISO10218, EN775, for robots used in production applications.Moreover, appropriate steps should be taken so that safety education and work standards areAnd, care must be taken so that no injury occurs as aKawasaki Robot Operation ManualHowever, the motion range can beMotion range limits can also be set for the robot by software.When mechanical stoppers are needed refer to the separate volume “Installation and. Connection manuals for the robot arm”.Kawasaki Robot Operation ManualBecause the contentEnsure that the robot is not easilyThe safety plug should beKawasaki Robot Operation ManualKawasaki Robot Operation ManualIndicate the current status of the robot clearly and simply so that anyone can understand, forKawasaki Robot Operation ManualPay special attention to the items belowWhen switching Motor Power on, be ready and able to press the Emergency Stop switch inKawasaki Robot Operation ManualPay special attention to the itemsDuties includingInstruments include: controller, multi-function panel,In addition, any signals used during teachingKawasaki Robot Operation ManualIn order to prevent any accidents duringMoreover, for applications in which the work is manipulated with a pneumatic device (hand,In addition, it isKawasaki Robot Operation ManualExplosion-Proof Type. Backside of the controller. MultifunctionOperation panelExplosion-proofControl power switch (breaker). Switch to ON to turn on the control power of the controller. Switch to OFF to turn off the control power of the controller.Kawasaki Robot Operation ManualThese switches are mainly for the regular repeat operation. No. Switch or light. Function. Illuminates when the control power of the controller isThe error light isREMOTE: From the external start signal. LOCAL: From the Cycle Start button on the controller. Emergency. StopThe motor power is shut off and the robot stops whenTerms. Teach mode: A mode for teaching by the remote control box forRepeat operation is not possible in this mode. Repeat mode: A mode for starting repeat operation. Repeat operation: A robot condition in which taught operations areKawasaki Robot Operation ManualThese keys are for entering and editing various data.Liquid crystalPC card slot. ContrastTouch panelFunction. Provides keys for entering and editing various data onFor inserting a PC card. Adjusts the shading (brightness) of the display. Used for touch panel operation.Kawasaki Robot Operation ManualErrors are indicated.Displays the title of the selected status or function.Displays the present status and the teaching status of the present step.Displays status information. For example:AcceptInhibitKawasaki Robot Operation ManualFunctionThe program selection screen appears when pushed. Displays the current step number.Keys for selecting screen. Key. Used for teaching programs. Screens for teaching appear when pushed. AS TEACHING (option), PROGRAM INPUT (option). Toggles screens: STATUS, PROGRAM LIST, MONITOR, and CURRENTToggles screens among status, function selection, and keyboard entry. STATUS, FUNCTION, INTERFACE PANEL SETTING (option). KEYBOARD screens are equipped with auxiliary functions with whichAs for the multifunction panel with specification 2 (pull-down menu type), pushing. STATUS and MENU keys drops menu selection keys below each key.Kawasaki Robot Operation ManualLanguage in this screen. NEXT MENU key. Backspace key. SPACE key. SwitchENTER key. The BACK SPACE key is used to delete the enteredFor example, whenDisplays the previously entered character strings (can goUsed to enter a space.Kawasaki Robot Operation ManualLiquid crystalTriggerEmergency stopBackside of the explosion-proof teach pendantKawasaki Robot Operation ManualKeyFor entering the numeric value of 1. Decimal point can be entered when pressed with the shift key. For entering the numeric value of 2. Numeric value A (hexadecimal) can be entered when pressed with theFor entering the numeric value of 3. Numeric value B (hexadecimal) can be entered when pressed with theFor entering the numeric value of 4. Numeric value C (hexadecimal) can be entered when pressed with theFor entering the numeric value of 5. For entering the numeric value of 6. The minus can be entered when pressed with the shift key. For entering the numeric value of 7. Numeric value D (hexadecimal) can be entered when pressed with theFor entering the numeric value of 8. Numeric value E (hexadecimal) can be entered when pressed with theFor entering the numeric value of 9. Numeric value F (hexadecimal) can be entered when pressed with theFor entering the numeric value of 0. Used with the other keys.Moves the cursor up the screen (to smaller numbers).Moves the cursor down the screen (to larger numbers).Cancels the numeric entry and clears all.Kawasaki Robot Operation ManualFunction. Returns to the main menu. Cancel the selection of program. The repeat operation ends when pushed during the repeat operation. Holds the present mode and moves to the other mode. The original mode appears when this key is pressed again. Returns to the upper screen.Moves the robot in the right direction in the Cartesean coordinates orMoves the robot in the left direction in the Cartesean coordinates orThe table axis rotates in reverse (-) direction. Moves the robot forward in the Cartesean coordinates or rotates theMoves in the forward direction of the gun (only for the frameMoves the robot backward in the Cartesean coordinates or rotates theMoves in the backward direction of the gun (only for the frameKawasaki Robot Operation ManualKey. FunctionSelects an axis to be operated with the axis key: robot or other axes. LED toggles by pressing the device selection key as:Toggles the manual speed of the robot and the peripheral devicesNote: When retaining wrist axis angle, linear and circular interpolation. LEDs are lit up and joint interpolation LED blinks. Records the present location as a teaching point.Resets all the errors.Kawasaki Robot Operation ManualFunctionWhen spraying (ON), the LED is lit up.Switch is designed to avoid repeat operation from being conductedThis switch needs to be ON afterCycle start cannot be conducted while Teach Lock is ON (LED is on). Toggles the way to move through steps, backwards or forwards, whenEvery time the key isMove Command. Continuous JumpThe keys below are the LED indication only. Indicates that the servo of the robot (manipulator) is ONIndicates that the servo of the table is ON when this LED isNote: LED names may be different depending on the robot system structure.Switch and push-button switch on the explosion-proof teach pendant. Emergency stop. Turns OFF the servo power and stops the robot.These switches can be engaged only in teach mode.Kawasaki Robot Operation ManualUseDisplays present point number.Displays commands taught in each step below the 3rd line. The sequential number on the left indicates in command unit.The above example means that the commands up to the command unit 3, turning onKawasaki Robot Operation ManualNote: The version displayed depends on the software.Note: This process is executed in pressurized explosion-proof type ofSteps 3-5 are skipped in theAfter confirming that the the purge air isKawasaki Robot Operation ManualNote: Purging time depends on the manipulator type. When purging is complete, the next screenWhen the pressure rises, the next screenThe lamp is lit up.Kawasaki Robot Operation ManualIn teach mode, turning the motor power ON will not bring actual motor power to the robotAfter the motor power isThen, after 0.5 second, the motor brake is released and the robotKawasaki Robot Operation ManualIn this example external signals are not used.Turn the MOTOR POWER off. (The light goes off.)Turning off the motor and control power is complete.Kawasaki Robot Operation ManualThe robot motor power is shut off and the arm comes to a complete stop when executed. ControllerThe MOTOR POWER and CYCLE STARTExplosion-proof teach pendant. Press the EMERGENCY STOP switch located onThe MOTOR POWER and CYCLE START lightsExternal equipment such as interlock board. Press the EMERGENCY STOP switch. The MOTOR POWER and CYCLE START lightsWhen stopping the robot motion using the above procedures, the ERROR light on the controllerFor restarting the robot from theSTART switch. The EMERGENCY STOP switch should be used only for urgencyAn emergency stop gives a sudden brake on the motor that drives theKawasaki Robot Operation ManualThe following three procedures are provided for stopping the robot motion during repeatSwitches used for stopping the robot motion. E-STOP SWITCH onArmArmPressKawasaki Robot Operation ManualMultifunction PanelPressStatus Display screenSee 4 Status screen.Program List screenSee 3.1.7 Monitor screen.See 3.1.8 Current Position screen.See 3.1.5 Spray Status screen.Kawasaki Robot OperationMultifunction Panel. Menu screenSee 3.1.4 Status screen, 3.1.5 Spray Status screen,See 9. Auxiliary FunctionsSee 13. Interface Panel SettingSee 1.2.4 KeyboardKawasaki Robot OperationMultifunction PanelStatus Display. Program List. Aux. Function. Monitor. Interface Panel. Current Position. Keyboard. Spray Status. Note: The left and right menu keys can be switched by pressing the keys indicated by (A) andSwitches to the program selection screen.Program List screen contains two pages which can be switched by the PRE PG and. NEXT PG keys.Program ListOutput. InputInternal Output. Input. MonitorKawasaki Robot OperationMultifunction PanelKawasaki Robot OperationMultifunction PanelKawasaki Robot OperationMultifunction PanelKawasaki Robot OperationMultifunction PanelShows the monitor speed. Shows year, date, and time. Shows the repeat condition. Shows the current mode. The displayed color changesDisplayed only when. STEP ONCE is selected. Shows the step numberThe secondShows the location data ofSet Items. Repeat 10. RepeatDisplay ItemsCycle start. Error. Normal. Release ext.Record accept. Step forward. Repeat. Step. Descriptions. The repeat speed is indicated in percentage. See 8.5 Repeat Condition Selection. Turns on when the EMERGENCY STOP switch is pressed. Turns on when the MOTOR POWER switch is pressed. Turns on when the CYCLE START switch is engaged. Indicates robot mode; Teach or Repeat. Indicates the robot condition; Hold or Run. Turns on when errors occur. Turns on when the robot is operating normally without any errors. Turns on when the stop release is engaged. The color changes when teaching becomes effective. Appears when STEP ONCE is selected. Indicates the status of the repeat operation programmed, one cycle onlyIndicates the program execution status, step by step (Step Once) orIndicates that RPS (Random Program Selection) function is enabled orDryrun. Indicates that the Dryrun mode is effective (ON) or not effective (OFF).Kawasaki Robot OperationMultifunction PanelSpray output. All ratio set. Signal output. Switches to the Spray output screen. Switches to the All ratio set screen. Switches to the Signal output screen. Display items. Production speed ratio. Indicates the production speed ratio data. Indicates the conveyor speed.Indicates the conveyor position.Indicates the production number. Indicates the repeat time. Conveyor speed. Conveyor position. Production number. Repeat timeKawasaki Robot OperationMultifunction PanelChanges the manual spray output signal. Verify that the mode is in TEACH and the Teach lock keys on the explosion-proof teachThe screens for entering numeric values appear when the. AIRMOTOR, HIGH VOLT keys are pressed. Spray 1. Spray 2. Flow rate. Shaping air. Air motor. High voltage. Flushing. Push thinner. Flow rate upper. Shaping air upper. Air motor upper.