Otc manual

CMU U CMRE U L : Wire Feeder. L : Robotic 4 Roll Wire Feeder. L : Robotic 2 Roll Wire Feeder. Arc Welding Robots. Cells: Robotic Systems. Power Sources: Welbee. Power Sources: Welding. Robotic Sensors. Manual Torches: Aluminum. Manual Torches: Plasma. Manual Torches: Spool Gun. Manual Torches: Steel. Orders we receive in the afternoon will be sent the following day. We send by First Class post so orders to the UK should arrive the following day, orders to Europe should arrive in days and orders to the rest of the world should arrive in days.

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I really do appreciate any feedback and suggestions. Printed Smartphone Manuals. Toggle navigation Printed Smartphone Manuals. Our aim is to provide a printed and bound manual for every smartphone. If an error occurs during a playback operation, the robot is set to the stop status, and the servo power motor power is turned off immediately. If an alarm occurs during a playback operation, the robot is set to the stop status. The servo power motor power is not turned off. This type of trouble is less serious than an error.

If information occurs, the robot remains in the start status even during a playback operation. It does not entail hazards or risks but in some cases it may potentially lead to an alarm or error in the future. A mechanism refers to a unit such as a manipulator, positioner, servo gun or servo travel device that configures a control group and cannot be broken down any further. A multi-mechanism refers to a configuration where, for instance, a servo gun has been added to a manipulator.

If a multi-mechanism is to be used with manual operation, it is first necessary to declare which mechanism is to be operated. This refers to the increments in which a program is created. On some occasions, only one mechanism configures the unit; on other occasions, multiple mechanisms multi-mechanism are involved.

Normally, only one unit is used overall. Under the multi-unit specifications conventionally referred to by Nachi as multi-robot or as multi-task by Daihen , a multiple number of units can be operated simultaneously.

Creating the program teaching The program is created in the sequence shown below. The entire process is known as the "teaching work.

Modifying, adding or deleting movement commands Recording, modifying or deleting function command teach mode. Auto operation After the creation of the program has been completed, automatic operation is performed. When automatic operation is performed, the selected program is repeatedly played back. Guide the robot to the point to be recorded by means of manual operation.

Manual operation has a number of modes including the mode in which each axis of the "robot" is operated separately, and a mode in which the robot tip is moved in a straight line. This job is called teaching, and it is performed in the following sequence. Successively record the operation positions to which the robot is to move and the robot's postures.

Move the robot to the recorded position and posture by manual operation. Press the record key to record the step. Repeatedly press this key to record the steps in succession. If necessary, record the function commands. Record the function commands in the appropriate steps.

When the function commands are recorded, signals can be output to an external source or the robot can be placed in the standby mode, for instance. This completes the sequence of the teaching session, and a program is created as a result. The teaching system outlined above is called the teaching playback system.

Alternative systems include the robot language system and off-line teaching system. The robot supports all of these systems but only the teaching playback system is explained in this instruction manual. Furthermore, in order to perform complicated work, other programs may be called or, depending on the status of the external signals, operation may jump to other programs.

These are also recorded as function commands. Some typical function commands are listed below. The square brackets [ ] following an function command indicate the parameter which has been set.

In the case of the teaching example above, the robot operates in the following way. Operation stands by for 1 second. Output signal 1 is set to ON. Operation stands by for 2 second. Output signal 1 is set to OFF. Select the playback mode. One of the following playback methods may be selected. Step: The program is executed step by step.

Cycle: The program is executed once from start to end. Continuous: The program is executed continuously. Cycle or step playback is selected to check what has been taught or perform a trial run for auto operation.

The program can be stopped on a step by step basis in these modes. Continuous playback is used for actual operations. Proceed with playback. The robot starts to move from its current position to step 1. It is also possible to specify the start step. With one-time playback cycle , the robot moves from the current position to step 1 and subsequent steps, and its movement ends with the last step.

For the second and subsequent times: the robot moves from the step 1 and subsequent steps, and its movement ends with the last step. In this chapter, the functions of the operation switches and keys provided on the robot controller will be described.

Controller main unit Fig. Teach pendant The teach pendant has the keys and buttons to perform teaching, file operation, various condition settings, etc. Operation panel Buttons for performing the minimally required operations such as motor power ON, starting and stopping automatic operation, emergency stop, and switching between the teach and playback modes are provided. The teach pendant and operation box are connected to the side panel area of the controller. Teach pendant. Operation box Buttons for performing the minimally required operations such as motor power ON, starting and stopping automatic operation, emergency stop, and switching between the teach and playback modes are provided.

This is used to set the motor power to ON. When it is set to ON, the robot is readied for operation. This is used to select the mode. The teach or playback mode can be selected. This switch is used in combination with the [Teach pendant enable switch] on the teach pendant. When this is pressed, the robot is set to emergency stop. Emergency stop is performed by pressing the switch on the operation panel or on the teach pendant.

To release emergency stop, turn the button clockwise. The button will then return to its original position. The operation panel is connected to the AX controller as a standard accessory. It cannot be connected to the AX-C controller. Emergency stop is performed by pressing the switch on the operation box or on the teach pendant. The operation box is connected to the AX-C controller as a standard accessory.

It cannot be connected to the AX controller. It also differs from the separate operation board which is an optional accessory of the AX controller. This is used to switch between the teach mode and the playback mode in combination with the [Mode selector switch] on the operation panel or operation box. For further details, refer to 3. This switch is provided on the rear panel, and it is used when the robot is to be manually operated in the teach mode.

Normally, it is provided on the left side only. There may be two buttons, one at the left and the other at the right as an option. When the deadman switch is grasped, power is supplied to the robot the motor power is turned ON.

The robot can be operated manually only while the switch is grasped. Release it in an impending danger. The robot stops immediately. For details on how to operate the deadman switch, refer to 3. Depending on whether a Nachi or Daihen robot has been used to date, the same operation key may have a different function. A difference in function is indicated by the or display. There is no or display if the key functions in the same way for both robots.

Funciton The functions are executed by pressing this key together with other keys. When this is pressed on its own, the mechanisms are selected. When a multiple number of mechanisms are connected to the system, the mechanism to be operated manually is selected. When a multiple number of units are defined in the system, the unit to be operated is selected. This key is used by a system in which a multiple number of mechanisms are connected, and it has the following functions. When this is pressed on its own, it selects or releases coordinated manual operation.

When cooperative operation is specified for a move command, H appears before the step number. When this is pressed on its own, one of the coordinates is selected. During manual operation, the coordinate system that serves as the reference for operation is selected. Each time it is pressed, the axis independent, orthogonal coordinates or user coordinates or tool coordinates are selected and displayed on the LCD screen. This switches the interpolation type joint interpolation, linear interpolation or circular interpolation of the recording status.

Funciton When this is pressed on its own, the manual speed is changed. The operating speed of the robot during manual operation is selected. Each time it is pressed, one of the 1 to 5 operating speeds is selected the higher the number, the faster the speed. Furthermore, the following function is provided as well. This function is set by selecting [Constant Setting] [5 Operation Constants] [4 Record speed] [Value of recording method Decision method].

The playback speed recorded in the steps is also determined by the manual speed which has been selected by this key. The above setting is not established. Set the playback speed when teaching the movement commands. The speed during a check go or check back operation is selected. When this is pressed on its own, continuous or noncontinuous is selected. Continuous or non-continuous during a check go or check back operation is selected.

When continuous operation is selected, the operation of the robot does not stop at each step. The program being played back is stopped. This has the same function as the stop button. When this is pressed on its own, the screen is selected or moved. If a multiple number of monitor screens are displayed, the screen targeted for operation is selected.

The selected monitor screen is closed. When these are pressed on their own, they have no function. When these are pressed together with the [Deadman switch], the axes are operated. The robot is moved manually. When these are pressed together with the [Deadman switch], the check go or check back operation is performed. Normally, the robot is stopped at each recorded position step but it can also be operated continuously.

Funciton When this is pressed on its own, the movement command is recorded. During teaching, the movement command is recorded. This can be used only when the last step in the task program has been selected.

The already recorded movement command is overwritten by the current recording statuses position, speed, interpolation type, and accuracy. However, the command can be overwritten only when changes are made to what is recorded for the movement commands. A movement command cannot be overwritten by a function command; neither can a function command be overwritten by another function command.

The recording position of a recorded movement command can be revised using [MOD Position]. When this is pressed on its own, it has no function. The movement command is inserted Before the current step. The movement command is inserted After the current step. Before can be changed to After or vice versa by selecting [Constant Setting] [5 Operation Constants] [1 Operation condition] [7 Step insertion position].

When the spot welding application is used When this is pressed on its own, the spot welding command is set. It is used to set the spot welding commands. When the arc welding application is used When this is pressed on its own, commands are easily selected. The position stored in the movement command now selected is changed to the current robot position. Press this for help concerning an operation or function.

The built-in tutorial function help function is called. This clears the input or returns the setting screen to its original status. It also enables R codes short-cut codes to be input. The function that is to be used can be called immediately by inputting an R code. When this is pressed on its own, a step is specified. This is used to call a step specified in the program. The specified program is called.

The step now selected movement command or function command is deleted. On a screen where the settings are configured on a multiple number of pages, the page is moved. On a program editing screen, for instance, the cursor is moved by several lines at a time.

On a service or constant setting screen, for instance, the selection items arranged horizontally radio buttons are selected. On a teach or playback mode screen, the number of the current step is changed. When this is pressed on its own, a short-cut to the SETM function command is provided.

This is used to revise the speed of recorded movement commands. Funciton When these are pressed on their own, numbers 0 to 9, decimal point are input. On a setting screen, for instance, a check mark is placed inside the check box. On a setting screen, for instance, the check mark inside the check box is removed.

This re-does the operation which was restored by clearing undo the operation immediately before. It is effective only while creating a new or editing an existing program.

When this is pressed on its own, a number or character is deleted. The number or character before the cursor position is deleted. The key is also used to release a selection during file operations.

The operation performed immediately before is cleared, and the status prior to the change is restored. This is used when selecting the function commands.

This opens the program editing screen. On the program editing screen, principally the function commands are changed, added or deleted and the parameters of movement commands are changed. When a teach pendant with touch panel specifications is used, the interface panel window is opened. Mode display area The selected mode teach, playback or high-speed teach is displayed here. The highspeed teach mode is optional.

The motor power, operation underway and emergency stopped statuses are also displayed. Table 2. The number of the step selected in the program is displayed here. The mechanism targeted for manual operation is displayed here. With a multi-unit specifications robot, the numbers of the units involved in the teaching are also displayed.

Coordinate system display area The selected coordinate is displayed here. Tool coordinate system The number on the left of the icon is the tool number. Work coordinate system. User coordinate system The number on the left of the icon is the coordinate number. Speed display area The manual operation speed is displayed here.

The contents of the program are displayed here in the case of the initial settings. The six keys on the left correspond to f1 to f6; the six keys on the right correspond to f7 to f When this status ends, the icon is cleared.

Automatic backup proceeding The extent to which the operation has been completed is indicated as a percentage. Temporarily stopped with station startup only. Mechanism now disconnected. The initial allocation of the icons differs according to the application such as spot welding, arc welding and so on. It is also switched in accordance with the selected mode or operating conditions. The initial allocation of the f keys differs according to the application. For details on the initial allocation, the user should refer to those sections in Chapter 9 and beyond in this instruction manual which correspond to the application that will be used.

To select the function assigned to an icon, press the corresponding f1 to f12 keys at the side of the icons. The functions are selected by pressing the [f1] to [f12] keys at the side of the icons. Normally, a function is selected by pressing one of the f1 to f12 keys on its own.

When a teach pendant with touch panel specifications is used, touch the icons directly instead of pressing [f1] to [f12]. The character to the left of the cursor is now deleted. Alphanumerics and half-size symbols can be input in the initial start status of the soft keyboard.

Before turning on the control power, the controllers door must be closed without fail. Receiving an electric shocks from touching any of the power supply areas may result in death or serious injury. First, check the position of the circuit breaker power switch.

This position differs depending on the series and the specifications. Turn the circuit breaker to the ON position. If self-diagnosis is completed without any problems detected, a screen such as the one shown below is displayed on the teach pendant. To change the mode, use the [Mode selector switch] on the operation panel. The correlation between the switch positions and the modes selected is shown below.

In this status, however, the robot cannot be operated either manually or automatically. Perform the following operation to initiate operation. Turn the [Teach pendant enable switch] on the teach pendant to the teach or playback position so that the operation panel and teach pendant are both set to the same mode. When one of the following combinations is used, the robot can be operated manually or automatically.

The following explanation concerns manual operation and teaching so keep the teach mode as the selected status. Turn the [Mode selector switch] on the operation box to the teach or playback position.

Turn the [Teach pendant enable switch] on the teach pendant to the teach or playback position so that the operation box and teach pendant are both set to the same mode. The following explanation concerns manual operation or teaching so establish the manual operation enabled status before proceeding any further. If the robot is not going to be moved, the motor power need not be turned to ON. Before turning the motor power to ON, be absolutely sure to check that no one is near the robot.

If the robot should move without warning and come into contact or sandwich a person, death or serious injury may result. Turning the motor power to ON [in the teach mode] Take the following steps to turn the motor power to ON in the teach mode.

If the teach mode has not been selected, turn the [Mode selector switch] and set it to the teach mode. AX controller. Press the [Motor power ON button]. In this status, the green lamp of the [Motor power ON button] starts flashing.

Grasp the [Deadman switch]. The green lamp of the [Motor power ON button] stops flashing and lights. The robot can now be operated by pressing the [Axis operation keys] while grasping the [Deadman switch].

This switch is not used in the playback mode. If the deadman switch is released, the motor power is turned off, and the robot stops immediately. When the deadman switch is grasped again, the motor power comes back on. Grasping the deadman switch tightly until a clicking sound is heard also causes the motor power to be turned off and the robot to stop immediately.

Two deadman switches may be provided on the rear panel of the teach pendant as an option. In this case, the motor power is turned off also by grasping both of these switches simultaneously. When the emergency stop button has been pressed or the emergency stop command has been input from an external source during operation, the motor power can no longer be turned on or off by operating the [Deadman switch].

In cases like this, perform steps 1 to 3 above. When the deadman switch cannot be operated Has the emergency stop button on the teach pendant been pressed? Turn the emergency stop button clockwise to release it. Has the emergency stop command been input from an external source? The preparations for the peripheral devices on the system side have not been completed. First complete the preparations on the system side, and then release the emergency stop command. Are the [Teach pendant enable switch] on the teach pendant and the [Mode selector switch] on the operation panel operation box both at the teach position?

Set both switches to the teach position. Turning on the motor power in the playback mode Proceed as follows to turn on the motor power in the playback mode. The deadman switch need not be operated. In the playback mode, the motor power is turned on automatically by pressing the [Motor power ON button]. Therefore, the deadman switch is not used. Before proceeding, memorize to some extent how the robot moves. The following coordinates systems are the ones that are frequently used.

Axis coordinate system Each of the robot's axes moves independently. Machine coordinate system The robot tip moves in a straight line. The tip moves along the coordinates referenced to the robot. The direction of the axis along which the wrist moves differs depending on the type of application such as spot welding or arc welding used. Movements of the robot using the axis coordinate system. The rotation of the sixth axis rotation center line centers on the Z axis while the tool tip is fixed.

The rotation of the torch centers on the torch tip on the plane formed by the torch line and Z axis while the tool tip is fixed. The rotation of the torch centers on the torch line while the torch posture remains fixed and the tool tip is fixed. Each time this key is pressed, the speed is changed by one setting in the following sequence: 1 Press the [Axis operation keys] that corresponds to the direction in which the robot is to be moved.

Notice to Nachi equipment users Concerning the difference between the orthogonal coordinate system and the system with the AW or earlier controller by Nachi In the AW or earlier controller, Nachi used its own coordinate system where the front as seen from the robot served as the Y direction. In the AX controller, the front has now been changed to serve as the X direction to follow the international standard.

The mechanism selected for manual operation is displayed on the teach pendant. The currently selected mechanism is displayed in color. Given below is an example where a mechanism is switched in a configuration consisting of a manipulator and positioner. After switching the mechanism, manual operation using the newly selected mechanism is possible. While holding the deadman switches, press the axis keys to operate the mechanism. When the deadman switch is released or grasped tightly, the motor power is turned off, and the robot stops immediately.

To turn off the motor power in the playback mode, press the emergency stop button. In the teach mode, release the [Deadman switch] or grasp it tightly. In the playback mode, press the [Emergency stop button] in the upper part of the teach pendant.

If the robot is moving, it will stop immediately. The [Emergency stop button] is locked. To turn the motor power back on, the lock must be released. To release the lock, turn the button in the direction of the arrow. An emergency stop button is also provided on the operation panel or operation box. The robot is stopped by pressing any emergency stop button. Set the circuit breaker to the OFF position. This chapter describes the teaching work.

Input the number of the program. Input the number of the program to be created. Any number from 0 to can be input. Record the movement commands positions to which the robot is to move and postures. Press [O. Record the steps movement commands in sequence by repeating this process. If function commands are recorded, signals can be output to an external device or the robot can be made to stand by. Move in numerical order through the recorded steps and check the recorded positions and postures.

Revise the teaching contents if necessary. Change the recorded points, add or delete steps, etc. Input the number of the program in the Designated program field, and press [Enter]. When 1 is to be specified as the program number, for instance, press the [1] numeric key. At this point, the teaching can now begin. If you do not know which numbers are not yet used If you do not know which numbers are not yet used, check the programs already created by listing them on the display.

See page 4. Alternatively, the number of a program may be specified directly using the method described in 4. Align the cursor with Directory, and press [Enter]. Align the cursor with the program to be opened, and press [Enter]. Concerning the contents displayed when programs are listed The contents displayed are as follows.

Before proceeding with teaching, remember this information as background knowledge. Program No. The number of the currently selected program is displayed. If not even one step has been recorded, Free is displayed; if one or more steps have been recorded, EX is displayed.

The maximum number of characters which can be used for the REM function command is However, the comment which consists of the first 38 of these characters appears in this area. Manual Speed With robots destined for Nachi users, the speed which has been set here is also reflected as the speed of the movement commands. Recording status The currently set speed, interpolation method, etc.

The movement commands are recorded under the conditions displayed in recording status by pressing [O. Program contents The recorded steps are displayed here.

The step numbers are provided for both the movement commands and function commands. Operate the robot manually until it reaches the position to be recorded. Set the speed, interpolation type and other data. This is the speed at which the robot is to move to the recorded position.

Interpolation type This refers to the degree by which the path along which the tool moves as it passes through the recorded point of each step is distanced from the recorded point, thereby describing an arc on the inside of these points. The movement command is recorded by pressing [O. Concerning the movement command data settings All the movement command data can be changed after teaching. Therefore, until operators become familiar with the operation of the robot, they should simply remember how to record the robot positions.

The data is revised upon completion of the teaching session. Press [FN]. Select the function command to be recorded, and press [Enter]. Specify the parameter condition of the function command, and press [Enter]. When there is more than one parameter condition , press [Enter] with each parameter. To correct a numerical value, etc. Teaching using the movement commands 1 Operate the robot manually until it reaches the position to be recorded.

Frequently used commands will be displayed on the f keys f1 to f The same as the conventional P. The same as the conventional L.

The same as the conventional C. In this case, Enable would be A8 and Disable would be A1. Teaching using the function commands 1 Press [FN]. The function commands registered in that group will be displayed on the f keys f1 to f How the tool tip is to be moved is determined by the interpolation type.

Table 4. If the next step target step involves linear interpolation, the tool tip moves in a straight line that connects the steps. If the target step and the step that follows involve circular interpolation, the tool tip moves along an arc. This refers to the degree to which the path along which the tool moves as it passes through the recorded point of each step describes an arc on the inside of the recorded point.

A1 to A8 can be specified as this degree. When A1 is specified, the tool will always pass through the recorded point. When A2 or above is specified, the time required for playback is reduced depending on how far the tool passes along an arc on the inside of the recorded points. Select a stringent lower accuracy level at the welding points and a lax higher level in the air cutting areas.