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YASKAWA YRC1000 Operator'S Manual Download Page 14

1

Spot Welding Application Using an Air Gun

1.3

Teaching

1-6

1.3.1.3 Welding On/Off

Press [INTERLOCK] and [WELD ON/OFF] simultaneously in the teach 
mode to turn on or off the welding ON/OFF signal to all connected 
welders. 

A user message appears when the welding ON/OFF signal is turned ON 
in the teach mode.   

During manual spot welding, the welding current flows only when this 
message appears.  

The output destination must be allocated in the spot input/output 
allocation information window before this function is used. 

SUPPLE-

MENT

For information on the signal allocation method, see 

chapter 1.6.5  "I/O Allocation"

.  

14 of 56

Summary of Contents for YRC1000

Page 1: ...MAN INSTRUCTIONS YRC1000 INSTRUCTIONS YRC1000 OPERATOR S MANUAL GENERAL SUBJECT SPECIFIC YRC1000 MAINTENANCE MANUAL YRC1000 ALARM CODES MAJOR ALARMS MINOR ALARMS The YRC1000 operator s manual above co...

Page 2: ...ore operating this product YASKAWA is not responsible for incidents arising from unauthorized modification of its products Unauthorized modification voids the product warranty NOTICE The drawings and...

Page 3: ...situation which if not avoided will result in death or serious injury Hazards identified by the signal word WARNING present a lesser degree of risk of injury or death than those identified by the sign...

Page 4: ...going into the area enclosed by the safety fence In addition the operator of the teaching operation must display the sign that the operation is being performed so that no other person closes the safet...

Page 5: ...sulation and sheathing of external wires Always return the programming pendant to the hook on the YRC1000 cabinet after use If the programming pendant is left unattended on the manipulator on a fixtur...

Page 6: ...ademarks registered trademarks or brand names for each company or corporation The indications of R and TM are omitted Equipment Manual Designation Programming Pendant Character Keys Symbol Keys The ke...

Page 7: ...3 Spot Gun Condition Data File 1 22 1 5 Spot Welding Diagnosis 1 25 1 5 1 Spot Welding Diagnosis Window 1 25 1 5 1 1 Setting Tolerance Value 1 25 1 5 1 2 Tip Hit Count Clear 1 26 1 6 Spot Gun Motion...

Page 8: ...n Window 1 38 1 6 5 3 Pseudo Input Signal Window 1 39 1 6 6 Allocation Signal Meanings 1 40 1 6 7 Monitor Function for Spot Welding Equipment 1 42 1 6 8 Spot Welding Exclusive Signal Allocation List 1...

Page 9: ...as binary or discrete Can handle up to 255 conditions for binary WELD REQUEST level pulse Outputs the start instruction to the welder WELD ERROR RESET level Resets the welding alarm status of the wel...

Page 10: ...STROKE CHANGE level Select the stroke of the gun In case of single solenoid Change by 1 signal In case of double solenoid Change by 2 signal SUPPLE MENT For details on signal contents refer to chapte...

Page 11: ...N window in the teach mode press these keys to move the manipulator to the work home position Displays the SPOT instruction in the input buffer to register welding operations INTERLOCK SPOT With the M...

Page 12: ...NTERLOCK SHORT OPEN The movable side electrode moves to the selected short open position Instruction to change the stroke to the full open position when using a double stroke gun Displays the STROKE L...

Page 13: ...UN CLOSE simultaneously To perform manual dry spotting press these keys simultaneously while the MANUAL SPOT window is called up The conditions displayed in the MANUAL SPOT window are used for manual...

Page 14: ...ed welders A user message appears when the welding ON OFF signal is turned ON in the teach mode During manual spot welding the welding current flows only when this message appears The output destinati...

Page 15: ...K and WELD ALM RESET are being pressed simultaneously The welding conditions gun pressure and weld request are reset with this function The output destination must be allocated in the spot input outpu...

Page 16: ...IT instruction is registered using INSTRUCTION LIST Table 1 1 Registering Work Instructions Instructions are registered during the teach mode when the cursor is in the address area of the job content...

Page 17: ...Starts execution of GUNCL X second s before reaching the move instruction located immediately before it However it is necessary to specify NWAIT to the move instruction immediately before the GUNCL i...

Page 18: ...on appears in the input buffer line When INSTRUCTION LIST is pressed the instruction list dialog appears Select GUNCL from the list 4 Move the cursor to the address area 5 Add items and modify the num...

Page 19: ...ing 3 WTM X Specifies the number of welding conditions set to the welder 4 GUN X Specifies the second gun at two gun control Cannot be omitted at simultaneous two gun control Do not set when only one...

Page 20: ...reaching the move instruction immediately before it However it is necessary to specify NWAIT to the move instruction immediately before the SPOT instruction By omitting this item the SPOT instruction...

Page 21: ...ove to the execution of step 6 If the manipulator starts moving before the gun opens when gun open status is not verified adjust the timing with the TIMER instruction as shown below NOTE Do not use th...

Page 22: ...N X Specifies a gun characteristic file number of stroke to be changed 2 LONG or SHORT Specifies the stroke status by alternating LONG and SHORT SUPPLE MENT For details on the stroke change sequence o...

Page 23: ...RT OPEN is pressed the STROKE GUN 1 LONG instruction appears in the input buffer line when the key 3 FULL OPEN is pressed When INSTRUCTION LIST is pressed the instruction list dialog appears Select ST...

Page 24: ...NG or SHORT Specifies the stroke status to be verified by alternating LONG and SHORT Operation Procedure 1 Move the cursor to the line before the place where the STRWAIT instruction is to be registere...

Page 25: ...A TWO GUN CONTROL Specifies whether the simultaneous control is turned ON or OFF when using two guns B GUN NO Specifies the gun number of the gun to be used for manual spot weld ing C WELDING COND WTM...

Page 26: ...Welding Application Using an Air Gun 1 4 Setting Welding Conditions for Air Gun 1 18 Operation Procedure 1 Press 0 MANUAL SPOT of Numeric Key s 2 Select the desired mode 3 Select the item to be set 26...

Page 27: ...ing sequence I O signal control method Welder Condition Window A WELDER NO Welder system numbers are specified B WELD INST OUTPUT TYPE Specifies welder output start timing In the start timing there ar...

Page 28: ...t can be set When WELD COND OUTPUT TYPE is DISCRETE the number of welding conditions cannot be set F WELD END WAIT TIME Specifies how many seconds to monitor the welding complete signal after the weld...

Page 29: ...elding Application Using an Air Gun 1 4 Setting Welding Conditions for Air Gun 1 21 Operation Procedure 1 Select SPOT WELDING under the main menu 2 Select WELDER CONDITION 3 Select the item to be set...

Page 30: ...ELDER NO Specifies the welder to which the gun is connected D OPEN MONITOR Specifies whether the short open status is verified or not at welding sequence execution E GUN OPEN CLOSE SET AT STOP Specifi...

Page 31: ...he short open status This function can be used when the LS pressure is not set I FULL OPEN STROKE OUT DELAY TIME Specifies the timing to change the stroke change signal to the full open status after t...

Page 32: ...Using an Air Gun 1 4 Setting Welding Conditions for Air Gun 1 24 Operation Procedure 1 Select SPOT WELDING under the main menu 2 Select GUN CONDITION The GUN CONDITION window is displayed 3 Select th...

Page 33: ...eplacement It shows the set number of welds to tip replacement and the number currently completed 1 5 1 1 Setting Tolerance Value 1 Select SPOT WELDING under the main menu 2 Select WELD DIAGNOSIS The...

Page 34: ...is 1 26 1 5 1 2 Tip Hit Count Clear 1 Select SPOT WELDING under the main menu 2 Select WELD DIAGNOSIS The SPOT WELD DIAGNOSIS window appears 3 Select CLEAR CURRENT POS from DATA 4 Select YES The confi...

Page 35: ...n Control can be executed The following gun types are available X C types single stroke method X type double stroke method C type double stroke method 1 6 1 Gun Motion Control The ways to control the...

Page 36: ...an Air Gun 1 6 Spot Gun Motion Control 1 28 Stroke change 1 6 1 2 C Type Gun Single stroke Double stroke FULL OPEN WELD FULL OPEN FULL OPEN WELD SHORT OPEN WELD SHORT OPEN SHORT OPEN WELD SHORT OPEN F...

Page 37: ...1 Spot Welding Application Using an Air Gun 1 6 Spot Gun Motion Control 1 29 Stroke change SHORT OPEN WELD FULL OPEN FULL OPEN WELD FULL OPEN FULL OPEN SHORT OPEN 37 of 56...

Page 38: ...ion Input Manipulator starts moving by welding completion Input signal when GUN OPEN is not specified in spot input allocation information display Turns ON OFF welding instruction welding condition an...

Page 39: ...icipater Designation Gun Full Open Detection Input In case if the GUN OPEN is OFF manipulator starts moving immediately after the OFF of the signal 2 4 1 3 1 1 3 3 Stroke Change 1 Output X Mechanical...

Page 40: ...etection Input Full Open 2 4 1 3 5 6 1 1 3 3 When FULL OPEN MONITOR is OFF in spot gun condition data file operation starts in elapse of CHANGE TIME OPEN FULL OPEN of gun condition data file after str...

Page 41: ...tion and pressure instruction simultaniously However strictly saying output welding instruction immediately after welding condition output X X 4 1 6 2 3 5 3 3 5 5 Stopper Type Stroke Change Output Tim...

Page 42: ...ctly saying output welding instruction immediately after welding condition output Anticipater Designation Stroke Change Output Gun Short Open Detection Input Gun Full Open Detection Input X X 4 1 6 2...

Page 43: ...s Specified Process Timing SUPPLE MENT For the use of C double gun X double cylinder gun with double solenoid specifications Set signal numbers for stroke change 1 and 2 in the spot I O allocation inf...

Page 44: ...changed after elapse of stopper type stroke full open output delay time Stroke Change Response Time Stopper Type Stroke Full Open Output Delay Time when pressure detection OFF Stopper Type Stroke Cha...

Page 45: ...als are specified on the pseudo input signal window Timer Cooling Water Error Gun Cooling Water Error Transthermo Error Air Pressure Decrease Weld On Off 1 6 5 1 Input Allocation Window 1 Select SPOT...

Page 46: ...n Motion Control 1 38 1 6 5 2 Output Allocation Window 1 Select SPOT WELDING under the main menu 2 Select I O ALLOCATION The input allocation window appears 3 Select DISPLAY from DATA 4 Select ALLOCAT...

Page 47: ...nd ON alternate NOTE Be sure to confirm that the allocated general purpose sig nal is not used in the job If it is used in the job the signal is duplicated and the job does not operate normally When t...

Page 48: ...TRANSTHERMO ERROR Specifies an error from the gun transformer is transmitted directly to the robot controller It is normally ON NC and when OFF an alarm occurs The servo power stays on Gun Transformer...

Page 49: ...start instruction is output to the welder It is not necessary for welders which assume the welding condition signal is a start instruction Welder NOT USED WELD ERR RESET Resets the welder after welde...

Page 50: ...nal must be set in the Concurrent I O Parameter Normal OFF NO Signal Function This signal can be used during the low water cooling signal in the spot input allocation display if the set general purpos...

Page 51: ...LARM ERROR RESET ALARM ERROR RESET 20014 20015 SELECT PLAY MODE SELECT PLAY MODE 20016 SELECT TEACH MODE SELECT TEACH MODE 20017 20020 INTERFERENCE 1 ENTRANCE PROHIBITED INTERFERENCE 1 ENTRANCE PROHIB...

Page 52: ...R OCCURRENCE DURING ALARM ERROR OCCURRENCE 30014 BATTERY ALARM BATTERY ALARM 30015 REMOTE MODE SELECTED REMOTE MODE SELECTED 30016 PLAY MODE SELECTED PLAY MODE SELECTED 30017 TEACH MODE SELECTED TEACH...

Page 53: ...IN17 20041 IN18 IN18 20042 IN19 IN19 20043 IN20 IN20 20044 IN21 IN21 20045 IN22 IN22 20046 IN23 IN23 20047 IN24 IN24 20050 IN9 TIMER COOL WATER ERROR 20051 IN10 GUN COOL WATER ERROR 20052 IN11 TRANST...

Page 54: ...0041 OUT18 OUT18 30042 OUT19 OUT19 30043 OUT20 OUT20 30044 OUT21 OUT21 30045 OUT22 OUT22 30046 OUT23 OUT23 30047 OUT24 OUT24 30050 OUT9 WELD ON OFF 30051 OUT10 WELD ERR RESET 30052 OUT11 WELD COND 1 3...

Page 55: ...GUN 1 T 2 0 ATT 0 5 MOVL V 1000 SPOT Function Start up the welding sequence from gun pressure Format GUN gun 1 No 1 8 MODE gun 1 operation mode specification 0 4 WTM gun 1 welding condition 1 255 GUN...

Page 56: ...8 2878 YASKAWA SHOUGANG ROBOT Co Ltd 426 Udyog Vihar Phase IV Gurgaon Haryana India Fax 91 124 475 8542 Phone 91 124 475 8500 YASKAWA India Private Ltd Robotics Division YASKAWA Electric China Co Ltd...

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