Miller LINE TRACKER TOUCH SENSOR Owners manual

Millerﬁ

September

1991

FORM:

OM-146

806

MODEL:

Line Touch

Tracker

Sensor

OWNERS

IMPORTANT:

special installing,

Instructions

operation

operate,

understand

ST-148

804

Read

emphasis

operating,

are

of

welding

maintain

or

these

on

for

instructions.

and

understand

the

safety

or

maintaining

use

only

equipment.

this

unit.

by

the

material

persons

Do

Contact

this

not

entire

trained

allow

your

contents

throughout

equipment.

and

experienced

untrained

distributor

MANUAL

of

this

the

This

persons

if

manual,

unit

do

you

before

and

In

the

to

install,

not

with

these

safe

fuiiy

MILLER

AMIi.~Ud..Cw~y

P0

Ap~eton,

Tel.

ELECTRIC

~

1079

WI

414-734-9821

54912

Co.

Mfg.

liSA

PRINTEDINU.S.A

Ii

This

warranty

LIMITED

hereof,

rants

Equipment workmanship by

engines,

others.

sold

if

any.

years

which

Except

to

year,

MILLERMATIC

including

result

MILLER ranted within

Equipment

1.

2.

3.

4.

5.

6.

7.

provided

of

As

submitted

supersedes

WARRANTY

MILLER

to

its

furnished

MILLER.

No

trade

Such

to

subject

All

engines

from

date

have

a

as

components

the

specified

such

as

nozzles

from

defect

shall

Equipment

the

following

to

Arc

welders,

components

Load

banks

main

Original



1

(labor

All

welding

a

other

date

matter

MILLERMATIC

that

of

All

Replacementorrepair

Batteries

by

all

Electric

Distributor/Dealer

and

material

warranty

accessories

engines,

the

one

trade

warranties

warrantied

are

of

original

year,

below,

having

welder

spot

that

parts

nozzle

and

in

workmanship

be

required

in

the

periods

the

original

power

only)

year

feeder/guns

guns,

MILLERisnotified

such

failure.

of

general

the

original

LIMITED

Subject

Co.,

Mfg.

MILLER

of

as

is

made

or

accessories

their

ot

purchase,

hour

MILLERs

tips,

come

insulators

honor

to

of

from

user:

Feeders

parts,

only,

within

user

MILLER

to

Appleton,

that

time

the

by

other

respective

their

by

warranty.

useful

relay

in

contact

or

failure

robots,

and

exclusive

in

writing

MILLER

the

by

2000

normal

event

sources,

rectifiers

policy

warranties

the

terms

all

new

is

free

and MILLER items

and

manufacturer

except

warranty

lifeofless

and

with

where

material.

warranty

resulting

the

date

and

torches

of

within

may

foregoing

WARRANTY

EFFECTIVE:

andisexclusive

conditions

and

Wisconsin

from

placeofdelivery

with

manufactured

other

manutacturers,

Deutz

does

contactor

the

failure

claims

of

.

labor

thirty

and

unused

defect

respect

items

for

engines

not

than

one

points,

welding

does

on

from

a

delivery

3

90

.

. .

60

months

6

(30)

honor

periods.

war

are

two

apply

(1)

wire

not

war

defect

1

year

1

year

years

days

1

year

days

claims

by

AUGUST

In

the

with

respect

therefore

in

ment

cases,

authorized

to

for

the

upon and

expense.

FOB.,

authorized

transportation

notice

claimant

ANY

AND

SENTATION

FOR

PROVISION,

OF

of

LAW,

INCLUDING

TABILITY WITH

FURNISHED

BY

MILLER.

EXCEPT

WRITING,

ULTIMATE

USERS

AND

WELDING CONSUMER EXTEND

EXTEND

1990

6,

with

other

no

of

case

to

shall

where

or,

the

(3)

MILLER

purchase

actual

use)

Factory

service

of

apparent

the

on

EXPRESS

IMPLIED

ANY

BREACH

CUSTOM

OR

RESPECT

AS MILLER

PURCHASE

AND

EXPERIENCED

EQUIPMENT

TO,

MILLERS

guarantees

MILLERs

the

be.atMILLERs

authorized

reasonable

MILLERs

at

costs

warranty

breach

of

quality

in

cost

service

(less

price

return

upon

optionofrepairorreplacement

Appleton,

facility,

of

kind

any

defect

or

claim

WARRANTY

WARRANTY,

AS

TO

PERFORMANCE,

OF

CONTRACT

MIGHT

ARISE

OF

ANY

OF

BY

FOR

USE.

AND

TRADE

IMPLIED

F!TNESS

ANY

TO

MILLERISEXCLUDED

EXPRESSLY

PRODUCTS

BY

OPERATION

IN

THE

AND

MILLERS

NO

RESELLER

WARRANTIES

warranties

or

of

warranty

exclusive

the

goods,

any

option

writing

of

station

reasonable

the

of

Wisconsin,

therefore,

will

failure,

(1)

MILLER

by

repair

or

(4)

goods

be

allowed.

MILLER

repair

or

payment

depreciation

FOB.

or

no

procedures

NOT

PROVIDED

GUARANTY

AND

WHICH,

BY

IMPLICATION,

OR

COURSE

WARRANTY

FOR

PARTICULAR

AND

ALL

AND

PROVIDED

ARE

COMMERCIAL/INDUSTRIAL

BY

PERSONS

MAINTENANCE

AND

USE

NOT

FOR

CONSUMERS

WARRANTIES

AUTHORIZED

IS

ANY

TO,

expressed

or

replacement

Customers

at

or

other

any

remedies

or

replace

(2)

in

appropriate

oforcredit

based

will

MILLER

at

a

compensation

Upon

receipt

shall

instruct

be

followed.

to

HEREIN

OR

REPRE

REMEDY

ANY

BUT

FOR

OPERATION

OF

DEALING,

OF

MERCHAN

PURPOSE,

EQUIPMENT

DISCLAIMED

BY

MILLER

INTENDED

TRAINED

DO

CONSUMER.

implied.

duty

at

an

risk

be

for

of

the

THIS

IN

FOR

OF

OR

NOT

TO

RECEIVING-HANDLING

OM-148

RO~



Before any

shipment.

with

ing

distributor

ers

When

unpacking

damage

File

the

delivering

or

settling

and/or

Transportation

requesting

equipment, scription

and

S~A1FE1y

SPECIFICATIONS

equipment,

that

may

any

claims

the

always

Serial

check

have

claims

carrier.

may

occurred

for

loss

Assistance

obtained

be

equipment

Department.

information

provide

or

Style

the

Number

TABLE

carton

during

or

damage

for

from

manufactur

about

Model

this

De

OF

.

for

Use

Designation

your

fil

rating

the

Model

Serial

Date

CONTENTS

the

following

The

unit.

label

__________

or

Style

Purchase

of

spaces

and

information

the

or

No.

to

record

Serial

or

Style

is

nameplate.

SECTION

the

Number

located

1

2

Model

on

of

the

INSTALLATION

TEACHING

OPERATION

&

MAINTENANCE

TROUBLESHOOTING

ERRORCODES....

PARTS

LIST

MISCELLANEOUS

&

SECTION

.

SECTION

3

4

5

6

7

8

Millerﬁ

September

1991

FORM:

OM.146

806

SECTION

1



SAFETY

MODEL:

Line

Touch

Tracker

Sensor

IMPORTANT:

special installing,

instructions

operation

operate,

understand

emphasis

operating,ormaintaining

of

or

Read

for

are

robotic

maintain

these

understand

and

the

on

use

only

safety

by

equipment.

this

unit.

instructions.

the

material

persons

Do

Contact

this

not

entire

trained

allow

your

contents

throughout

equipment.

and

experienced

untrained

distributor

this

of

the

This

persons

if

manual,

unit

do

you

and

in

the

to

install,

not

with

before

these

safe

fully

MILLER

AMerGroupLtd.,Company

P.O.

Appleton,

Tel.

ELECTRIC

Box

1079

WI

414-734-9821

54912

USA

Mfg.

PRINTED

Co.

IN

U.S.A

TABLE

OF

CONTENTS

Section

1.1

1.2

1.3

1.4

1.5

1.6

1

.7

1.8

1.9

1.10

1.11

1.12

No

General

1.1.1

1.1.2

Safety

General

Safety

Operator

Safety

Safety Safety Safety

Safety

Information

General

Safety

Alert

Safety

Requirements

Safety

Procedures

Checks

Procedures

Adjustment,

Arc

Welding

And

Symbol

And

Requirements

For

Requirements

During

After

Entering

Before

During

At

End

During

And

Servicing

Safety

Procedures

SECTION

Safety

Signal

Installation

Teaching

A

Automatic

Of

Work

Inspection,

Procedures

1SAFETY

Words

(Programming)

Program

Operation Operation

Maintenance,

Page

1.1

1.2

1.3

1.4 1

1.4

1.5

1.6

1.7

No.

.4

1.1

GENERAL

INFORMATION

AND

SAFETY

1.1.1

Information

General

presented

pertainstoequipment

which

ment.

1.1.2

The

practices

fore,

accordance

bots

and

tion,

manual

and

should

be

read,

Safety

installation,

and

this

equipment

And

Robot

all

other

follow

for

welding

operation,

procedures

with

the

SystemsSafety

safety

other

all

the

Standards

equipment.

is

ANSI/RIA

material

codes

in

this

manual

design,

installation,

understood,

maintenance,

which

be

to

installed,

document,

found

as

applicable

Booklet

and

on

operation,

followed

and

ensure

personal

operated,

American

Requirements

in

this

Section

the

to

Index

regarding

various

labels,

tags,

maintenance,

for

the

safe

and

troubleshooting

safety

and

maintained

National

included

and

throughout

application.

operation

of

and

the

onlybyqualified

Standard

in

the

See

of

arc

and

effective

arc

welding

safety

robot

entire

the

welding

the

plates

on

unit

troubleshooting

of

use

of

For

Owners

this

robots

others.

persons

Industrial

manual.

power

equip

require

There

in

Ro

Manu~l,

In

addi

source

sources

SAFETY

1.2

The

following

attentiontoand

This

a

attention

WARNING

serious

CAUTION

minor

IMPORTANT

erationofthis

GENERAL

1.3

1)

safety

to

personal

statements

equipment.

Turn

off

metal

ALERT

alert

identify

alert

symbol

the

safety

statements

injury

statements

injury

SAFETY

Robot

in

parts

SYMBOL

symbol

different

is

statements.

identify

or

identify

or

damage

identify

REQUIREMENTS

Control

contact

AND

and

levels

used

loss

SIGNAL

of

the

words

hazard

signal

with

procedures

life.

of

WORDS

are

and

or

practices

proceduresorpractices

to

this

equipment.

the

touching

welding

instructions

the

wire.

special

BEFORE

with

used

special

words

necessary

welding

throughout

instructions.

WARNING

which

for

wire,

must

the

drive

this

and

be

most

rolls,

manual

CAUTION

followed

efficient

gun,

to

or

to

call

to

avoid

op

any

call

2)

3)

KEEP

STAY

OUT

ALERT

of

robot

when

work

near

envelope

robot.

1.1

when

main

power

is

on.

4)

KEEP

INFORMED

about

status

of

robot

and

general

working

conditions.

HAVE

5)

UNDERSTAND

6) unique

cause

designed

NEVER

7)

NEVER

8)

is

THOROUGHLY

9)

1.4

SAFETY

robot

The

equipment.

during

cell

installation:

AN

industrial

of

their

stand

place

used.

REQUIREMENTS

requires

Make

EMERGENCY

AND

movements.

areas

of

with

yourself

TRAIN

initial

safety

provisions

STOP

FAMILIAR

BE

devices

and

Unpredictable

operation.

back

your

between

ALL

FOR

safety

BUTTON

WITH

can

present

toward

PERSONNEL

INSTALLATION

considerations

part

robot

of

the

work

basic

IN

HAND

ROBOTIC

unexpected

motion

robot

robot.

stations

in

robot

(Figure

that

are

cell

design.

whenever

MOVEMENTS.

hazards

can

occur

if

more

than

operation

1.1)

vital

for

Implement

you

to

in

one

and

both

near

Robots

robot.

are

personnel

the

even

work

station

safety.

personnel

the

following

are

be

best

and

Brightly

1)

Route

2)

cell

Protect

3)

welding

If

4)

proper

Consider

5)

that the

Install

6)

tains,

Stop

Install

7)

violated.

with

floor

mark

and

system

components

shields

or

necessary

a

part

(Zone

floor

any

will

work

all

cables

space.

welding

environment

welding

guards

all

become

envelope

pressure-sensitive

suit

if

there

fences

the

etc.,

will

chain

to

occur

distinctive

hoses

so

that

components

by

locating

must

minimize

to

requirements

jig

of

the

application

1).

floor

application

is

and

intrusionorviolation

any

barriers

light

areas

they

from

equipment

be

located

dirt

mats,

proximity

and

number

around

identifying

will

so

not

spatter,

to

and

include

to

that

of

other

be

damaged

minimize

in

a

spatter.

the

operator

devices,

work

Zones

slag,

and

1

will

and

heat,

exposure.

and

2

high-exposure

turntables,

limit

stations

the

of

cell

portions

does

switches,

so

robot

sliding

not

that

work

that

on

Figure

clutter

not

the

general

area,

provide

trays,

have

to

light

Emergency

envelope.

not

are

1.1.

the

etc.,

enter

cur

be

to

8)

9)

Locate

Provide

nents

Program

proper

in

Robot

Module

Electrostatic

Control

and

Operation

Discharge

Program

1.2

Module

(ESD)

Module.

outside

protection

robot

for

work

envelope.

electronic

compo

I-..

10)

MAINTAIN

SAFE

INTEGRITY

OF

CELL

AT

ALL

TIMES.

1.5

OPERATOR

Provide

1) proved

IMPORTANT:

Figure

proper

breathing

1.1

SAFETY

Layout

ZONE

See

Section

Considerations

REQUIREMENTS

ventilation

device.



1

2 3

for

welding

ZONE

Robot

Work

Operator

Area

Outer

2

for

vertical

areas.

1.3

3

Work

Of

For

Envelope

Area

Robotic

requirements

space

A

Typical

Supply

(Area)

Cell

Robotic

fresh

air

of

if

robot.

Cell

required

~~1

so~oo

or

use

ap

2)

3)

Wear

tective

Install

approved

headgear,

approved

head

and

gloves,

lens

filter

body

and

into

safety

welding

protection

(this

shoes).

helmet

includes,

to

protect

but

eyes

is

not

from

limited

arc

rays.

to,

pro

Press

4)

Stay

5)

Provide

6)

not

injure

Keep

7)

Close

8)

SAFETY

1.6

Teaching/programming

result,

always

1)

2)

Move

Always

hand,

EMERGENCY

an

alert

for

arc

guard

operator

robotic

and

secure

PROCEDURES

do

the

robot

slowly

assign

be

to

present

unexpected

cell

often

following

STOP

robot

curtainsorshields

other

or

clean,

all

(see

and

access

requires

position

and

personnel.

neat,

DURING

during

Section

a

ready

doors

the

teaching

button

motion

and

TEACHING

before

or

around

orderly.

and

panels

operator

movement.

to

procedures:



5

Teaching

watchperson,

during

teaching

entering

the

welding

on

robot

area so

components.

(PROGRAMMING)

the

enter

for

with

robot

speed

an

Emergency

entry

operations.

area.

that

arc

rays

work

envelope.

information).

button

Stop

As

do

a

in

3)

1.7

1)

2)

3)

4)

5)

1.8

Before

If

jig

energize

SAFETY

Have

Check

using

Check

SAFETY

starting

motion

during

CHECKS

unauthorized

all

the

operation

and

the

block

movement

for

proper

PROCEDURES

automatic

was

programmed

teaching.

AFTER

be

sure

operation

robot

persons

of

all

that

the

of

all

jigs,

BEFORE

operation,

to

Be

careful

ENTERING

leave

warning

robot

mode

and

of

all

operate

and

A

the

devices,

moves

(either

be

sure

EMERGENCY

AUTOMATIC

do

the

from

external

for

alert

PROGRAM

robotic

normally

step

their

cell.

such

through

or

continuous).

operation

STOP

OPERATION

following:

jig

as

output

motion.

lamps

its

is

buttons.

control,

horns.

or

program

normal.

the

could

jig

sequences

1)

Verify

program

that

the

number

Operation

allocated.

Module

or

optional

1.4

Start

Modules

used

have

the

correct

2)

Have

all

unauthorized

persons

leave

the

robotic

cell

area.

3)

4)

5)

6)

7)

8)

SAFETY

1.9

During

1)

Close

and

Place

tion.

and

curtains

all

the

Remove

Place

automatic

Turn

the

ments

welding

all

PROCEDURES

off

robot

secure

jigs

robotinthe

all

tools

all

as

applicable

in

their

from

workpiece(s)

equipment

operation,

main

power

work

envelope.

or

replacements.

and

gates

normal,

axes

the

switchesinthe

DURING

do

the

or

press

Entry

guard

for

the

start-work

origin

into

work

proper

AUTOMATIC

robot

following:

an

may

doors,

entire

positions.

work

or

envelope.

position(s).

proper

EMERGENCY

be

required

and

specific

origin

cell.

position

positions.

OPERATION

STOP

for

energize

as

required

button

nozzle,

tip,

fences,

light

BEFORE

wire,

for

or

the

gas

barriers,

opera

entering

adjust

NOT

DO

PRESSED!

2)

3)

4)

5)

6)

7)

1.10

SAFETY

ENTER

Be

alert

Do

If

two

all

Press

Since and

Be

the

allow

not

or

procedures

an

this

hot

sure

work

PROCEDURES

WORK

for

more

movement

jig

unauthorized

Start

and

EMERGENCY

is

an

arc

parts.

the

that

Automatic

envelope.

ENVELOPE

initiated

Modules

cooperate

STOP

welding

AT

UNLESS

by

used,

with

button

to

each

persons

are

operation,

mode

END

OF

can

WORK

AN

external

an

operate

be

sure

other.

if

any

protect

only

EMERGENCY

control

controls.

that

the

problem

operator(s)

be

selected

STOP

signal

operators

occurs.

from

safe

at

a

BUTTON

during

understand

fully

arc

rays,

location

IS

operation.

fumes,

outside

1)

Place

work

origin

ual

operation

robot

welding

with

is

Program

position

gun/torch

into

possible

Module.

an

without

1.5

from

area

striking

which

objects.

any

movement

This

to

may

axes

origin

require

or

man

2)

3)

4)

Press

Turn

power

Place

OFF

positions.

and

off

welding

reset

EMERGENCY

an

power

source

suppliesasapplicable.

line

disconnect

switches

and

for

STOP

all

Robot

button

associated

Control

and

to

turn

off

equipment.

welding

robot

power

Servo

This

power.

includes

source

in

jig

the

5)

6)

7)

SAFETY

1.11

MENT,

Since

the

any

AND

these

main

maintenance,

1)

2)

Allow

Clean

Install

reduce

robot

robot,

protective

dust

PROCEDURES

SERVICING

procedures

power

Train

specific

Allow

and

all

service

robotic

only

all

and

jigs,

and

servo

adjustment,

equipment

and

covers

dirt

entry.

PROCEDURES

involve

can

power

entire

or

personnel

cell.

trained

and

to

cell

area.

all

over

DURING

equipment

entering

turned

are

repair

quallfied

procedures:

in

the

persons

cool.

AFTER

INSPECTION,

the

robot

be

on,

functions,

sure

operations,

to

work

to

service

proper

cooling

MAINTENANCE,

do

and

jig

robot.

and

the

envelope

always

the

has

occurred

ADJUST

require

may

following

movements

to

that

during

of

the

3)

Always

hand,

Determine

4)

power

Determine

5)

Always

Turn

6)

procedure.

Provide

7)

bot

When

8)

nect

assign

be

to

offordisable

Control

any

present

in

not

is

in

work

proper

and

the

procedure

wires

advance

required,

advance

outside

and

position

and

ready

if

turn

if

the

robot

all

jig(s)

Electrostatic

Program

is

finished,

and

reinstall

a

watchperson,

during

the

procedure(s)

off.

it

procedure

work

and

external

Discharge

Module.

always

necessary

with

servicing

any

requires

be

can

envelope

equipment

(ESD)

correctly,

hardware,

EMERGENCY

an

or

adjustment

an

energized

done

whenever

protection

outside

possible.

not

required

for

securely,

plugs,

covers,

STOP

the

work

for

circuit

and

carefully

and

button

in

procedures.

robot.

When

envelope.

the

specific

boards

in

recon

Ro

panels.

1.6

1.12

Read,

manual

ARC

WELDING

understand,

in

addition

and

to

SAFETY

comply

the

following

PROCEDURES

with

all

safety

before

at

rules

beginning

beginningofwelding

arc

welding

operations.

power

source

1)

2)

Prevent

Install

a)

codes.

Do

b)

Wear

c)

Disconnect

d)

any

Provide

a)

Keep

Use

b)

Ventilate

C)

If

d)

electric

and

ground

touch

not

insulating

dry

equipment.

proper

head

your

forced

cell

ventilation

shock

live

follows:

as

all

equipment

electrical

gloves

input

power

protection

exhaust

to

prevent

is

inadequate,

from

of

out

ventilation

parts.

and

before

fumes

fumes.

the

buildup

use

according

clothing;

installing,

and

the

at

fumes

of

approved

be

inspecting,

gases

arc.

and

breathing

to

national,

sure

gloves

follows:

as

gases.

regional,

have

maintaining,

device.

no

holes.

or

and

local

servicing

3)

Read

e)

Before

f)

Safety

Protect

Wear

a)

Z49.1).

Install

b)

Install

c)

from

Wear

d)

Wear

e)

Wear

f)

and lets.

and

follow

use,

Data

and

eyes

properly

arc

protective

spatter,

proper

gloves,

leather

warning

and

read

Sheets

skin

from

fitting

screens

flash,

and

safety

ear

protection.

body

protection

leggings,

labels

understand

(MSDSs),

arc

rays;

welding

curtains

helmet

barriers

or

glare.

glasses

in

on

and

protect

between

work

to

include

boots,

high

all

containers

the

manufacturers

employers

your

ears

with

proper

operator

at

appropriate

at

area

woolen

and

of

from

shade

and

all

times.

clothing,

leather

welding

instructions,

safety

noise

the

locations

practices.

as

of

filter

arc.

to

flame-proof

and

arm

materials.

follows:

lens

(see

protect

shoulder

Material

ANSI

others

apron

gaunt.

1.7

4)

Prevent

lows:

fire

and

burns

caused

by

hot

metal,

spatter,

slag,

and

arc

sparks

fol

as

5)

Keep

a)

Have

b)

as

Watch

c)

Have

d)

Allow

e)

Protect

as

arcs

Fasten

a)

lent).

Insulate

b)

electrical

flammable

operator(s)

applicable.

for

fire

a

Wear

fire.

extinguisher

equipment

compressed

follows:

cylinders

circuit.

materials

their

keep

pants

nearby,

work

and

cylinders

gas

securely

from

mounts

of

out

sleeves,

without

cool

to

from

so

they

so

the

robotic

pockets,

cuffs.

and

know

before

excessive

cannot

that

cell.

how

handling.

fall

(use

are

they

and

to

heat,

never

collars

use

insulated

down

it.

mechanical

grounded

and

chain

buttoned

shocks,

or

equiva

or

part

of

and

an

6)

7)

Keep

c)

Locate

d)

Provide

a)

Always

robotic

Wear

b)

Since

wearers

cylinders

impact

magnetic

consult

protection

wear

proper

cell.

shatter-resistant

fields

their

away

from

away

protective

from

doctor

the

from

to

all

safety

high

before

welding

personnel

persons

in

headgear,

glasses

currents

going

at

can

near

arc

and

the

and

vehicle

cell

such

all

times

affect

arc

other

as

heat

traffic

follows:

safety

when

pacemaker

welding

sources.

patterns.

helmet,

in

the

when

cell.

operation,

operations.

in

have

the

1.8

Millerﬁ

September

1991

FORM:

OM-146

806

SECTION

MODEL:

2

SPECIFICATIONS

Line

Touch

Tracker

Sensor

IMPORTANT:

special installing,

instructions

operation

operate,

understand

emphasis

operating,

of

or

Read

for

are

robotic

maintain

these

and

understand

the

on

use

safety

or

maintaining

only

by

equipment.

this

unit.

instructions.

the

material

persons

Do

not

Contact

entire

throughout

this

equipment.

trained

allow

your

contents

and

experienced

untrained

distributor

of

the

This

persons

if

this

manual,

unit

you

manual,

and

in

the

to

do

not

with

before

these

safe

Install,

fully

MILLER

AMllorGroupLtd.,

P.O.

Appleton

Tel.

ELECTRIC

Box

1079

WI

414-734-9821

Company

54912

USA

Mfg.

PRINTED

Co.

IN

U.S.A

SAFETY

GUIDELINES

A.

ROBOTIC

Read,

additiontothe

understand,

KEEP

1)

STAY

2)

KEEP

3)

HAVE

4)

robot.

UNDERSTAND

5)

unique

cause

UNPREDICTABLE

6)

of

operation.

SAFETY

and

comply

following

OUT

ALERT

INFORMED

AN

industrial

of

robot

of

when

EMERGENCY

movements.

their

before

near

about

AND

devices

ROBOT

with

all

beginning

work

envelope

robot.

status

STOP

BE

FAMILIAR

and

safety

of

BUTTON

can

MOTION

rules

robotic

when

robot

WITH

present

can

Section

at

the

beginning

of

proceduresoroperations.

main

power

and

general

IN

HAND

ROBOTIC

unexpected

occur

in

is

on.

working

whenever

MOVEMENTS.

hazards

the

even

conditions.

you

to

personnel

best

designed



1

are

Robots

Safety

the

near

are

be

areas

in

7)

8)

9)

10)

11)

12)

B.

Read,

manual

NEVER

is

used.

THOROUGHLY

TEST

cell

TURN

AND

are

velope.

Provide

Control

bot

WELDING

understand,

in

addition

stand

place

VERIFY

working

OFF

robot

proper

and

SAFETY

and

to

with

your

yourself

TRAIN

that

properly.

and

welding

Electrostatic

Program

comply

the

following

back

between

ALL

Module.

with

all

before

toward

PERSONNEL

safety

power

robot

the

work

devices

source

Discharge

safety

rules

beginning

robot.

stations

in

input

(ESD)

at

arc

if

more

robot

operation

and

components

power

protection

beginning

welding

than

one

and

safety.

usedinthe

before

for

of

entering

circuit

welding

boards

power

operations.

work

station

robotic

work

in

source

en

Ro

1)

2)

Prevent

Provide

electric

proper

shock.

protection

from

fumes

and

gases.

3)

Protect

eyes

and

skin

from

arc

rays;

protect

ears

from

noise.

4)

5)

6)

7)

8)

Prevent

Protect

electric

Provide

Since

wearers

off

Turn

or

lope

fire

and

compressed

arcs.

impact

protection

magnetic

consult

robot

and

working

burns

gas

fields

their

welding

on

welding

caused

cylinders

to

from

high

doctor

power

by

all

persons

currents

before

source

hot

from

going

source.

metal,

excessive

in

the

can

near

input

spatter,

slag,

heat,

cell.

affect

power

arc

welding

pacemaker

before

and

arc

mechanical

operation,

operations.

entering

sparks.

shocks,

work

and

have

enve

TABLE

SECTION

OF

CONTENTS

-

SPECIFICATIONS

2

Section

2.1

2.2

2.3

2.4

2.5

2.6

2.7

2.8

No

Introduction

General

2.2.1

2.2.2

Safety

Line

Duty

Line

2.6.1

2.6.2

Site Precautions

Information

General

Safety

Alert

Tracker

Cycle

Tracker

General Touch

Selection

And

Safety

And

Symbol

Signal

Components

Specifications

Sensing

And

For

Preventing

Specifications

Preparation

For

Noise

Words

Line

Interference

Tracker

Installation

Page

2.1

2.4

2.5

2.6

2.8

2.9

No.

2.1

INTRODUCTION

Section

This

seam

robot

searching.

system

provides

is

understanding

manual

cedures

2.2

that

GENERAL

appear

apply

A

basic

necessary

of

available

in

this

the

to

INFORMATION

information

knowledge

before

functions

Section

unit.

about

of

specifications

this

unit

beginning

and

capabilities.

intended

are

AND

SAFETY

as

a

separate

operation

References

to

provide

that

apply

component

procedures

additional

the

to

and

allow

to

other

to

information

unit

function

as

part

the

full

Sections

use

and

of

the

and

this

pro

2.2.1

Information

General

presented

pertainstoequipment

which

ment.

2.2.2

The

practices

fore,

accordance

For

Owners

Safety

Owners

welding

2.3

should

be

read,

Safety

installation,

and

this

equipment

Industrial

Manual,

Rules

Manual

operation,

procedures

this

with

Robots

For

for

equipment.

SAFETY

ALERT

istobe

and

Operation

safety

in

this

manual

design,

installation,

understood,

maintenance,

which

installed,

Robot

other

Of

rules

and

safety

manual,

And

all

SYMBOL

and

on

various

operation,

and

followed

and

troubleshooting

ensure

the

personal

operated,

ANSI/RIA

and

Systems-Safety

material

Arc

Welding

regarding

AND

SIGNAL

found

Power

the

operation

labels,

maintenance,

for

the

safe

safety

maintained

document,

Requirements

Section

Source

of

WORDS

and

tags,

and

effective

and

of

arc

welding

and

the

safety

onlybyqualified

American

included

-

1

Safety.

in

the

welding

arc

welding

the

plates

on

troubleshooting

of

robots

others.

in

See

power

sources

this

equip

require

There

persons

Standard the

Section

source

robot

use

of

National

power

unit

in

1

and

-

The

following

attentiontoand

This

a

a a

tiontothe

WARNING

serious

CAUTION minor

IMPORTANT

ationofthis

safety

identify

safety

alert

safety

statements

personal

statements

personal

statements

equipment.

alert

symbol

different

symbol

statements.

injury

identify

injury

or

identify

and

levels

is

identify

or

with

used

procedures

lossoflife.

proceduresorpractices

damage

special

of

words

hazard

signal

this

to

equipment.

instructions

2.1

are

and

words

or

WARNING

practices

necessaiy

used

throughout

special

which

this

instructions.

and

CAUTION

be

must

be

must

for

the

most

manual

to

followed

efficient

to

call

to

oper

call

atten

avoid

Output

Cable

Gas

Supply

Direct

Be

May

WIre

DrIve

Assembly

Shop

Used

Cylinder-

Gas

Line

In

Its

Place

Work

Computer

Interface

WeldIng

Gunfrorch

Figure

2.1

Components

Pedestal

(Optional)

Of

2.2

The

Program

Module

Operation

Module

MRH

Robot

System

Robot

Control

Module

Stand

ST.t48

994

Gas Direct

May

Supply

Shop

Be

Used

Cylinder-

Gas

Line

In

Its

Place

Welding

Power

Source

Computer

Interface

Figure

2.2

Components

Operation

Of

The

2.3

Module

MRV-6

Robot

System

Robot

Control

Module

Stand

ST-148

996

2.4

LINE

TRACKER

COMPONENTS

The

Line

1)

2)

3)

4)

Tracker

Line

One

Two

control

One

a)

50/60

One

b)

board

weld

Two

One

a)

drive

One

b)

weld

One

touch

to

workpiece

unit

16.4

cable

Robot

16.4

housing

cable

consist

Control

16.5

components

Tracker

cables

input

power

Hz

transformer

fiber

optic

inside

cablesasfollows:

weld

cable

assembly

weld

cable5ft.

power

or

terminal

worktable

output

ft.

(5

from

inside

from

ft.

.5

(1

on

near

(5

the

of

m)

long

CN406

Robot

CN403

m)

long

m)

long

welding

ft.

m)

(5

work

following:

follows:

as

Line

on

Control

on

from

power

from

long

cables.

Line

Tracker

MSK1

MPG1

source

terminal

on

to

3-phase,

GNu

to

Line

Trackertostud

Line

Tracker

block

TB3

on

200

I/O

backplane

to

positive

Line

on

volts

ac,

wire

on

Tracker

(+)

IMPORTANT:

tion

A+

=

A

B=Weld

=

C

2.5

The

can

unitisratedat50

rated

to

permit

enables

remain

must

B+C<=98.4ft(30m)

cable

Weld

cable

Weld

be

cable

DUTY

cycle

duty

operated

for

load

proper

the

CYCLE

five

operator

Total

within

length

of

a

welding

at

a

percent

minutes

length

(Chart

given

of

the

from

unitisthe

output

duty

out

weld

calculation

MSK1

MPG1

negative

2.1)

cycle.

often.

cooling.Ifwelding

determine

to

cables

as

Line

on

Line

on

()

percentage

without

This

During

amperes

the

output

between

follows:

Tracker

weld

output

causing

means

the

remaining

decrease,

of

Line

Tracker

terminal

of

minute

ten

a

overheating

that

the

welding

five

the

duty

the

welding

unitatvarious

and

on

welding

period

and

damage

unit

minutes,

cycle

component

power

that

a

welding

the

to

be

can

the

increases.

operated

unit

duty

connec

source.

unit.

should

Chart

cycles.

unit

This

at

idle

2.1

a

CAUTION:



Do

not

EXCEEDING

exceed

DUTY

indicated

duty

CYCLE

cycles.

2.4

RATINGS

will

damage

the

welding

unit.

2.6

LINE

~

TRACKER

100

90

80

70

60

50

0

SPECIFICATIONS

Chart

200

WELD

2.1

Duty

300

AMPERES

Cycle

400

ST-I

48

998

2.6.1

Input

General

power

supply:

signals:

method:

Specifications

Single-phase,

50/60

3-phase

Hz

transformer

200

(input

Control).

Input

signals

of

touch

10FF

state

(Robot

used

to

ON/OFF

By

mA,

signal

set

a

(use

electrical Under external

no

applied

for

sensing

of

seam

Control

provide

(closure)

provided

of

isolated

power

circumstances

source

the

to

inputs.

volts

power

inside

setting

function

tracking

output

the

input

of

by

contacts

applied

of

electrical

3

A,

ac,

provided

Robot

ON/OFF

ON

and

function

ports

can

signals).

24

volts

Line

Tracker

with

to

them).

should

power

by

state

be

dc,

an

16

no

be

Ambient

and

humidity:

External

weight

temperature

dimensions

of

Line

Tracker:

and

2.5

32

RH

See

to

F

104

(without

Figure

2.3.

to

(0

40

C),

20%

condensation).

to

80%

6.5

(165

In.

mm)

(595

23.4

in.

mm)

Touch

2.6.2

Sensing

method:

Searching

Sensing

motion:

in.

10.4

mm)

(265

Figure

Specifications

2.3

Line

Tracker

14.6

(370

Dimensions

Voltage

contact

Standard

sensing

with

selecting

patterns

Figure

using

2.4).

the

In.

mm)

workpiece

pattern

of5different

one

in

the

SF2

One

SF1

command.

using

welding

surface.

searching

command

direction

ST.148

by

search

(see

search

804

wire

Searching

speed:

2.6

39

4

to

ipm

(10

to

99

cm/mm.).

Tee

Joint

Pattern

1

Tee

Joint

Pattern

2

B

Searching

Workpiece

Thickness

_______________I

Other

B

Pattern

Than

Between

Joint

Lap

900

Joint

For

And/Or

Set-Ups

Pattern

~

Plate

in.

Range:

1/3

(3.2

mm

Angles

Vary

3

And

Larger

Larger)

B

Searching

Lap

Workpiece

Thickness

r

At

Joint

B..~

Plate

Range:

Pattern

A

Constant

Pattern

14

(2

For

ga.

mm

Joint

900

4

To

And

I

Angles

7/16

Larger)

in.

Searching

Joint

Butt

Bevel,

Vee,

accuracy:

Pattern

Or

U-Groove

Figure

5

A

2.4

B

Standard

Searching

A

=

Searching

B

=

Welding

Pattern

–0.02

Selection

in.

(0.5

searching

cm/mm.)

(50

for

or

(99

less

cm/mm.)

a

Searching

Positioning

Start

or

mm)

or

of

less.

speed

searching

less.

or

Point

less

19.7 –0.04

speed

Point

ipm

Movement

for

a

in.

(1

of

39

S-0806

mm)

ipm

Composition

of

workpiece:

2.7

Mild

steel

stainless

or

steel.

Minimum

workpiece

thickness:

Tee

Lap

Butt

(2

joint

mm).

-

limitation.

no

-

14

ga.

(bevel,

vee

(2mm).

or

U-joint)

-

14

ga.

Surface

preparation

workpiece:

Workpiece

surface

irregularities:

Fail-safe

Position

function:

calibrating

of

functions:

Surface

weld

tack

Surface

in.

(–0.2

that

use

workpiece

Searching

maximum

command.

Weld

start

and

SF1,

input

using

calibration

commands.

using

SF1

Interpolating

command.

Interference

SF3

command

Imaginary

SF1

and

must

beads.

must

for

mm)

wire

a

surface.

function

distance

point

SF3

output

Weld

and

calibration

evading

start

SF3

be

commands.

clean

even

of

within

searching

technique

drag

terminates

in

set

calibration

command

using

SF1

length

SF3

commands.

using

calibration

after

movement

point

searching

paint,

oil,

–0.008

operations

along

beyond

SF0

using

Calibration

and

calibration

and

SF3

or

SF1

SF0,

SF2

using

data.

using

Accuracy

functions:

SITE

2.7

The

location

the

robotic

Line

Tracker.

system

Tracker,

condition

Follow

or

all

operate

calibrating

SELECTION

and

installation

Environmental

components

such

as

seam

of

the

installation

the

instructions

Line

the

AND

PREPARATION

method

conditions

and

tracking

listed

Trackerinthe

and

site.

in

are

associated

seam

Section

robotic

FOR

important

very

have

can

equipment.

searching



1

Safety

system.

2.8

Wire

extension

command.

for

direct

set

TRACKER

providing

affectonthe

factory

LINE

a

Operating

functions,

of

this

manual

calibration

Coasting

coefficient

INSTALLATION

reliable

accuracy

depend

significantly

when

preparing

using

calibration

and

constant.

operation

of

life

the

to

service

SF0

by

of

the

Line

the

on

install

When

selecting

a

site

for

the

Line

Tracker,

check

the

area

for

conditions

follows:

as

Climate

1)

to

is

Provide

2)

The

3)

contaminants.

Provide

4)

The

5)

Provide

6)

Avoid

7)

The

8)

locations

PRECAUTIONS

2.8

Equipment

starters,

the

noise,

tions

inverter-type

seam

provide

during

controlinthe

F

104

(0

exposed

proper

site

area

proper

site

area

proper

any

distance

must

that

produces

tracking

installation

operation.

proper

40

to

direct

to

lighting

should

ventilation

must

fire

that

area

between

fall

within

FOR

output

welding

placement,

that

site

area

and

C)

relative

sunlight

at

site.

be

relatively

for

be

free

of

protection

is

or

near

the

Robot

the

PREVENTING

in

the

power

To

can

sources,

avoid

insulation,

prevent

should

humidity

free

of

arc

welding

flammable

the

at

a

length

radio

interference

site.

source

Control,

of

the

NOISE

frequency

etc.,

and

noise

within

be

dust,

below

dirt,

a

temperature

80%.

moisture,

application.

and

corrosive

of

continuous

welding

power

interconnecting

INTERFERENCE

range

create

from

grounding

interference

noise

sources

of

are

range

Do

vibration.

such

interference

not

and

gases

source,

cables

as

choose

any

and

high-frequency

emitting

the

Line

follows:

as

between

an

other

liquids.

and

Line

and

weld

that

radio

Tracker.

32

that

area

harmful

Tracker

cables.

arc

affect

can

frequency

Precau

Place

1)

a

cablesaminimum

2)

Keep

cables

place

equipment

minimum

power

angles

3)

4)

Place

Adjust

the

intensity

frequency

of

the

ity

Consult

5)

that

ment

Provide

6)

10

gauge

distances

ponent

distance

cables

for

other

cables

other

to

Line

output

welding

the

Owners

produces

proper

(AWG)

that

provides

connection

producing

of

distance

of

equipment

robot

system

from

cables.

Tracker

the

to

arc.

wire

point

if

applicable,

lowest

Manual

radio

ground

less

level,

earth

radio

ft.

10

(3

of

components.

equipment

distance

a

setting

for

frequency

connections

than

resistance

a

and

the

frequency

from

m)

ft.

10

(3

m)

producing

of

approximately

of

output

that

instructions

output.

ft.

33

(10

value

ground

output

the

from

radio

When

from

will

to

robot

for

m)

less

wire.

and

Line

Tracker.

the Line

frequency

routing

radio

weld

provide

properly

system

or

long

than

all

route

Route

Tracker.

output

cables

frequency

ft.

10

(3

equipment

consistent

install

components

,a

larger

ohms

100

equipment

all

separate

near

one

output

from

m)

producing

starting

and

ground

wire

size

between

cables

equipment

from

another,

at

right

robot.

radio

stabil

or

equip

greater

the

com

No.

using

for

2.9

Millerﬁ

September

1991

FORM:

OM-146

806

SECTION

MODEL:

3

INSTALLATION

Line

Touch

Tracker

Sensor

IMPORTANT:

special

installing,

Instructions

operation

operate,

understand

emphasis

operating,ormaintaining

of

or

Read

for

are

robotic

maintain

these

and

understand

the

on

use

safety

only

by

equipment.

this

unit.

Instructions.

the

material

persons

Do

not

Contact

entire

throughout

this

equipment.

trained

allow

your

contents

and

experienced

untrained

distributor

of

this

the

This

persons

if

manua,

manual,

unit

do

you

before

and

in

the

to

Install,

not

with

these

safe

fully

MILLER

AMillerGroupLtd.,

Appleton,

Tel.

ELECTRIC

Box

1079

WI

414-734-9821

Company

54912

USA

Mfg.

PRINTED

Co.

IN

U.S.A

SAFETY

GUIDELINES

A.

ROBOTIC

Read,

addition

understand,

1)

2)

3)

4)

5)

6)

SAFETY

and

the

to

KEEP

STAY

KEEP

HAVE

robot.

UNDERSTAND

unique

cause

UNPREDICTABLE of

following

OUT

ALERT

INFORMED

AN

EMERGENCY

industrial

of

their

operation.

comply

before

of

robot

when

AND

devices

movements.

with

beginning

work

robot.

near

about

ROBOT

BE

status

STOP

FAMILIAR

and

all

safety

robotic

envelope

of

BUTTON

can

present

MOTION

rules

when

robot

WITH

can

the

at

beginning

procedures

main

power

and

general

IN

HAND

ROBOTIC

unexpected

occur

in

even

of

Section

or

operations.

is

on.

working

whenever

MOVEMENTS.

hazards

the

best



1

Safety

conditions.

are

you

to

near

Robots

personnel

designed

in

the

are

be

areas

7)

8)

9)

10)

11)

12)

B.

Read,

manual

NEVER

is

used.

THOROUGHLY

TEST

cell

TURN

AND

are

OFF

velope.

Provide

bot

Control

WELDING

understand,

in

addition

stand

place

with

yourself

VERIFY

working

robot

proper

and

SAFETY

and

comply

the

to

back

your

between

TRAIN

that

ALL

properly.

and

welding

Electrostatic

Program

following

Module.

with

all

before

toward

PERSONNEL

safety

power

robot

the

work

devices

source

Discharge

safety

rules

beginning

robot.

stations

in

and

input

(ESD)

at

arc

if

more

robot

operation

components

power

protection

beginning

welding

than

one

and

safety.

usedinthe

before

for

of

entering

circuit

welding

boards

power

operations.

work

station

robotic

work

in

source

en

Ro

1)

2)

Prevent

Provide

electric

proper

shock.

protection

from

fumes

and

gases.

3)

4)

Protect

Prevent

eyes

fire

and

skin

burns

from

caused

arc

rays;

hot

by

protect

metal,

from

ears

spatter,

noise.

slag,

and

arc

sparks.

5)

6)

7)

8)

Protect

electric

Provide

Since

wearers

off

Turn

or

lope

compressed

arcs.

impact

magnetic

consult

robot

and

working

cylinders

gas

protection

fields

their

welding

on

welding

to

from

doctor

power

all

high

before

power

from

persons

currents

going

source

source.

excessive

in

the

cell.

affect

can

near

input

power

heat,

arc

welding

mechanical

pacemaker

operations.

before

entering

shocks,

operation,

work

enve

and

have

TABLE

OF

CONTENTS

Section

3.1

3.2

3.3

3.4

3.5

No

Introduction

General

3.2.1

3.2.2

Safety

Installation

Line

3.5.1

3.5.2

3.5.3

3.5.4

3.5.5

Information

General

Safety

Alert

Tracker

Fiber

Weld

Line

Weld

Line

Touch

Input

SECTION

Symbol

Touch

Of

Connections

Optic

Cable

Tracker

Cable

Tracker

Power

And

Safety

And

Signal

Sensing

Cable

Connections

Cable

Connections

INSTALLATION

3

Words

Warning

To

Wire

To

Welding

Connections

Labels

Drive

Assembly

Power

Source

And

Page

3.1

3.2

3.3

3.5

3.6

3.7

3.9

No.

3.1

INTRODUCTION

This

Section

which

arc

plete

attempting

protection

installation.

Safety

robot

application.

be

must

References

vide

additional

GENERAL

3.2

3.2.1

Information

pertains

which

ment.

must

welding

and

the

is

followed

General

to

should

be

to

equipment

provides

followed

robot

install-any

environmental

most

important

Although

throughout

to

Sectionsofthis

other

information

INFORMATION

presented

be

read,

understood,

installation

in

detail

system.

robot

in

design,

to

prepare

Proper

system

control

consideration

the

Line

the

installation,

that

applies

AND

this

manual

installation,

information

the

site

selection

component.

devices

that

Tracker

manual

and

unit

that

the

to

SAFETY

on

operation,

and

followed

that

Line

Tracker

should

must

is

and

whenever

appear

Line

various

for

contains

for

and

preparation

addition

The

be

also

be observed

initially

done

inoperative,

entering

in

this

Tracker

the

installation.

labels,

maintenance,

safe

and

procedures

are

any

before

when

proper

the

are

and

as

necessary

plates

operation

of

Section

tags,

effective

and

instructions

of

the

part

essential

com

before

facility

the

Line

Tracker

working

with

any

precautions

robotic

intended

on

cell.

to

the

pro

unit

troubleshooting

of

use

this

equip

3.2.2

The

practices

fore,

accordance For Owners

Section

source

sources

3.3

The

attention

a

Safety

installation,

and

this

equipment

Industrial

Manual,

-

1

Owners

and

SAFETY

following

to

This

safety

tiontothe

operation,

procedures

this

with

Robots

Safety

Manual

welding

ALERT

safety

and

identify

alert

safety

is

to

manual,

And

and

all

Rules

equipment.

SYMBOL

alert

symbol

statements.

maintenance,

which

be

Robot

other

For

for

symbol

different

ensure

installed,

the

and

Systems

safety

Operation

safety

AND

and

levels

is

used

and

troubleshooting

personal

operated,

ANSI/RIA

-

Safety

material

Arc

Of

rules

with

regarding

SIGNAL

signal

of

hazard

signal

words

safety

and

maintained

document,

Requirements

found

Section

Welding

the

WORDS

are

and

words

and

American

1

Power

operation

used

throughout

special

WARNING

of

arc

welding

the

safety

qualified

by

only

National

includedinthe

-

Safety

Source

instructions.

and

of

in

of

arc

CAUTION

the

this

robots

of

others.

this

manual.

welding

manual

require

There

persons

Standard

robot

power power

to

call

to

in

See

call

atten

a

WARNING

serious

statements

personal

injury

identify

or

procedures

of

loss

life.

3.1

or

practices

which

must

be

followed

to

avoid

a

CAUTION

minor

statements

personal

identify

injuryordamage

procedures

to

this

equipment.

or

practices

which

must

be

followed

to

avoid

IMPORTANT

ation

of

statements

this

equipment.

identify

special

instructions

necessary

for

the

most

efficient

oper

a

Fused Disconnect Switch

3.4

WARNING:

can



Line

Box

Figure

3.1

INSTALLATION

cause

Turn

metal

injury.

off

robot

parts

Typical

OF

ELECTRIC

controller

in

contact

Robot

Input

Supply

Robotic

TOUCH

SHOCK

Control

Power

BEFORE

with

Cell

With

SENSING

FROM

the

welding

Suggested

WARNING

INTERMITTENT

touching

wire.

the

Welding

And

Output

Fused

Line

Disconnect

Switch

Box

Component

LABELS

ROBOT

welding

Power

High

Unit,

wire,

Source

Frequency

If

Applicable

Locations

SENSING

drive

rolls,

Welding

Source

Power

ST-148

gun,

Power

input

Supply

997

VOLTAGE

or

any

3.2

Due

to

an

function various

welding

with

the

intermittent

the

of

appropriate

wire,

Line

welding

Tracker,

locations

wire.

sensing

three

wire

supply,

voltage

warning

highly

drive

present

labels

visible

rolls,

to

the

at

are

the

operator,

or

gun,

welding

supplied

any

with

such

exposed

wire

the

as

for

the

unit

the

on

metal

touch

for

installation

robot

and

parts

in

sensing

at

near

contact

Additional

LINE

3.5

Cable

C

o

r

ble

a

Cable

ft.

Fib

Weld

16.4

Length

ft.

Cable

(1.5

Weld

5

Length

Touch

Power

Cable

labels

TRACKER

tic

(5

m)

will

be

supplied

CONNECTIONS

Table

3.1

Line

TI~I~eF

CN403

MSK1

MPG1

Terminal

Block

TB3

upon

Tracker

Connector

pane

trol

Stud

Connections

Robotic

Board

On

Housing

Weld

Power

Output

Welding

(+)

Workpiece

Work

Cables

request

Equipment

CN11

Inside

Wire

Drive

Source

Or

Worktable

at

no

charge.

On

I/O

Robot

Assembly

Terminal

To

Robotic

Back-

Con-

Positive

Near

Contact

Equipment

I/O

Welding

tion

Welding

tion

Touch

the

factory

Purpose

Signals

Circuit

Power

for

details.

Connec

Supply

a

Before Refer

verify

that

occurred claims

Input

Power

Cable

WARNING:



Do



Shut

ploying

touch

not

down

lockout/tagging

Lockout/tagging

tion,

removing

other

disconnecting

installing

Section

to

all

that

may

components

have

occurred

during

be

may

obtained

CN406

ELECTRIC

live

welding

procedures

fuses

this

equipment,

2.4

Line

during

shipment

from

Input

Robot

electrical

power

Power

Control

SHOCK

parts.

source

procedures

consist

from

fuse

box(es),

device(s).

clean

Tracker

are

Components

present.

shipment.

with

the

distributor

Transformer

kill.

can

Robot

and

before

of

padlocking

or

shutting

all

packing

in

Carefully

File

any

delivering

and/or

Inside

Control,

installing

line

off

material

Specifications

inspect

claims

carrier.

the

factory

200

50/60

and

disconnect

the

point

disconnect

and

red-tagging

from

around

for

all

components

for

loss

or

Assistance

Transportation

VAC

Single-Phase,

Hz

Power

mark.

switch(es)

circuit

the

a

component

for

that

filing

damage

Supply

input

power

in

open

posi

breaker(s)

components.

to

have

settling

any

may

or

listing

damage

Department.

em

or

When

and

requesting

Serial

or

Style

information

Number.

about

this

equipment,

3.3

always

provide

the

Model

Description

Module

Operation

Module

Program

S-0607

Ref.

I

50/60Hz

-Phase,

I

I~

I

-

cable..

cable

Cable

Control

-

CN2~

CNI

Contro!

CN3~

F

I

Control

Robot

I

Backplane

I/O

CNI1

I

Cable

Fiber

Ootic

CN403

MPG1

S~PP1y:

Power

Ground

Diagram

Connection

Tracker

CN406

Line

I/O

3.2

Source

Welding

Power

Input

Power

Cable

Power

Touch

Length

Power

Standard

mm)

(1.5

Welding

Cable

ft.

5

Ground

Figure

3.5.1

Fiber

Optic

Cable

Connections

(Figure

3.3)

Fiber

Cable

Optic

Line

Tracker

Converter

Board

i/O

Backplane

Board

Tx

Module

Wave

With

Guide

Marking

Tag

Rx

Module

Remove

1)

Remove

2) removing

Insert

3) panel

Secure

4)

moved

Connect

5)

inside

FIgure

right

the

blank

the

2

the

wave

opening

the

cable

from

the

2

Line

the

side

2

screws

guides

where

blank

wave

Tracker

3.3

panel

cover

the

cover

guides

RS-232C

Optic

Fiber

from

the

by

securing

the

from

blank

to

plate

from

follows:

as

in

cover

Fiber

Module

Optic

Cable

Line

marking

the

cover.

fiber

cover

Step

the

Line

was

Tracker

2.

fiber

Receptacle

Tracker

CN403

optic

removed

optic

CN11

Connections

(panel

Line

the

on

cable

front

cable

through

in

panel

the

to

with

ventilating

Tracker

the

2.

Step

using

Converter

Line

the

slots).

front

Tracker

2

screws

circuit

ST-149

panel

front

board

158

by

re

a)

b)

Remove

board.

Remove

wave

the

guide

dust

into

cap

the

cover

from

Ax

opening

from

the

wave

3.5

fiber

of

the

optic

guide

fiber

module

marked

optic

on

with

module

Converter

the

a

tag,

(see

and

insert

Figure

circuit

the

3.3).

the

dust

Tx

c)

Remove

guide

into



from

cap

opening

of

the

unmarked

fiber

optic

wave

module

guide,

(see

and

insert

Figure

the

3.5).

wave

Reinstall

6)

7)

Open

power

Select

8)

panel

Insert

9)

through

moved

Connect

10)

Backplane

screws

Close

11)

main

right

Robot

switch

and

by

removing

the

in

Step

fiber

into

and

secure

the

near

side

panel

Control

handle

remove

blank

a

the

RS-232C

Robot

board

Control

7.

optic

inside

modue

receptacle

cabinet

Robot

onto

cabinet

beyond

cover

2

screws

fiber

optic

left

on

Robot

holes

door

Control

Line

Tracker.

door

using

the

OFF

the

on

securing

module

side

panel

endofcabletothe

Control

to

secure

Robot

on

for

future

the

position

lower

the

on

remaining

opening

(see

the

connection.

Control.

use.

two

supplied

to

the

portion

cover.

of

where

receptacle

Figure

Be

keys,

Reset/Open

the

Robot

end

of

the

blank

marked

and

3.3),

that

sure

both

and

position.

Control

fiber

optic

cover

CNII

tighten

door

rotate

left

cable

was

on

module

keys

the

side

re

I/O

re

Weld

3.5.2

IMPORTANT:

for

and

connection drive

(see

GMA

the

weld

output

assembly

Section

Route

1)

on

drive

Connect

2)

ure

IMPORTANT;

socket,

rotate

Cable

with

Connections

If

Line

W

process,

terminalonthe

the

and

connect

3.5.3).

end

lug

MRH

robot

assembly

lug

3.4).

Before

one

plug

Tracker

work

of

installation

disconnect

cable.

it

to

supplied

models

housing.

of

end

on

connecting

turn

counterclockwise.

To

Wire

the

welding

Also,

the

welding

weld cable

or

weld

cable

twistlock

Drive

is

to

robotic

a

present

to

source,

power

(16.4

on

stud

power

disconnect

cable

clamp

plug

Assembly

system

cable

weld

and

the

voltage

source

ft.

(5

m)

MRV-6

wire

on

end

on

Line

And

that

from

this

use

sensing

positive

length)

robot

drive

of

models

assembly

weld

Tracker

was

already

the

wire

drive

cable

weld

lead

weld

(+)

through

protective

and

housing

cabletothe

(Figure

operational

assembly

for

a

parallel

from

the

up

terminal

the

to

output

(see

Line

Tracker

3.4)

wire

hose

wire

Fig

3)

Insert

Line

on

twistlock

Tracker

plug

front

on

remaining

panel,

and

end

rotate

3.6

of

weld

plug

cable

clockwise

into

receptacle

to

secure

connection.

marked

MSK1

Reconnect

Sensing

Terminal

Power

Positive

Terminal

Voltage

Lead

To

Welding

Source

(+)

Ring

Output

Weld

Cable

Lug

Line

Tracker

Figure

Weld

3.5.3

3.5)

IMPORTANT: for

and

connection

drive

sensing

weld

GMAW

the

weld

assembly

lead

cable

1)

Weld

3.4

Cable

output

with

ring

lug,

Install

source

Manipulator

Cable

Connections

Line

If

process,

Tracker

disconnect

terminalonthe

the

work

the

to

and

lug

welding

terminal

not

between

end

of

positive

(+)

Connections

To

installation

welding

cable.

must

Also,

power

be

the

placed

supplied

weld

output

To

Welding

is

to

the

present

power

reconnect

source

weld

cable

weld

cable

terminal

Wire

Drive

Power

robotic

a

weld

source,

the

positive

weld

the

on

lug

ft.

(5

(see

Weld

16.4

Standard

Assembly

Source

system

cable

and

use

voltage

weld

(+)

output

the

and

m)

(1.5

Figure

Cable

ft.

(5

m)

Length

And

that

was

from

the

this

sensing

output

terminal

weld

length)

3.5).

Socket

MSK1

And

Line

already

wire

weld

cable

lead from

terminal.

last,

output

onto

Line

Tracker

operational

drive

assembly

for

The

on

terminal.

welding

ST149

101

(Figure

a

parallel

the

wire

voltage

of

top

power

the

IMPORTANT;

2)

rotate

Install

Line

socket,

Figure

Before

one

plug

twistlock

Tracker

3.5).

connecting

counterclockwise.

turn

socket

front

on

panel,

twistlock

plug

remaining

and

rotate

3.7

end

on

endofweld

socket

clockwise

weld

of

cable

cabletothe

onto

plug

to

secure

Line

marked

connection

Tracker

MPG1

on

(see

Positive

Weld

Output

Terminal

Welding

Source

Power

Line

Tracker

Weld

ft.

(5

Standard

Figure

Cable

(1.5

Length

3.5

m)

Weld

Cable

Connections

Terminal

Block

To

Welding

Plug

MPGI

Power

Source

And

Line

ST-148

Tracker

993

Touch

Power

Cable

Figure

3.6

Touch

Power

3.8

Cable

Connections

ST.149

102

3.5.4

Touch

IMPORTANT;

small

ring

terminal.

Power

The

Cable

touch

Connections

power

cable

(Figure

is

equipped

3.6)

with

one

large

ring

terminal

and

one

3.5.5

Connect

1)

TB3

Connect

2)

piece

Input

Locate

1)

receptacle

cure

2)

Open

switch

er

Select

3)

or

right

ing

Insert

4)

panel

3.7).

small

Line

on

the

worktable

or

Power

the

connection

Robot

and

side

the

cover.

leads

opening

Tracker

large

Cable

input

marked

Control

handle

remove

panel

at

remaining

terminal

ring

front

terminal

ring

near

Connections

power

CN406

by

rotating

cabinet

beyond

blank

a

(right

where

the

touch

on

panel

on

connection

cable,

side

and

Line

on

threaded-collar

door

the

OFF

cover

shown

end

of

input

blank

power

(see

Figure

remaining

of

work

connect

Tracker

using

the

position

the

on

plate

in

Figure

power

cover

plate

cable

3.6).

end

cables.

plug

front

fully

two

supplied

the

to

lower

3.7)

cable

was

to

terminal

of

touch

endofcable

on

panel

clockwise.

(see

keys,

Reset/Open

portion

by

removing

through

removed

power

of

the

in

P

1

of

terminal

cable

marked

Figure

and

3.7),

rotate

position.

Robot

2

the

screws

Robot

3

Step

to

the

CN406

and

the

Control

(see

Figure

block

work-

to

se

pow

left

secur

side

Connect

5)

a)

b)

c)

IMPORTANT;

be

must

connected

d)

Secure

6)

moved

Close

7)

main

input

Remove

former

Connect

The

Connect

the

from

and

near

power

insulating

inside

green

to

cable

secure

the

white

black

bus

green

the

Robot

lead

bar

cover

blank

cabinet

cable

lead

from

on

leadtoterminal

Control

leads

cover

Control.

terminal

to

terminal

terminalEof

bottom

plate

cover

plate

door

for

from

to

on

panel

Robot

future

follows:

as

bottom

R

T

E

in

Step

Robot

(see

terminal

near

(see

Control

3.

Control.

use.

terminal

Figure

block

right

Figure

side

block

3.7).

rear

3.7).

panel

Be

sure

on

input

portion

using

that

input

power

transformer

of

transformer.

the

2

screws

both

door

trans

keys

re

3.9

Line

Tracker

155

ST-149

CN406

Receptacle

Switch

Breaker/

ON/OFF

Circuit

Power

Cable

Input

Connections

Cable

Power

Lead

Green

Lead

Black

Input

3.7

Figure

Robot

Control

Lead

White

Terminal

Millerﬁ

September

1991

FORM:

OM-146

806

SECTION

MODEL:

TEACHING

4

OPERATION

&

Line

Touch

Tracker

Sensor

IMPORTANT:

special installing,

Instructions

operation

operate,

understand

emphasis

operating,

of

or

Read

for

are

robotic

maintain

these

understand

and

the

on

use

safety

or

maintaining

only

by

equipment.

this

unit.

instructions.

the

material

persons

Do

Contact

not

entire

this

trained

allow

your

contents

throughout

equipment.

and

experienced

untrained

distributor

this

of

the

This

persons

If

manual,

unit

do

you

and

in

the

to

install,

not

with

before

these

safe

fully

MILLER

AMIerGroupLtd.

Appleton,

Tel.

414.734-9821

ELECTRIC

Company

1079

WI

54912

USA

Mfg.

PRINTED

Co.

IN

U.S.A

SAFETY

GUIDELINES

A.

ROBOTIC

Read,

addition

1)

2)

3)

4)

5)

6)

SAFETY

understand,

the

to

KEEP

STAY

KEEP

HAVE

robot.

UNDERSTAND

unique

cause

UNPREDICTABLE

of

following

OUT

ALERT

INFORMED

AN

industrial

of

operation.

and

omply

before

of

robot

when

EMERGENCY

AND

their

movements.

with

work

near

about

BE

devices

ROBOT

alt

safety

beginning

envelope

robot.

status

STOP

FAMILIAR

and

of

BUTTON

can

MOTION

rulesatthe

robotic

when

robot

WITH

present

can

beginning

procedures

main

power

and

general

IN

HAND

ROBOTIC

unexpected

occur

in

even

of

Section

or

operations.

is

on.

working

whenever

MOVEMENTS.

hazards

the

best



1

Safety

conditions.

are

you

to

near

Robots

personnel

designed

in

the

are

be

areas

7)

8)

9)

B.

Read,

manual

NEVER

used.

is

THOROUGHLY

TEST

10)

cell

are

TURN

11) velope.

Provide

12)

Control

bot

WELDING

understand,

in

addition

stand

place

AND

VERIFY

working

OFF

robot

proper

and

SAFETY

and

to

with

your

yourself

TRAIN

between

that

properly.

and

welding

Electrostatic

Program

comply

the

following

back

ALL

Module.

with

before

toward

robot

PERSONNEL

safety

power

devices

Discharge

all

safety

beginning

the

work

source

(ESD)

rules

robot.

stations

in

robot

and

input

at

beginningofwelding

arc

if

more

operation

components

power

protection

welding

before

for

operations.

than

and

used

entering

circuit

work

one

safety.

in

boards

power

the

station

robotic

work

in

source

en

Ro

1)

2)

Prevent

Provide

electric

proper

shock.

protection

from

fumes

and

gases.

3)

Protect

eyes

and

skin

from

arc

rays;

protect

ears

from

noise.

4)

5)

6)

7)

8)

Prevent

Protect

electric

Provide

Since

wearers

off

Turn

or

lope

fire

and

compressed

arcs.

impact

protection

magnetic

consult

and

robot

burns

fields

their

caused

gas

from

doctor before

welding

workingonwelding

hot

by

all

from

persons

currents

source

source.

cylinders

to

high

power

metal,

excessive

in

going

spatter,

the

can

near

input

heat,

cell.

affect

arc

power

and

slag,

mechanical

pacemaker

welding

before

arc

sparks.

shocks,

operation,

operations.

entering

work

and

have

enve

Section

No.

SECTION

-

TABLE

4-

OF

CONTENTS

TEACHING

OPERATION

&

Page

No.

4.1

4.2

4.3

4.4

4.5

4.6

4.7

4.8

4.9

4.10

4.11

4.12

Introduction

General

4.2.1

4.2.2

Safety

Line

Sequence

4.5.1

4.5.2

Wire

4.6.1

4.6.2

Information

General

Safety

Alert

Tracker

Data

Function Deviation

Extension

Precautions

Teaching

Symbol

Function

One-Direction

4.7.1

4.7.2

Precautions

Teaching

Data

Deviation

4.8.1

Data

Examples

Command

4.8.2

Conditions

Command

4.8.3

Holding

Program

4.8.4 Pattern

4.9.1

4.9.2

4.9.3

4.9.4

4.9.5

System

Fail-Safe

Applications

4.12.1

4.12.2

4.12.3

4.12.4

4.12.5

4.12.6

4.12.7

4.12.8

Teaching

Search

Teaching Teaching

Teaching

Data7Control

Function

For

One-Direction Function

One-Direction

Searching

Joint

Lap

Workpiece

Weld

Length

Searching

One-Direction

Three

And

Of

Sequence

Data

Store

Search

Wire

Search

Function

For

Using

Extension

Function

For

Using

One-Direction

Call

Function

Of

Movement

Effected

State

Of

Deviation

Sequences

Deviation

Function

Pattern Pattern

Pattern Pattern Pattern

(SF2)

Search

Search Search Search

Conditions

Combining

Search

To

Establish

Workpiece

DeviationInThree

Correction

Operations

And

Directions

Safety

And

Words

Data

Call

Signal

(SF0)

Wire

Extension

Search

(SF1)

One-Direction

Search

(SF3)

Data

WIRE

SF1

By

Data

Call

Function Function

Function Function Function

Sensing

Using

For

DeviationInOne

With

Pattern

Deviation

A

Diagonal

An

Imaginary

For

Varying

Welding

Searching

Function

Touch

By

Function

Touch

By

Search

Function

Position

ADJ.

Call

Function

(SF2)

(SF2) (SF2)

(SF2)

Functions

Weld

Directions

Weld

Gun/Torch

Sensing

Search

(SF0)

Sensing

Function

(SF1)

Correction

Selection

(SF3)

Data

Deviation

Direction

For

Sequence

For

Pattern

For

Pattern

For

Pattern

For

Pattern

For

Pattern

Store

Start

Joint

Workpiece

Function

Sequence

The

By

And

(SF3)

In

Number

And

Point

Lengths

At

455

Deviation

(SF0)

(SF1)

SF3

Data

Call

Angle

Data

1

2

3

4

5

4.1

4.2

4.3

4.6

4.7

....

4.8

.

4.9

4.10

4.11

4.14

4.15

4.16

4.20

4.22

.

..

.

4.23

4.24

..

.

4.29

..

.

4.35

..

.

4.41

..

.

4.48

..

.

4.54

4.62

4.63

4.64

4.65

4.66

4.68

4.72

4.73

In

4.74

4.1

INTRODUCTION

This

Section

with

guidance

display

plained

The

automatic

Read

(LCD).

in

information

and

operation

References vide

additional

4.2

GENERAL

4.2.1

Information

pertains

which

ment.

General

to

should

explains

of

simultaneous

Data

Section.

this

contained

operation

understand

the Line

of

other

to

information

INFORMATION

presented

equipment

be

read,

the

teaching

the

in

functions

in

this

Line

entire

and

this

control

for

the

Tracker.

Sections

design,

understood,

and

operation

instructions

required

Section

Tracker

contents

of

this

of

manual

procedures

AND

SAFETY

and

followed

manual

installation,

of

the Line

appearing

to

operate

relates

and

this

necessary

on

to

robot

Section

that

appear

various

operation,

for

the

Tracker

the

on

Program

the

teaching

to

perform

obtain

to

in

this

to

perform

labels,

maintenance,

and

safe

Line

in

data

touch

the

Section

touch

tags,

effective

by

entering

Module

Tracker

a

program

sensing

most

are

sensing

and

plates

and

use

data

input

liquid

are

efficient

intended

crystal

also

ex

and

using

functions.

and

use

to

pro

functions.

the

on

unit

troubleshooting

of

this

equip

4.2.2

The

practices

fore,

accordance For Owners

Section

source

sources

4.3

The

attention

a

Safety

installation,

and

this

equipment

Industrial

Manual,

-

1

Owners

and

SAFETY

following

to

This

safety

tion

to

operation,

procedures

with

this

Robots

and

Safety

Rules

Manual

welding

ALERT

safety

and

identify

alert

the

safety

maintenance,

which

is

be

to

installed,

manual,

And

Robot

all

other

For

Operation

for

safety

equipment.

SYMBOL

alert

symbol

different

symbol

statements.

is

ensure

operated,

and

the

ANSI/RIA

Systems

safety

used

material

Of

rules

SIGNAL

AND

and

signal

levelsofhazard

with

and

troubleshooting

personal

safety

and

maintained

document,

-

Safety

found

Arc

Welding

regarding

words

signal

Requirements

Section

Power

the

WORDS

are

and

words

WARNING

of

the

and

American

-

1

Sourceinthe

operation

used

throughout

special

arc

welding

safety

only

Safety

instructions.

and

of

by

qualified

National

included

of

this

of

arc

this

CAUTION

robots

others.

persons

Standard

in

the

manual.

welding

manual

to

require

There

in

robot

See

power

call

to

call

atten

4.1

a

WARNING

serious

statements

personal

identify

injury

or

procedures

of

loss

life.

or

practices

which

must

be

followed

to

avoid

a

IMPORTANT ationofthis

4.4

The the

actual

By

using

when

workpiece

4.5

4.5.1

CAUTION minor

Line

LINE

personal

TRACKER

Tracker

welding

the

variations

fixture.

SEQUENCE

Function

statements

injury

statements

equipment.

FUNCTION

provides

start

touch

sensing

are

present

DATA

Of

Sequence

identify

or

damage

identify

the

special

touch

position.

function,

between

Data

procedures

this

to

sensing

consistent individual

equipment.

instructions

functiontodetect

workpieces

or

practices

necessary

and

high-quality

which

and

and/or

be

must

forthe

welding

most

correct

is

positioning

followed

efficient

deviations

possible

variesatthe

to

oper

for

even

avoid

The

sequence

Operation

Touch

data

for

Sensing

teaching

touch

sensing

Sequence

SF0

SF1

SF2

SF3

operations

Data

is

as

Function Search

Extension

Search

Direction

Search

Pattern

Search

Call

follows:

Function

Selection

Function

A

Deviation

For

In

One

Using

To

Value

Wire

4.2

Additional

information

about

the

sequence

data

is

provided

in

Table

4.1.

Sequence

SF0

SF1

Data

Table

-

Command

ing

gun/torch.

tual

wire

SF1

and

the

workpiece

SF2

or

Command

between

tion

is

for

position

memory. correction

and

Section

sional

Actual

workpiece

Table).

4.1

Function

determine

to

The

Of

actual

difference

stick-outiscalculated

SF2

commands.

position

cannot

command.

determine

to

the

taught

determined

deviation

This

position

using

by

4.8).

data;

data,

wire

therefore,

second

a

stick-out

position

workpiece

when

detected

data

SF3

the

A

single

to

or

should

deviation

Sequence

Function

wire

between

and

If

actual

be

actual

welding

can

command

SF1

obtain

third

SF1

be

(see

Data

extension

preset

applies

wire

stick-out

accurately

workpiece

position

wire

during

be

and

touches

searching

called

from

(see

command

two-dimensional

command

determined

SF0

only

command

(stick-out)

wire

stick-out

to

situations

is

not

detected

position.

actual

information

workpiece

the

workpiece.

is

memory

provides

or

needed

is

for

accurate

information

at

the

weld

and

ac

that

use

the

established,

the

using

The

difference

SF1

posi

Data

stored

in

CPU

for

position

in

this

Table

one-dimen

three-dimen

respectively.

detection

in

this

of

SF2

SF3

Deviation

4.5.2

The

deviation

torch

position,

data

means

assigned

data

ment

trated

in

.

data

a

that

memory

sequence.

Figure

Command

The

difference

start

point

viation

stored

called

command

stick-out

point

Command

location

SF1

or

ation

fore

an

Store

Data

and

store

weld

start

point,

data

gathered

location

locationisread

A

basic

4.1.

start

to

is

determined

of

in

from

the

CPU

memory

weld

(see

should

deviation

call

to

for

a

specific

SF2

command

dataisused

SF3

command

Call

And

call

function

weld

a

fromadetected

for

future

and

concept

selected

between

start

memory.

for

a

information

be

determined

SF0

(see

position

operation

information

recalculate

to

sequence

Function

provides

end

point,

reference.

used

in

of

the

deviation

search

the

taught

the

by

point

This

weld

in

this

command

deviation

pattern

weld

pattern

detected

start

point

Table

for

accurate

information

data

performed

in

movement

in

the

capability

overall

and

deviation

Calling

calculating

for

deviation

a

data

for

start

search.

during

point

correction

and

Section

from

by

this

Table).

data

a

program.

weld

touch

data

position

store

the

point

Data

a

deviation

detection

in

a

designated

the

in

to

correct

length.

of

type

and

for

pattern

by

using

4.8).

of

this

Table.

Line

Tracker

The

position

the

sequence

welding

Storing

weld

actual

position

search

data

the

Actual

weld

memory

deviation

sensingisplaced

that

means

correction

and

call

function

data

for

joint.

weld

can

SF3

wire

start

(see

devi

gun/

in

a

move

is

illus

de

is

be

an

4.3

IMPORTANT:

operation

is

erased.

until

The

a

single

I

Cal.

deviation

program

Output

Selection

SettoON

data

end

remains

sequence

in

assigned

or

ajob

memory

end

locations

sequence

at

during

which

automatic

time

the

data

An

example

mand

after

Sequence

....,P,SF3

Cal.

Numbers

Figure

of

correcting

a

position

Data

Path

During

Automatic

Output

4.1

Of

Set

Concept

a

position

(P)

sequence

Movement

Operation

Range

Number

Erase

Of

Deviation

(P)

as

Of

Selections:

Deviation

location

shown

99

Oto

Data

Call

Data

Store

is

accomplishedbyteaching

in

Figure

And

4.2.

New

Function

Position

Deviation

SF3

an

Location

Correction

Ref.

S-0610

com

After

Taught



-

In

Path

Figure

Block

4.2

Operation

One-Dimensional

,,/~

Position

4.4

Deviation

SF3

Automatic

Taught

Position

Correction

Data

Command

Called

By

During

Operation

Location

S-o815

IMPORTANT:

mensional

A

totalofthree

position

correction.

SF3

commands

can

be

called

sequentially

to

do

three-di

a

An

example

pushed

4.3.

Sequence

P,

by

SF3,

During

Taught

two-dimensional

of

a

teaching

Data

SF3

Path

Movement

Of

Automatic

PathInBlock

Figure

SF3

two

Operation

vector

commands

Operation

4.3

Two-Dimensional

correction

after

a

position

of

a

A

/

Position

position

(P)

sequence

Position

New

Deviation

\

Taught

Position

Correction

location

(P)

as

Location

Correction

Deviation

Two

SF3

During

Location

is

shown

in

After

Data

Called

Commands

Automatic

Operation

accom

Figure

By

S-0616

IMPORTANT:

ment

data

When

Motion

dataisthe

4.2.

Start

logic

its

an

(0),

If

an

(AS),

data

operation

Sequence

SF3

is

....,~,T,SF3

Taught

And

SF3

The

(ClorC2).

command

Linear

or

current

command

Weave

in

the

first

Data

Path

Automatic

(L),

program

Start

current

shown

as

In

Of

Movement

command

is

taught

the

deviation

sequence

is

taught

(WS),

sequence

in

Block

Operation

cannot

after

the

etc.,

Figure

During

make

movement

correction

in

automatic

function

deviation

in

automatic

4.4.

/

position

data

is

made

operation

or

logic

correction

operation

corrections

such

as

immediately

as

data

such

is

not

this

and

New

Position

Deviation

SF3

Taught

Position

Timer

circular

to

Position

when

shown

as

made

Data

Command

Function Data

in

Timer

until

data

has

Location

Correction

Called

Location

arc

move

Continuous

(P),

the

movement

Input

function

4.7

(N),

Figures

(T),

the

accomplished

After

By

And

and

Arc

or

S-O61~

Figure

4.4

Position

Correction

4.5

After

Function

Or

Logic

Data

4.6

WIRE

EXTENSION

SEARCH

FUNCTION

(SF0)

BY

TOUCH

SENSING

IMPORTANT:

same

Wire

that tected

extension

length

and

Welding

Torch

Wire

Value

Data

as

extension

extends

during

will

pattern

Gun!

Nozzle

Wire

Extension

In

Or

2

Length

All

data

search

the

in

the

SF0

specified

from

detected

be

stored

search

System

Part

Of

Value

for

teaching

robot

the

function

of

tip

operation

during

automatically

functions

Owners

(SF0)

the

contact

in

teaching

for

(SF2)

robot

ManuaL

is

an

tube

Automatic

the

SF0

later

use

in

Automatic

Original

Approach

Location

operations,

operation

the

on

mode

command

during

mode.

Taught

Point

except

detect

to

welding

will

be

and

one-direction

touch

the

length

gun/torch.

compared

detected

any

search

Searching

Direction

sensing,

of

wire

Wire

extension

with

the

original

deviation

functions

Perceptual

Approach

After

Operation

remain

the

(stick-out)

de

wire

in

wire

(SF1)

Taught

Point

A

Welding

Surface

Reference

Figure

Touch

ing point

rate

welding

tension

sensing

wire

touches

and

deviation

operations.

by

searching

tension of

point

the

for

contact

and

where

A

Of

Fixed

Point

Teaching

For

Original

Touch

4.5

isamethod

the

actual

an

will

be

detecting

touch

point

making

tube.

the

correctionstodetermine

Operation

Searching

Point

TeachIng

of

detecting

workpiece

searching

detected;

Therefore,

the

difference

fixed

at

a

The

difference

wire

actually

Original

Touch

And

Search

and

a

touch

however,

it

is

necessary

between

reference

touches

Searching

Point

Automatic

Function

deviation

a

difference

If

point.

wire

an

point.

the

between

the

Operation

(SF0)

in

the

exists

extension

make

to

original

SF0

The

welding

the

location

reference

Automatic

For

Actual

Touch

Of

workpiece

between

an

remains

actually

corrections

searching

command

wire

length

of

the

in

point

Perceptual

Original

Operation Searching

Point

Wire

Extension

position

original

unchanged,

changes

for

changes

touch

point

detects

extending

original

automatic

Correction

Length

Deviation

Wire

Extension

Location

Searching

Touch

when

Point

the

searching

the

result

as

a

in

wire

and

an

actual

wire

from

searching

operation

For

weid

touch

accu

actual

the

touch

is

in

Of

of

ex

end

the

4.6

deviation

before

ing

becomes

in

wire

after

and

invalid

extension

welding,

is

and

erased

as

shown

wire

in

extension

after

a

Figure

4.5.

detected

welding

In

addition,

in

the

operation

due

SF0

in

Automatic

wire

to

command

extension

during

mode.

chang

teaching

4.6.1

Precautions

The

1)

Select

2)

a)

b)

C)

Before

3)

the

sion wire

For

Using

the

must

be

searching

observed

taught

reference

a

reference

The

Conductivity

erence

reference

of

ue

The

erations

less

reference

teaching

contact

15

is

mm

extension

point

than

make

to

tube

(0.6

is

and

the

to

Wire

direction

point

should

the

and

10

point

accurate

SF0

the

value

in.)

15

mm

Extension

when

location

position

provide

electrode

the

negative

ohms.

location

sequence

set

as

a

factory

(0.6

Search

using

should

with

good

the

be

suitable

respect

metal-to-metal

wire,

electrode

should

corrections.

data,

in

System

set

value)

as

in.)

part

Function

SF0

command

perpendicular

for

the

following

the

to

manipulator

continuity

the

and

be

Data

of

surface

wire

should

near

corresponding

to

sure

the

2

or

,

adjust

RH

(M

part

torch

length

(SF0)

are

fixed

to

a

conditions:

follows:

as

reference

does

between

conductivity

have

wire

System

the

of

a

SF1

length

Data

torch

resistance

length

dimension).

point.

not

vary.

the

ref

between

and

(stick-out)

2

wire

SF2

the

val

op

at

exten

(MRV-6

4),

5)

6)

IMPORTANT:

bending

The

welding

using

The

eration

following

position

command.

A

er,

decrease

but

cycle

erence

which

the

Position

welding

should

slower

cycle

deviation

time

point

will

Avoid

welding

SF1

to

searching

time

substantially

gun/torch

(P),

gun/torch

the

be

operation.

the

reference

increases

detection

is

gained

and

entering

affect

not

locating

which

wire

angle

Continuous

angle

same

The

point

speed

by

the

allows

as a

the

at

accuracy

teaching

a

deviation

approach

would

should

with

welding

during

result

maximum

speed

be

taught

Motion

(Q),

regardtosearching

gun/torch gun/torch

the

SF0

for

higher

of

the

slower

searching

will

be

slightly

an

approach

too

of

close

detection

point

cause

setting

incorrect

perpendicular

or

Linear

movement

(L)

direction

angletosearching

angle

operation

deviation

point

should

just

detection

searching

speed

lower.

as

of

Therefore,

close

before

speed.

approximately

accuracy.

the

to

detection

reference

of

actual

to

the

during

in

be

a

accuracy;

39

ipm

as

possible

20

ipm

point

reference

data.

the

direction

SF0

point

op

for

a

perpendicular

a

following

Cycle

(99

efficiency

(50

to

wire

extension.

SF2

howev

will

time

cm/mm.),

in

the

to

ref

cm/mm.)

prevent

4.7

4.6.2

Part

7)

from

shift

the

sition

Teaching

of

the

data

the

taught

operation

location

will

of

also

Wire

stored

approach

be

to

performed

the

approach

be

moved

Extension

SF0

the

by

point

operation

the

to

without

is

moved,

actual

automatically.

Search

Function

is

searching

causing

the

(SF0)

offset

an

touch

position

any

original

searching

Sequence

(difference

point

changes;

Data

in

which

however,

touch

distance)

allows

point

a

if

po

IMPORTANT: touch be

sensing

set

to

1)

2)

3)

Before

function

YES

(1)

Before

the

sion

wire

Teach

Position

teaching

contact

is

extension

the

welding

P

ing

Press

data

the

beginning

data,

to

provide

the

tubetothe

15mm

(0.6

is

approach

Continuous

(P),

gun/torch

will

appear

P

(SENSOR)

the

SF0

in.)

15

mm

point

angle

teaching

any

TOUCH

touch

sequence

value

as

a

(0.6

Motion

at

VOLT

sensing

in

set

System

factory

as

in.)

location

a

(0),

perpendicular

shown:

as

P100

P

and

key,

the

operations

selection

voltage

be

data,

Data

set

value)

of

part

where

Linear

or

the

to

display

(item

(see

to

sure

2

(MRH

or

,

the

torch

searching

movement

(L)

reference

S020

will

appear

for

a

program

15)inSystem

Section

adjust

System

of

part

the

length

point.

as

that

4.10).

wire

length

Data

torch

dimension).

data

A

typical

M4

60

wifl

and

motion

shown:

will

contain

Data

7

must

(stick-out)

2

wire

exten

length

(MRV-6

begin

using

position

display

at

the

us

a

Press

4)

WARNING:

can

cause



Turn

metal

Use

5)

point.

the

SF0

RECORD

the

APPROACH

ELECTRIC

injury.

off

robot

As

in

Axis

soon

parts

the

welding

TEACH

WIRE

and

key,

SHOCK

controller

contact

BEFORE

with

the

keystomanually

the

When

TEACH

the

key

is

as

wire.

ENABLE

P100

EXT.

the

display

P100

FROM

touching

welding

move

ENABLE

welding

released,

wire

S020

will

appear

S020

INTERMITTENT

the

wire.

the

welding

is

key

the

pressed,

touches

display

Cal.

as

ROBOT

welding

gun/torch

touch

the

reference

will

appear

shown:

wire,

toward

M4

SENSING

drive

rolls,

the

voltage

point

shown:

as

VOLTAGE

gun,orany

reference

is

present

surface

at

and

4.8

If

TOUCH

will

play

function

ing

Edit

the YES

again

PY

key

ers

Manual).

6)

VOLT

not

mode

(1).

Teaching

by

deleting

for

the

Press

selection

appear.

data,

and

data

the

To

press

enter

sequence

the

entire

adding

RECORD

(item

recover

MODIFY

the

System

program

operation

15)

robot

Data

data,

key,

in

System

system

and

key,

7

for

setting

including

to

start

to

complete

the

and

P

1

display

7

Data

operation

the

press

the

touch

from

over

the

will

0 o

is

set

to

and

continue

END

key

TOUCH

sensing

the

beginning

existing

appear

SO

program

20

NO

(0),

to

end

VOLT

function

or

shown:

as

the

TOUCHED

teaching

the

program.

selection

data,

using

(see

M4

can

the

touch

(item

continue

ADD-CO

robot

dis

sens

Select

to

15)

Own

To

change

lection value

the

or

appears

INC.

7)

The

SF0

ONE-DIRECTION

4.7

The

one-direction

piece

deviation

SEARCH

the

press

DEC.

or

Press

command

search

the

(if

key,

the

search

in

one

speed,

Increase

QUICK

changing

RECORD

P

is

complete

SEARCH

direction

SPEED

the

press

(INC.)

INCREASE-DECREASE

of

key,

appropriate

Decrease

or

the

data

and

the

P100

SF0

the

and

FUNCTION

(SF1)

operation

only.

is

performed

display

sequence

(SF1)

is

touch

a

numerical

(DEC.)

will

appear

is

entered

BY

sensing

keys

until

key

is

key

pressed

rapidly).

S021

TOUCH

20

to

the

desired

shown:

as

in

the

program.

SENSING

function

enter

at

M4

that

i

the

desired

search

same

detects

speed

time

work-

se

as

The

distance

where

point

be

stored

ly

IMPORTANT:

tomatic

PUTnumber.

tion

operation

in

the

between

the

welding

as a

Workpiece

if

the

program,

the

wire

deviation

of the

SF1

Cal.

OUTPUTnumberis

the

last

original

touches

in

Cal.

a

position

data

deviation

command

stored

searching

the

workpiece

OUTPUT

detectedinthe

is

automatically

the

will

be

4.9

touch

number

same

from

point

in

automatic

(see

as

the

most

and

the

Figure

searching

stored

number

a

current

actual

operation

searching

will

4.6).

direction

in

the

selected

from

a

operation

automatical

during

Cal.

and

touch

au

OUT

opera

pre

vious

write

dataiserased.

down

all

Weld

Torch

Cal.

Gun!

Nozzle

To

OUTPUT

prevent

numbers

the

loss

during

Work

of

data

the

Piece

due

to

overwriting

teaching

by

operation

for

other

a

program.

operations,

Searching

Direction

Teaching

When

tance

where stored wire

extension

will

sion

piece

change

before

Original

Touch

Work

Piece

Operation

Searching

Figure

one-direction

between

the

a

as

the

welding

deviation

changes

be

incorrectly

remains

in

the

in

wire

extension,

SF1

operation

the

Searching

Point

For

Touch

4.6

Point

Teaching

searching

original

wire

touches

in

a

due

detected

same

Original

Approach

Original

And

Search

is

searching

the

Cal.

OUTPUT

to

a

as

location.

the

wire

to

correct

Taught

Location

done

Point

Automatic

Function

parallel

touch

workpiece

number

workpiece

To

prevent

extension

for

the

Operation

the

to

point

in

automatic

(see

welding

position

an

search

change

any

Automatic

Searching

Of

(SF1)

welding

and

the

actual

gun/torch

operation

Figure

operation,

incorrect

function

4.7).

the

deviation

in

the

Perceptual

01

Actual

Touch

Correction

Deviation

Operation

Touch

One-Direction

direction,

searching

will

However,

difference

even

detection

(SF0)

wire

should

extension.

Location

Original

Touch

Searching

Point

Searching

Point

Actual

touch

For

the

S-0591

dis

point

Length

in

Workpiece

Position

For

Point

automatically

in

this

case,

in

wire

exten

the

though

be

work-

due

to

performed

be

if

a

4.7.1

Precautions

The

1)

The

2)

eration

following

position

command.

For

the

must

taught

welding

should

SF1

the

to

Using

observed

be

searching

gun/torch

the

be

operation.

reference

One-Direction

when

direction

angle

same

The

point

using

should

with

regardtosearching

welding

during

Search

the

be

gun/torch gun/torch

the

SF0

4.10

Function

SF1

command

perpendicular

angle

operation

to

direction

to

searching

should

just

(SF1)

are

the

workpiece

be

before

follows:

as

surface.

during

in

the

direction

a

perpendicular

a

following

SF0

for

SF2

op

a

Wire

Valve

Data

Torch

Perceptual

Taught

Approach

A

After

Operation

Welding

Wire

Orainal

Taught

Approach

Point

Location

Extensi~,,,..

in

System

Part

Of

Value

Original

_________

Searching

Touch

Point

2

Or

Length

Point

Welding

Searching

Direction

4

Figure

4.7.2

IMPORTANT: touch be

4.7

Teaching

sensing

to

set

Teaching

For

Original

Touch

Teaching

One-Direction

Before

function

YES

(1)toprovide

Perceptual

Operation

Searching

Point

And

tion

(SF1)

beginning

data,

Original

Touch

Automatic

The

In

Search

any

TOUCH

the

touch

Location

Searching

Point

Automatic

Actual

Point

(No

Operation

Welding

Function

teaching

VOLT

sensing

Of

Operation

Searching

Workplece

Gun/Torch

(SF1)

operations

selection

voltage

Correction

Deviation

For

Wire

Extension

For

Touch

Deviation)

One-Direction

Of

Direction

Sequence

for

(item

(see

Length

in

Automatic

Actual

Point

a

program

15)/n

Section

Perceptual

Of

Original

Touch

Operation

Searching

(Workpiece

Searching

Data

that

System

4.10).

Location

Searching

Point

Touch

Deviation)

Func

wi/I

contain

7

Data

For

S~O592

must

The

following

program

allel

IMPORTANT:

workpiece

relates

direction

surface

pendicular

wire

extension;

torch

position,

command

(see

example

the

to

the

to

welding

Conductivity

and

the

to

we/ding

however,

the

use

Section

for

entering

condition

gun/torch

should

the

electrode

gun/torch

if

searching

SF0

command

4.6).

one-direction

shown

in

position.

provide

wire.

position,

is

performed

to

correct

Figure

good

When

do

4.11

search

4.7

function

when

metal-to-metal

searching

not

for

in

wire

the

use

direction

a

extension

(SF1)

searching

continuity

is

performed

command

SF0

parallel

before

sequence

is

performed

in

direction

a

the

to

entering

data

in

a

between

to

correct

welding

the

in

a

par

the

per

for

gun/

SF1

1)

Teach

Position

the

welding using

P

approach

Continuous

(P),

will

angle

appear

gun/torch

data

-

at

location

point

a

Motion

(0),

perpendicular

shown:

as

P100

or

where

Linear

the

to

searching

movement

(L)

workpiece

S020

motion

data,

surface.

M4

will

begin

and

position

A

typical

using

the

display

2)

3)

4)

Press

P

the

(SENSOR)

SF0

the

forward

SF1

RECORD

the

APPROACH

WIRE

DISPLAY

1

and

key,

SELECT

DIR.SEARCH

and

key,

P

the

P100

EXT.

P100

the

P100

display

key,

display

will

and

will

appear

S020

Cal.

the

S020

appear

S020

shown:

as

display

shown:

as

will

60

M4

appear

M4

as

shown:

A~

WARNING:

cause

can



5)

Turn

metal

Check manual

off

parts

mination);

tiontocartesian

Use

6)

the

surface.

the

at

and

the

TOUCH

ELECTRIC

injury.

robot

the

welding

controller

in

contact

CARTESIAN-ROTATION

operation

if

Axis

As

soon

TEACH

movement

necessary,

coordinates

to

keys

as

wire.

ENABLE

SHOCK

BEFORE

with

the

press

manually

the

TEACH

When

the

key

ED

FROM

INTERMITTENT

touching

welding

wire.

key

of

robot

axes

CARTESIAN-ROTATION

the

manual

move

welding

is

P100

operation

the

ENABLE

wire

released,

welding

the

for

selection

(check

is

key

touches

the

S020

ROBOT

welding

the

appropriate

movement.

gun/torch

pressed,

the

display

will

drive

wire,

of

cartesian

key

toward

touch

reference

appear

M4

SENSING

rolls,

coordinates

LED

key

to

change

the

voltage

point

shown:

as

VOLTAGE

gun,orany

for

illu

selec

workpiece

is

present

surface

4.12

If

TOUCH

play

ing

the YES

will

function

Edit

not

mode

(1).

Teaching

VOLT

appear.

data,

and

selection

againbydeleting

PY

ers

for

key

the

Manual).

data

To

press

enter

sequence

the

entire

adding

(item

recover

MODIFY

the

System

program

operation

15)

robot

Data

data,

in

System

and

for

setting

operation

press

system

key,

7

including

to

start

over

to

complete

Data

touch

from

the

7

is

set

and

the

END

TOUCH

the

sensing

the

existing

to

NO

(0),

continue

keyto

end

VOLT

function

beginning

program

the

TOUCHED

teaching

the

program.

selection

data,

or

using

the

(see

touch

can

the

(item

continue

ADD-CO

robot

dis

sens

Select

to

15)

Own

7)

To

change

lection

value

the

or

appears

INC.

8)

IMPORTANT:

tion

Output

last

data

Press

SEARCH

the

press

DEC.

or

Press

Cal

number

entered

the

search

the

(if

key,

the

There

will

RECORD

speed,

Increase

QUICK

changing

RECORD

.OUTPUT

are

is

selected

be

present

and

key,

the

P1

SPEED

of

key,

the

Decrease

or

the

and

the

press

(INC.)

INCREASE-DECREASE

P100

Calibration

100

that

had

in

that

display

will

00

appropriate

numerical

(DEC.)

data

is

performed

display

Output

previously

Calibration

will

number

been

appear

S020

key

rapidly).

appear

S020

selections

used

Output

as

keys

until

the

is

pressed

as

NO.00

to

number.

shown:

24

to

enter

desired

shown:

(0

store

M4

I

the

search

the

at

same

M4

to

99).

deviation

desired

time

If

Calibra

a

data,

se

speed

as

the

Press

press

ber

INC.

the

appears

DEC.

or

Press

9)

appropriate

Increase

(if

the

key,

(INC.)

QUICK

changing

Cal

RECORD

the

WIRE

numerical

or

INCREASE-DECREASE

keys

Decrease

of

the

data

.OUTPUT

and

key,

ADJ.

select

to

(DEC.)

is

performed

P100

the

display

P100

4.13

the

key

desired

until

the

desired

keyispressed

rapidly).

S020

will

appear

S020

Y:1

Calibration

the

at

NO.03

shown:

as

N:0

Output

same

M4

0

number

Output

time

as

or

num

the

IMPORTANT:

calculation

a

mand

rection

value

command

and

to

is

The

for

any

the

welding

obtained

(see

WIREADJ.

the

difference

workpiece

gun/torch

for

deviation

Section

4.8

selection

between

deviation

position

correction

for

additional

is

a

detected

using

by

in

used

to

change

when

the

using

formation

obtain

in

a

wire

searching

SF1

command.

the

deviation

about

distance

extension

is

performed

The

data

the

WIRE

value

that

using

calculated

call

ADJ.

results

the

in

a

parallel

SF0

from

com

distance

function

(SF3)

selection).

di

WIRE

The

between

ence

numerical

ADJ.

to

ADJ.

setting.

10)

The

SF1

ADJ.

1

key

NO

(0),

Press

command

selection

a

change

to

or

WIRE

the

set

press

RECORD

P

is

complete

in

the

must

wire

WIRE

be

set

extension

ADJ.

Increase

ADJ.

and

key,

and

to

(INC.)

P100

the

P100

SF1

the

numerical

and

any

YES

(Y),

or

display

sequence

YES

1,

workpiece

will

the

3020

appear

press

Decrease

Y:1

5021

enteredinthe

is

if

the

(Y)

deviation

numerical

(DEC.)

N:0

as

calculation

is

desired.

0

key

to

key

change

M4

1

shown:

M4

program.

to

for

set

the

Press

the the

differ

the

WIRE WIRE

DEVIATION

4.8

The

deviation

torch

position,

data

means

sensing

data

tion

and

is

means

correction

call

functionisillustrated

IMPORTANT:

operation

is

erased.

Deviation SF1

quence

or

SF2

before

data

a

that

placed

that

for

The

untila

data

call

command

DATA

store

weld

data

in

data

movement

a

deviation

single

function

SF3

an

CALL

and

start

point,

gathered

an

assigned

in

an

assigned

data

program

(SF3)

and

using

command

FUNCTION

call

function

weld

a

from

memory

data

in

Figure

remains

end

refers

this

sequence

provides

end

point,

detected

a

location

memory sequence.

4.8.

in

sequence

to

reading

data

to

(SF3)

the

and

overall

deviation

for

location

A

is

basic

assigned

ora

recalculate

in

a

end

job

deviation

a

program.

capability

weld

either

for

future read

concept

memory

movement

reference.

and

of

locations

sequence

storedinCPU

to

correct

length.

seam

in

used

the

deviation

which

at

data

welding

data

automatic

time

memory

deviation

touch

or

deviation

a

the

for

in

the

Storing tracking Calling

calculating

during

position

gun!

posi

store

data

an

se

4.14

I

Cal.

Output

Selection Set

to

ON

4.8.1

Examples

When

Motion

dataisthe shows

rected

an

(0),

only

and

Figure

command

SF3

Linear

or

current

the

welding

Cal.

Output

Numbers

4.8

Concept

Movement

Of

(L),

program

Position

gun/torch

Set

is

taught

deviation

the

movement

(P)

Range

Number

Of

Deviation

Data

after

sequence

following

Of

SelectIons:

Erase

Deviation

Position

movement

correction

in

automatic

data

the

Data

Correction

data

is

made

that

precedes

of

path

to

99

0

Store

And

By

such

as

immediately

operation.

the

movement

Call

Function

SF3

The

Position

when

Example

SF3

command

shown

as

Command

Continuous

(P),

the

movement

in

1

in

this

Rel.

S-O61O

Figure

being

4.9

cor

example.

If

SF3

an

Start

(AS),

data

logic

its

operation

Input

this

torch

When

ation,

the

torch

(N)

example.

movement

an

position

end

path

command

Weave

in

the

is

first.

operation

Position

during

SF3

command

correction

the

of

welding

of

movement

is

taught

Start

(WS),

current

Example

and

sequence

2

the

welding

correctioninthis

SF3

is

taught

will

operation.

prior

after

function

the

etc.,

in

Figure

command

just

be

maintained

Examples

to

welding

or

deviation

in

automatic

shows

4.9

gun/torch

situation

time

prior

following

as

to

a

from

3

and

during

4.15

data

logic

correction

operation

deviation

will

only

the

current

welding

the

point

and

in

4

welding

such

as

not

is

and

the

be

made

this

correction

of

path

foradistance

sequence

operation

where

Figure

4.9

respectively.

Timer

until

data

movement

in

or

during

correction

a

show

(T),

Input

the

function

has

accomplished

shown

as

of

welding

a

program.

a

welding

occurs

the

welding

(N),

after

gun/

oper

until

gun/

Arc

or

an

in

Sequence

Data

....,P,SF3,N,P.

Path

During

Of

Movement

Automatic

<OPon

Sequence

Data

....,~N,SF3,P.

Path

Of

Movement

During

Automatic

In

Taught

Block

Example

After

Path

Operation

1.

PosItion

Movement

-..1-

Correction

Data

Operation

Sequence

Data

....,P,SF3,AS,*L,*L,AE,P

Path

During

Movement

Of

Automatic

Operation

SF3

---~-.

Taught

Block

/

P

/

In

Path

Operation

AS,

L

f

-

In

-

L,

-

N

SF3,

Using

SF3

Nonwelding

~

p

AE

-

f

-

Taught

Block

Correction

Data

Example

Function

2.

PositIon

Or

\\

\!-

P

Logic

Operation

Sequence

Data

....,AS,*L,*L,SF3,*L,*L,AE,P

Of

Path

During

Movement

Automatic

o

pera

~/~---~

AS

t.

L

ion

-

______

___

-

SF3

L,

~

L

L,

SF3

N,

Path

Operation

Using

In

SF3

Nonwelding

TaughtPath

AE

In

Operation

In

After

P

Block

Example

After

Movement

Operation

Figure

4.8.2

Conditions

Different SF1

command

command.

the

ing

rection.

workpiece

Example

between

1)

Position

3.

Data

Variations

4.9

conditions

by

A

condition

the

workpiece

Actual

SF0

wire

Correction

Just

Effected

determine

the

way that

when

1

in

Figure

extension

Proir

Of

To

By

A

SF3

SF1

Welding

when

Using

movement

applies

searching

shows

4.10

and

actual

is

establishedatPoint

is

5

SF3

Operation

WIRE

and

to

not

is

performed

wire

mm

ADJ.

when

data

position

using

the

condition

extension

(0.20

Example

After

Movement

Operation

For

Sequence

Selection

not

to

use

correction

the

WIRE

ADJ.

perpendicular

for

determining

length

A.

short.

in.)

4.

Position

And

the

follows:

as

Correction

Data

Location

SF3

WIRE

ADJ.

is

recalculated

selection

the

to

welding

the

During

In

A

Command

selection

is

to

relative

Using

A

Welding

Program

in

for

an

prevent

miss

gun/torch

deviation

SF3

the

SF3

di

4.16

Workpiece

2)

the

B.

0).

SF1

length

Position

3)

gram

ing

C.

P,

vertical

SF1

The

the

SF3

command

Cal.

(1,

N)

is

8

(P)

during

deviation

(1)

down

position

for

OUTPUT

relative



mm

(0.31

movement

the

teaching

data

Position

direction.

deviation

searching

number

deviation

in

data

the

and

in.)

operation,

using

movement

(P)

in

the

vertical

parallel

is

set

to

between

vertical

the

SF3

are

Cal.INPUT

data

down

the

to

and

WIRE

1

workpiece

down

command,

performed

number

position

direction

welding

ADJ.

and

direction.

taught

for

in

1

automatic

correction

is

determined

gun/torch

selection

actual

direction

sequentially

position

correction

operation

is

8

mm

is

set

wire

(0.31

by

using

at

point

to

NO

(N

extension

in

the

pro

call

by

Point

at

in

in.)

=

the

15

mm

(0.60

Workpiece

4)

SF1

Point

(N

SF1

point

SF0~

T

in.)j

command

D.

=0).

(2,

is

ﬁ~

- -

J

position

The



N)

0

mm

i-

~1~

(0.20

for

OUTPUT

Cal.

relative

in.)

(0

5

mm

in.)

deviation

searching

number

deviation

due

to

no

P,SF3

(1)

TSmm

1.

(0.31

(0.12

in

the

horizontal

perpendicular

is

between

workpiece

2

to

set

workpiece

deviationinthe

SF0~

15

mm

(0.60

in.~j

in.)

SF1

(1,N)

directionisdetermined

the

to

and

T

welding

WIRE

and

ﬁ~

~-

--

-

gun/torch

ADJ.

selection

original

horizontal

5

mm

(0.20

in.)

J

by

using

direction

is

set

searching

direction.

P,SF3

(1)

the

to

NO

touch

at

Figure

Example

tween

without

torch

piece

the

direction.

when

4.10

SF1

Searching

in

2

Figure

workpiece

consideration

This

using

the

Example

shows

4.10 the

and

the

for

condition

WIRE

1

Effected

the

original

effect

ADJ.

this

would

selectionasfollows:

I

3

mm

(0.12

in.)

WIRE

By

condition

searching

has

on

searching

resultinthe

4.17

ADJ.

for

touch

Selection

determining

point

perpendicular

second

SF1

the

in

the

command

Example

SF3

And

relative

vertical

the

to

missing

2

Command

deviation

down

welding

the

S-0594

be

direction

gun!

work-

1)

Actual

SF0

wire

extension

is

established

is

5

mm

(0.20

at

Point

in.)

A.

short.

2)

Workpiece

the

B.

1).

extension

in.)

SF1

point

Position

3)

gram

ing

C.

P,

vertical

4)

Workpiece

SF1 PointD.The

SF1

The

in

(1,

the

SF3

command

position

command

Cal.

OUTPUT

WIRE

length

vertical

the

Y)

is

3

mm

(P)

during

deviation

Position

(1)

down

position

ADJ.

and

down

relative

(0.12

movement

the

teaching

data

direction.

for

OUTPUT

Cal.

deviation

for

searching

number

selection

stores

only

direction.

deviation

in

data

the

and

in.)

operation,

using

(P)

deviation

Cal.

movement

searching

number

in

the

parallel

is

set

to

in

set

the

between

vertical

the

INPUT

data

in

the

vertical

1

this

workpiece

SF3

are

horizontal

down

the

to

WIRE

and

application

workpiece

down

command,

performed

number

position

perpendicular

to

2

is

set

direction

welding

ADJ.

disregards

position

and

direction.

taught

for

in

1

automatic

correction

gun/torch

selection

position

determined

is

the

deviation

original

sequentially

correction

operation

is

3

mm

directionisdetermined

to

the

and

welding

WIRE

gun/torch

ADJ.

selection

by

direction

is

set

to

at

YES

change

of

3

mm

searching

in

the

by

at

(0.12

in.)

by

using

direction

is

set

using

point

(Y

in

wire

(0.12

touch

pro

call

Point

in

the

to

NO

=

at

15

mm

(0.60

(N

SF1

torch

change

not

between

SF0~

~-

~

ln.ft

=0).

N)



(2,

position

in

wire

compensated

the

ﬁ~

~

:

i-

- -

____

(0.20

-

3

mm

The

searching

correction

extension

in

for

workpiece

5mm

in.)

(0.12

in

the

being

the

position

and

SF1

(1,?)

T

j

1

function

vertical

5

mm

the

welding

15

(0.60

8mm

(0.31

in.)

3mm

(0.12

in.)

misses

direction

(0.20

correction

wire

SF0~

mm

~

in.)1

the

in.)

which

tip.

ﬁ~

:

- -

J

shorter

/

workpiece

3

for

mm

than

leaves

5mm

v---

~

(0.20

SF3(1)

~'



-

-~

8

mm

(0.31

due

(0.12

the

2

a

mm

in.)

In.)

to

welding

however,

in.);

original

length

(0.08

SF1

(1,N)

(0.31

j

- -

~

(0.12

gun!

in.)

8mm

In.)

3mm

in.)

a

is

gap

Figure

4.11

Example

Weld

SF1

1

Start

And

Point

SF3

Eftected

Command

4.18

By

WIRE

Example

ADJ.

2

Selection

S-0595

A

condition

the

appropriate

determining

as

point

that

the

follows:

appliestousing

wire

extension

relative

deviation

WIRE

the

length.

between

ADJ.

Example

the

workpiece

selection

1

in

Figure

is

and

to

adjust

4.11

the

weld

shows

original

the

searching

start

point

condition

touch

at

for

Actual

1)

SF0

2)

Workpiece

the

B.

1).

extension

in.)

SF1

point

Position

3)

gram

ing

C.

P,

vertical deviation

tablished

SF1

The

in

the

SF3

wire

command

Cal.

WIRE

the

vertical

(1,

Y)

is

3

mm

(P)

during

deviation

(1)

down

in

at

extension

position

OUTPUT

ADJ.

length

and

down

relative

(0.12

movement

the

teaching

data

Position

direction.

the

vertical

Arc

the

established

is

5

mm

(0.20

deviationinthe

for

searching

number

selection

only

deviation

in.)

data

is

set

stores

direction.

in

the

vertical

and

operation,

using

(P)

Start

Cal.

movement

weld

The

down

(AS)

direction,

Point

at

short.

in.)

vertical

parallel

set

in

the

between

the

INPUT

start

to

1

and

to

this

application

workpiece

down

SF3

command,

are

performed

number

data

position

point

and

operation.

A.

down

the

WIRE

direction

welding

ADJ.

position

direction.

1

correction

is

corrected

the

appropriate

is

determined

gun/torch

selection

disregards

deviation

and

original

taught

for

in

automatic

sequentially

position

is

3

for

the

wire

direction

is

to

set

the

change

of

3

mm

searching

in

correction

operation

mm

(0.12

workpiece

extension

by

using

at

point

YES

(Y

in

wire

(0.12

touch

the

pro

call

by

Point

at

in

the

in.)

position

is

es

=

Example

tween

without resultinthe

moving

lows:

2

the

consideration

too

Actual

1)

SF0

2)

Workpiece

the

B.

0).

SF1

length

not

sion

workpiece

in

Figure

workpiece

Position

farinthe

extension

wire

extension

wire

position

SF1

command

OUTPUT

Cal.

The

(1,

N)

is

8

mm

being

set

length

and

position

4.11

shows

and

the

for

the

movement

(P)

vertical

for

relative

(0.31

this

in

stores

the

condition

actual

effect

down

is

deviation

searching

number

deviation

in.)

application

deviation

wire

this

has

data

position

direction

establishedatPoint

5

mm

(0.20

in

the

parallel

is

set

between

in

the

vertical takes

the

overall

of

8

for

extension

the

on

correction

without

short.

in.)

vertical

to

1

and

to

down

into

deviation

mm

(0.31

determining

length

weld

in

start

point.

just

the

using

A.

down

the

welding

WIRE

directionisdetermined

ADJ.

workpiece

direction.

consideration

for

the

change

in

in.)

the

relative

the

vertical

This

before

the

ADJ.

gun/torch

selection

and

actual

The

WIRE

the

change

in

wire

vertical

down

deviation

down

condition

SF3

command

selection

direction

is

set

to

wire

extension

ADJ.

selection

in

wire

extension

direction.

be

direction

would

fol

as

by

using

at

point

(N

exten

and

=

NO

4.19

3)

Position

ing

SF3

during

the

deviation

(1)

moves

gram

C.

P,

vertical

deviation

which

tion.

(P)

Position

down

in

the

movement

the

teaching

data

direction.

vertical

the

weld

data

operation,

using

movement

(P)

The

down

start

and

the

SF3

are

Cal.

INPUT

data

weld

start

direction,

5

point

mm

command,

performed

number

position

is

point

and

(0.20

incorrect

the

in.)

taught

for

in

1

automatic

correction

too

wire

far

actual

sequentially

position

correction

operation

is

8

mm

for

the

workpiece

extension

in

the

vertical

in

(0.31

is

maintained

down

the

pro

call

by

at

Point

in

the

in.)

position

direc

4.8.3

The

solid

ation

To

use

that

sure

mands.

viation

Holding

data

a

State

in

line

call

Figures

function

corresponding

matching

The

same

function

call

data

Store

No.

a

Of

Cal.

Deviation

4.12

(SF3)

deviation

OUTPUT

INPUT

(see

Call

1

Sequence

Data

through

position

data

and

number

Figure

State

Call

4.13

represents

correction.

store

Cal.

INPUT

be

can

4.12).

Function

call

and

numbers

reused

(SF3)InProgram

the

sequence

function

time

any

are

Call

for

in

set

within

Hold?ng

Sequences

holding

state

position

the

appropriate

a

program

State

of

devi

a

correction,

com

for

the

de

be

sequence

IMPORTANT:

number

Input

PUT

number,

viation

program

Any

store

data

Cal.

and

\~

Data

is

the

remains

or

job

OUTPUT

call

function

/~~ing

P,

Figure

There

selected

last

end

sequence

and

SF1,

are

data

in

SF3,

P,

4.12

For

100

that

entered

assigned

Cal.

respectively

AS,

WS,

Multiple

Deviation

Calibration

not

was

at

INPUT

previously

will

memory

which

number

during

~

Use

Input

be

present

time

WE,

Of

Same

Data

Call

number

locations

the

from

one

job

4.20

P,

Cal.

Functions

to

in

that

SF3,

selections

store

Calibration

AE,

used

during

dataiserased.

0to99

that

until

AS,

INPUT

deviation

automatic

be

can

job

~

*L,

Number

(0to99).

Input

used

ends.

AE

*C2,

If

Calibration

a

in

data

a

number.

operation

for

deviation

a

Cal.

The

until

OUT

de

the

data

Jool

J009.

POOl

P002 P003

End

Polo

End

StoreInCal.

.

Call

Using

OUTPUT

Cal.

INPUT

No.

1

In

the

example

or

in

program

1

at

be

match

not

more

that

correction

those

If

4

or

in

program

the

made

number

SF3

more

formed

number

memory

cannot

does

particular

If

2

program

deviation

except

state.

first3commands

listing

number

of

end

in

any

cannot

commands,

effect

the

having

SF3

will

of

jobs,

number

job

program

deviation

be

sequence

the

and the

same

commands

apply

deviation

a

POOl

andadeviation

P003

for

JOOl

number

data

store

performed.

having

the

holding

remainder

Cal.

INPUT

are

and

the

data

store

number

job

andadeviation

POlO

for

job

function,

same

will

taught

remainder

Cal.

state,

be

number

to

Call

only

ignored.

effect

will

in

Cal.

data

call

JOOl;

data

number

the

deviation

INPUT

the

first

A

setting,

the

be

ignored

OUTPUT

be

can

however,

call

using

J009.

data

number

SF3

command

maximum

will

effect

sequence

(see

t

Call

number

made

If

using

the

dataiserased

Cal.

INPUT

Cal.

a

call

function

setting,

of

SF3

3

the

sequence

holding

Figure

1

can

Cal.

INPUT

entered

are

will

apply

commands,

state,

4.13).

be

INPUT

from

number

using

to

holding

only

per

that

in

the

1

a

Sequence

Figure

commands. each correction

cludes

4.14

individual

weld

Store

S

Figure

shows

Each

movement

shown

length

S

Data....,

4.13

an

exampleofinterpolating

SF3

command

in

Figure

correction

SF1,

P,

Successive

For

Deviation

data

sequence

4.14

cannot

and

SF1,

P,

Use

after

movement

be

interpolating

I

P,

Of

Different

Data

Call

calibration

for

position

applied

calibration.

SF3, SF3,

Cal.

Functions

by

data

(P,

correction.

circular

to

This

t

T,

N,

INPUT

successive

or

0,

L)

movement

arc

Call

Is

SF3,

Numbers

acts

AS

deviation

independently

Therefore,

data

the

position

which

call

on

in

4.21

Taught

Path

Actual

Sequence

Figure

Deviation

4.8.4

Teaching

IMPORTANT:

depending

wherever

or

L)

in

on

this

pending

dure

Path

S

Data....,

Position

conditions.

on

possible.

the

section

Section

L

Call

SF3,

P,

4.14

Successive

Data

Deviation

of

according

Sees

AS,

Call

Functions

Data

deviation

SF3

sequence

The

initial

the

program

to

I

Call

*L,

SF3,

Of

Use

Call

correction

display

instructions.

Different

To

Function

data

will

where

I

Call Call Call

*L,

SF3,

Perform

(SF3)

will

vary

should

differ

the

SF3

/\

SF3,

*L,

Cal.

INPUT

Interpolating

Sequence

from

examples

be

taught

after

command

after

pressing

is

taught.

Numbers

SF3,

Data

the

*L,

Calibration

shown

movement

(SENSOR)

Follow

AE,

For

in

Figure

data

the

P

(P~

key

proce

4.9

Q,

de

Teach

apply

1)

For

this

LECT

this

For

SELECT

SF3

to

key

case

sequence

either

Press

case

three

key

in

a

the

SF0

after

times,

after

twice,

data

after

nonwelding

(SENSOR)

WIRE

a

sequence

and

start

press

of

the

and

the

or

key,

in

a

press

a

welding

the

sequence

welding

and

operation

of

one

P100

EXT.

nonwelding

RECORD

the

and

weaving

RECORD

data

that

as

the

following

S030

operation,

key.

operation,

key.

desired

the

follows:

displays

Cal.

press

the

press

position

will

correction

appear

M4

forward

the

DISPLAY

forward

shown:

as

DISPLAY

will

SE

4.22

P

1

0 0

S

0

3

0

M4

this

For

2)

IMPORTANT:

data

callismade

SF3

the

data,

Press press

ber INC.

write

the

appears

DEC.

or

SF3

after

case

After

pressing

Cal.

There

to

command

down

all

appropriate

Increase

the

(if

key,

the

start

the

RECORD

INPUT

100

are

Calibration

a

is

ignored.

Cal.

OUTPUT

numerical

(INC.)

QUICK

or

INCREASE-DECREASE

changing

of

a

welding

Calibration

Input

To

prevent

numbers

keys

Decrease

of

the

data

Ca

only

in

key

P100

input

number

using

to

select

(DEC.)

is

performed

I

.

INPUT

operation,

the

1,

Step

number

that

was

Cal.

INPUT

the

key

the

desired

until

during

keyispressed

rapidly).

press

display

S030

NO.00

selections

not

previously

numbers

teaching

Calibration

the

desired

RECORD

the

will

appear

M4

to

(0

used without

operation

Calibration

at

the

99).

for

Input

same

key.

shown:

as

if

deviation

a

to

store

any

a

program.

number

Input

timeasthe

data,

stored

or

num

Ca~

3)

Press

the

RECORD

P

The

4.9

The

SF3

PATTERN

Line

command

Tracker

is

SEARCH

is

provided

designated1through

motion

robot

and

each

operations

and

search

in

a

position

pattern

sequential

INPUT

.

key,

complete

for

5,

calculation isacombination

and

FUNCTION

with

locating

order.

P100

the

and

display

P100

SF3

the

sequence

(SF2)

5

preprogrammed

the

seam

for

the

weld

of

several

will

of

several

joint

S030

NO.03

appear

S031

enteredinthe

is

search

is

performed

MACRO

patterns

different

shown:

as

weld

by

commands

M4

program.

in

system

joint

MACRO

that

memory,

types.

Each

commands,

do

specific

IMPORTANT:

piece

cal

that

Sales

Custom

prevent

using

Department

search

any

for

patterns

of

the5standard

more

in

available

are

search

formation).

4.23

when

conditions

patterns

(contact

existonthe

the

factory

work

Techni

4.9.1

Teaching

Pattern

Search

Function

(SF2)

For

Pattern

Number

1

Pattern

fillet

weld

IMPORTANT:

command

The

pattern

and

P4),

appears

PoInt

P2

Point

P3

number

when

Before

to

determine

number

determines

shown

as

Gun/Torch

1

is

designed

fillet

legs

1

search

the

in

Figure

Welding

to

of

joint

entering

wire

sequence

extension

uses

intersection

4.15.

locate

not

are

four

P5

the

seam

900.

at

data

(stick-out)

searching

for

lines

for

search

at

moves

P1

P4

a

the

and

~

-

Tee

-

joint

pattern

contact

find

to

P2P3.

Indicates

welding

direction

searching

command detects

sensing

-~

Indicates

welding

position

MACRO

that

number

tube

four

The

requires

1,

(see

points

(P1,

searching

straight

gun/torch

assigned

motion until

welding

workpiece

voltage.

straight

gun/torch

movement

by

command.

horizontal

a

enter

Section

P2,

operation

movement

in

the

by

in

MACRO

touch

by

movement

to

assigned

data

the

SF0

4.13).

and

P3,

wire

In

of

The

MACRO

1)

2)

3)

Figure

commands

SOlOOl

M0011000

S01102

Point

P4

4.15

for

Searching

pattern

number

Searching

direction

find

searching

Welding original

gun/torch

approach

Searching

of

the

first

Point

P1

Operation

for

the

perpendicular

Point

for

the

MACRO

For

1

search

workpiece

to

P1.

movement

Point

P0.

workpiece

command

IMPORTANT:

gun/torch

weld

seam

the

paper

Pattern

function

begins

the

welding

to

return

is

done

to

Arrows

path

direction

the

to

Number

are

as

at

approach

gun/torch

in

the

find

searching

of

movement

is

surface

1

follows:

of

tip

welding

opposite

indicate

from

the

of

the

Point

position

Point

welding

when

the

back

of

paper.

S-0596

in

P0

a

to

wire

to

direction

P2.

4)

M2114000

Welding

1/4

only

gun/torch

of

the

distance

4.24

movement

between

returns

P1

tip

and

of

welding

P2.

wire

to

5)

S00003

Searching

gun/torch

ing

for

the

position

workpiece

find

to

in

direction

a

searching

parallel

Point

P3.

to

the

weld

a

SOl

6)

Li

7)

R5

8)

M431

9)

M551

10)

E

11)

WARNING:

cause

can



Turn

metal

024

5

off

2020

1020

ELECTRIC

injury.

robot

parts

controller

in

contact

Searching

first

the

Calculates

Calculation

of

Welding

the

Welding

Point

End

SHOCK

with

MACRO

welding

gun/torch

center

gun/torch

P5.

MACRO

FROM

BEFORE

the

welding

for

the

workpiece

command

intersection

to

correct

wireatPoint

of

line

command.

wire

movement

P3P4.

movement

INTERMITTENT

touching

wire.

Point

extension

P5.

the

welding

done

is

find

to

P5

for

to

return

to

position

in

the

searching

P1

lines

length

tip

ROBOT

drive

wire,

same

of

SENSING

direction

Point

P4

and

for

positioning

welding

of

welding

rolls,

P4.

P2P3.

wire

VOLTAGE

gun,

as

tip

to

at

or

any

review

To

press

display.

the commands

FORW.

To follows:

IMPORTANT: touch

be

The

gram

the

Press

robot

key

teach

sensing

set

to

following

relates

seam

MACRO

the

SENSOR

the

will

perform

pressing

by

for

each

pattern

Before

function

YES

(1)toprovide

example

the conditions

to

for

Tee

a

key

RECORD

the

command

search

joint

commands when

the

key,

the

designated

and

holding

to

function

beginning

the

data,

for

entering

that

TOUCH

the

touch

shown

requires

during

SF2

command

first

operation.

the

End

the

(SF2)

any

sequence

teaching

sensing

pattern

in

Figure

horizontal

a

block

MACRO

TEACH

(E).

VOLT

search

operation

appears

command

Continue

ENABLE

for

data

operations

selection

voltage

4.15

(see

function

when

weld.

fillet

after

teaching

the

will

appear

and

key

a

program

15)

Section

(SF2)

current

operation

number

in

sequence

as

block

pattern

for

(item

searching

program

sequence

the

on

of

pressing

1,

that

System

4.10).

is

performed

on

display,

the

MACRO

the

BLOCK

proceed

will

contain

7

Data

in

data

to

data,

the

and

as

must

a

pro

locate

4.25

IMPORTANT:

workpiece

position

regard

torch

angle

just

that

to

angletosearching

should

before

Teach

1)

function

Conductivity

surface

is

searching

be

a

following

and

perpendicular

direction

in

a

perpendicular

the

wire

(SF2)

should

the

electrode

to

during

direction

SF2

command.

extension

sequence

provide

wire.

the

searching

the

for

a

position

search

data

good

The

workpiece

direction.

SF0

operation

following

the

to

function

Section

(see

metal-to-metal

surface

The

should

SF1

operation.

reference

(SF0)

point

before

4.6).

continuity

should

welding

be

the

The

during

entering

between

be

located

gun/torch

same

angle

welding

SF0

the

pattern

the

in

a

with

gun!

gun/torch

operation

search

2)

3)

4)

Teach

Position

approach

welding

formed

joint

using

Press

Press time

P

the

SF0

the

Point

Continuous

(P),

gun/torch

lines

by

will

data

appear

P

(SENSOR)

WIRE

forward

is

key

pressed

P0

that

so

P1P4

key,

DISPLAY

at

Motion

the

and

shown:

as

and

SELECT

shown:

as

location

a

(0),

angle

P2P3

P100

P

the

P100

EXT.

where

or

Linear(L)

is

approximately

as

searching

movement

shown

S045

display

will

appear

S045

key

twice,

and

equal

in

Figure

Cal.

the

motion

data,

to

the

4.15.

shown:

as

display

sides

A

M4

60

M4

will

wifi

begin

and

position

of

typical

change

using

the

weld

display

each

5)

Press

SF

the

1

2

RECORD

D

1

I

e

P

PATTERN

A

key,

T T

R

and

P

.

P

R

E

the

P100

1

00

SEARCH

00

N

display

4.26

SEAR

will

S04

appear

S045

5

CH

shown:

as

NO.01

M4

To

change

selection

number

the

INC.

the

or

press

appears

DEC.

or

pattern

the the

(if

key,

number,

Increase

QUICK

INCREASE-DECREASE

changing

press

(INC.)

of

the

appropriate

Decrease

or

data

is

performed

numerical

(DEC.)

key

rapidly).

keys

until

key

is

pressed

to

the

at

enter

desired

the

same

the

desired

pattern

time

as

When

6) pattern

key,

IMPORTANT:

however,

data;

CPU

memory.

Cal.

The

the

Cal.

the

Press

set

change

Normally,

for

storing

number,

call

to

and

deviation

the

and

Ca

The

if

OUTPUT

numerical

OUTPUT

Cal.

storing

deviation

see

desired

number

the

I

SF2

the

Cal.

selection

1

OUTPUT

deviation

data

the

informationatthe

data

pattern

1

should

display

OUTPUT

.

command

OUTPUT

to

key

NO

to

setting.

data

is

stored

number

be

will

appear

pro

selection

be

must

Cal.

the

set

or

(N),

necessary,

during

is

press

not

an

selection

the

selected

shown:

as

P100

Y

vides

set

the

is

to

numerical

OUTPUT

the

capability

set

to

Increase

necessaryfor

follow

endofthese

SF2

the

instructions

pattern

appears

pattern

number),

S045

store

to

deviation

(0),

YES

(Y),

N:

:

NO

YES

1

1,

(INC.)

SF2

an

instructions

search

command;

operation.

the

on

(Y)

press

or

for

display

press

M4

0

touch

Decrease

to

data

store

the

sensing

numericalO

however,

setting

the

sequences

this

(in

the

RECORD

0

is

not

deviation

(DEC.)

if

Cal.

a

case,

deviation

stored

the

OUTPUT

data.

key

need

in

to to

required

Press

7)

IMPORTANT:

tion

Output

last

data

entered

Cal.

If

the

selection Calibration desired

pressed

Calibration

at

ly).

Cal

number

OUTPUT

in

Step

Output

the

There

6

same

forward

.OUTPUT

are

selected

is

will

be

selection

YES

was

number

Output

timeasthe

DISPLAY

Calibration

100

that

present

in

(1),

or

press

number

in

Step

press

appears

INC.

SELECT

P100

Output

had

previously

Calibration

that

6

was

the

appropriate

the

Increase

DEC.

or

NO

(if

4.27

key,

number

(0),

the

key,

and

the

S045

selections

used

been

Output

proceed

numerical

(INC.)

QUICK

or

INCREASE-DECREASE

changing

display

NO.00

to

store

number.

to

Step

keys

Decrease

of

the

data

will

appear

M4

to

(0

deviation

If

8.

to

(DEC.)

is

the select

shown:

as

If

Calibra

99).

a

data,

Cal.

OUTPUT

the

desired

until

key

performed

the

is

key

rapid

8)

Press

the

forward

DISPLAY

SELECT

key,

and

the

display

will

appear

as

shown:

REVERSE

The

movement

reversing

to

9)

the

set

missing

key

Press

prevent

Press

key

(DEC.)

REVERSE

selection

the

for

the

path

the

numerical

REVERSE

the

to

change

the

SEARCH

provides

search

of

function

welding

workpiece

1

to

key

selection

the

REVERSE

forward

the

pattern.

gun/torch

for

certain

the

set

DISPLAY

PlO

capability

Most

movement,

weld

REVERSE

NO

to

(N),

setting.

SELECT

P1

SPEED

o

Y

:1

to

search

joint

selection

or

press

key,

00

so

N

reverse

the

pattern

to

the

for

YES

display

except

conditions.

and

S045

4

5

0 0

:

path

operations

search

(Y),

press

Increase

will

20

i/rn

M4

of

welding

pattern

the

(INC.)

appear

M4

gun/torch

do

not

number

numerical

Decrease

or

as

require

3

to

0

shown:

SEARCH

The

piece

ipm

SEARCH

same

The

locations

ipm keys

(DEC.)

CREASE

using

(2.5

time

Press

10)

MOVING

to

(10

select

to

key

cm/mm.)

for

performed

SPEED

touch

SPEED

as

sensing.

increments.

or

appears

INC.

the

SEARCH

forward

the

MOVING

SPEED

positioning

600

cm/mm.)

the

desired

the

until

is

key

pressed

rapidly).

applies

press

DEC.

or

DISPLAY

applies

the

in

1

desired

the

at

to

The

Press

the

(if

to

of

tip

ipm

MOVING

same

robot

search

the

Increase

QUICK

key,

changing

SPEED

SELECT

SPEED

robot

the

welding

cm/mm.)

(2.5

SPEED

timeasthe

moves

speed

during

range

appropriate

(INC.)

P100

or

INCREASE-DECREASE

of

the

key,

P100

moves

SPEED

during

wire.

The

increments.

or

press

appears

INC.

the

pattern

is

to

0

numerical

Decrease

data

S045

and

the

S045

the

pattern

MOVING

the

DEC.

or

search

39

ipm

keys

(DEC.)

is

performed

16

display

234

Press

Increase

the

(if

the

key,

locate

to

100

to

(0

select

to

until

key

is

key

rapidly).

M4

i/rn

will

appear

M4

i

/rn

search SPEED

to

range

appropriate

(INC.)

QUICK

INCREASE-DE

changing

the

work-

in

at

1

the

cm/mm.)

the

pressed

as

desired desired

shown:

predetermined

4

is

numerical

or

of

the

234

to

Decrease

data

is

4.28

P100

S045

M4

11)

12)

To

do

a

function

linear

movement

tance),

Section

MOVING

Press

the

Manually

P5

Point

this

location

Press

the

SF2

position

data

(T,

then

and

4.8.4).

RECORD

P

position

(see

Figure

into

RECORD

correction

F,

N,

etc.)

data

sequence

enter

the

key,

the

welding

4.15)

the

program,

key,

using

sequence

SF3

SPEED

and

SF2

using

and

the

after

command

the

display

P100

gun/torch

the

Axis

enter

and

the

display

P1

0

P

deviation

after

the

function

the

using

will

appear

S046

that

so

keys.

0

data

movement

the

Enter

the

desired

will

appear

S

stored

data

(approximately

appropriate

1951/rn

as

the

0

data

tip

movement

automatic

as

4 7

in

the

(P,

Cat.

of

shown:

the

shown:

.M

SF2

Q,

INPUT

M4

welding

data

(P,

moving

4

6

0

command,

L),

in.

enter

number

or

0.25

0,

(6

wire

or

speed.

enter

a

mm)

is

at at

L)

short

dis..

(see

a

SF2

The

in

tered

4.9.2

Pattern

the the

be

deviates

IMPORTANT:

command

The

determines appears

tal

the

Teaching

number

welding

conditions

used

pattern

direction.

command

program.

Pattern

2

is

gun/torch

the

at

reduce

to

vertically

to

number

the

shown

as

cycle

or

Before

determine

intersection

in

f~r

search

Search

designed

angle

weld

time

to

at

exactly

remain

joint

for

pattern

horizontally

entering

wire

2

search

Figure

sequence

extension

uses

Point

4.16

which

number

Function

locate

45,

constant

the

searching

rather

two

searching

P4

for

is

1

is

the

as

For

for

seam

stated

the

(SF2)

seam

and

operation

than

using

for

P1

search

at

moves

P4

data

(stick-out)

lines

two-direction

a

complete

Pattern

Tee

a

joint

requires

previously,

when

pattern

number

pattern

the

contact

find

to

and

P3P4.

searchinthe

and

Number

formed

the

number tube

two

The

the

sequences

2

at

horizontal

a

pattern

entire

1.

(see

points

searching

vertical

exactly

90

fillet

number

workpiece

the

enter

2,

Section

and

(P1

P3),

operation

and

horizon

are

with

weld.

2

only

SF0

4.6).

en

If

can

and

4.29

Point

P3

Welding

Gun/Torch.

indicates

welding

direction

searching

command

detects

sensing

-

-~

indicates

welding

position

MACRO

straight

gun/torch

assigned

motion

until

workplece

voltage.

straight

gun/torch

by

command.

welding

movement

in

the

by

in

MACRO

touch

by

movement

to

assigned

data

of

wire

of

in

Point

P4

The

MACRO

1)

2)

3)

S02001

MOOll

S02103

Figure

commands

002

Point

P1

4.16

for

Searching

pattern

number

Searching

direction

vertical

Welding

original

down

gun/torch

approach

Searching

direction

horizontal

Operation

2

search

the

for

45

for

45

motion,

workpiece

to

the

motion,

the

workpiece

the

to

For

welding

to

movement

which

point

welding

find

to

IMPORTANT:

gun/torch

weld

seam

the

paper

Pattern

function

begins

gun/torch

find

searching

to

return

becomes

done

is

gun/torch

searching

Arrows

of

path

to

Number

are

movement

directionisfrom

the

surfaceofthe

2

follows:

as

at

approach

position,

Point

of

tip

P2.

from

Point

position,

Point

P3.

indicate

welding

when

the

back

paper.

Point

using

P1.

welding

P2

in

using

P0

a

wire

a

the

of

S.0597

in

a

to

4)

5)

6)

7)

8)

L04

R4

M311

M4411

E

2020

020

Calculation

P1

determine

Calculation of

welding

Welding

the

Welding

Point

End

horizontal

plus

gun/torch

center

gun/torch

P4.

MACRO

for

vertical

locationofPoint

to

correct

wireatPoint

line

of

command.

4.30

down

distance

wire

P4.

movement

P3P1.

movement

distance

from

P4.

extension

to

position

to

position

Point

length

from

P2

tip

Point

to

for

of

P0

Point

P3

positioning

welding

to

wire

Point

to

tip

at

a

To

press

display.

the

commands

FORW.

WARNING:

can

cause



Turn

metal

review

the

Press

robot

key

off

parts

the

SENSOR

the

will

perform

by

for

ELECTRIC

injury.

robot

MACRO

controller

in

contact

key

RECORD

the

pressing

command

each

SHOCK

BEFORE

with

commands

when

the

key,

SF2

the

designated

and

holding

to

FROM

touching

the

welding

during

command

first

MACRO

operation.

the

TEACH

the

End

INTERMITTENT

the

wire.

block

operation

appears command

Continue

ENABLE

(E).

ROBOT

welding

after

the

as

will

appear

block

key

SENSING

drive

wire,

teaching

current

sequence

on

operation

and

pressing

rolls,

program

the

display,

of

the

VOLTAGE

gun,

data,

on

and

MACRO

BLOCK

or

the

any

To

teach

follows:

IMPORTANT:

touch

be

The

gram

the

45,

IMPORTANT:

sensing

to

set

following

relatestothe

seam

and

workpiece

position

regard

torch

angle

just

that

to

angletosearching

should

before

pattern

YES

search

Before

function

to

(1)

example

conditions

for

Tee

a

the

seam

Conductivity

surface

is

and

perpendicular

searching

in

be

a

following

function

beginning

TOUCH

the

data,

touch

for

entering

formed

a

should

the

electrode

direction

the

shown

at

horizontal

the

to

during

provide

joint

requires

direction

perpendicular

SF2

command.

(SF2)

any

sequence

teaching

VOLT

sensing

pattern

in

Figure

exactly

fillet

provide

wire.

searching

SF0

the

for

a

following

position

operations

selection

voltage

search

4.16 with

900

weld.

good

The

workpiece

direction.

operation

reference

the

to

data

for

pattern

for

a

(item

Section

(see

function

when

the

metal-to-metal

SF1

(SF2)

searchingisperformed

welding

surface

The

welding

should

operation.

point

number

program

in

15)

System

4.10).

sequence

gun/torch

continuity

should

gun/torch

the

be

same

The

during

welding

the

2,

proceed

will

that

Data

data

angle

between

be

located

welding

SF0

as

contain

7

must

in

a

pro

to

locate

at

exactly

the

in

a

angle

with

gun!

gun/torch

operation

1)

2)

Teach function

Teach

Position

the

approach

welding

Figure

4.16.

wire

extension

(SF2)

(P),

sequence

Point

Continuous

gun/torch

A

typical

P

P0

angle

display

search

data

at

a

Motion

at

exactly

function

(see

location

(Q),

45

using

P100

P

4.31

(SF0)

Section

where

Linear

or

to

P

data

before

4.6).

searching

(L)

the

sides

will

S045

movement

of

appear

entering

the

motion

data,

the

weld

shown:

as

M4

60

pattern

will

and

as

joint

search

begin

position

using

the

shown

in

3)

Press

the

(SENSOR)

key,

and

the

display

will

appear

as

shown:

4)

5)

Press

time

Press

SF0

forward

the

keyispressed

the

1

2

RECORD

SF

WIRE

DISPLAY

1

D

P

A

key,

as

I

SELECT

shown:

R

T

and

P100

EXT.

P1

.

P1

ER

the

display

twice,

key

00

SEARCH

00

N

will

S045

and

S045

SEARCH

appear

Cal.

the

display

shown:

as

M4

will

change

each

To

change

selection

number

the

IMPORTANT:

data;

Cpu

appears

INC.

When

6)

however,

memory.

the

pattern

or

press

DEC.

or

the

pattern

and

key,

Cal

The

If

the

(if

key,

desired

number

the

SF2

Cal.

the

PATTERN

number,

Increase

QUICK

press

INCREASE-DECREASE

changing

pattern

2

should

display

.

will

OUTPUT

command

OUTPUTselection

P100

the

(INC.)

of

the

number

be

appear

data

the

P1

provides

appropriate

Decrease

or

is

performed

selection

selected

shown:

as

00

Y

the

capability

is

set

S045

numerical

(DEC.)

appears

pattern

S045

1

:

NO

to

NO.02

key

is

key

pressed

rapidly).

on

number),

N

store

to

deviation

(0),

keys

until

the

0 0

:

touch

M4

enter

to

the

desired

atthe

display

press

the

M4

sensing

is

data

the

same

this

(in

RECORD

deviation

not

desired

pattern

time

case,

stored

as

in

The

Cal.

Press

the

set

change

OUTPUT

the

numerical

Cal.

the

OUTPUT

Cal.

selection

1

OUTPUT

key

to

NO

must

set

(N),

the

or

to

setting.

be

Cal.

press

set

numerical

to

OUTPUT

the

4.32

YES

to

Increase

YES

1,

(Y),

(INC.)

(Y)

press

Decrease

or

to

store

the

deviation

numericalO

(DEC.)

data.

key

to

Normally,

for

storing

number,

call

to

and

deviation

see

deviation

the

data

storing

deviation

data

is

data information

stored

necessary,

during

is

not

at

necessary

the

end

SF2

an

follow

of

pattern

for

the

instructions

these

SF2

an

instructions

search

command;

operation.

for

setting

for

the

however,

Cal.

a

sequences

if

the

need

OUTPUT

required

Press

7)

IMPORTANT:

tion

Output

last

If

the

selection

Calibration desired

pressed

entered

data

Cal.

in

Calibration

at

ly).

Press

8)

Cal

number

OUTPUT

Step

Output

the

same

the

There

will

6

the

was

forward

.OUTPUT

100

are

is

selected

be

present

selection

YES

number

Output

timeasthe

forward

DISPLAY

Calibration

that

in

Step

(1),

press

or

press

number

INC.

DISPLAY

SELECT

P

100

Output

had

previously

that

Calibration

6

was

the

appropriate

the

Increase

appears

DEC.

or

SELECT

NO

(if

key,

number

(0),

the

key,

the

and

S04

selections

been

used

Output

proceed

numerical

(INC.)

QUICK

or

INCREASE-DECREASE

changing

and

the

display

5

NO.00

to

store

number.

to

Step

keys

Decrease

the

of

data

display

will

appear

M4

to

(0

deviation

If

the

8.

select

to

(DEC.)

is

will

appear

shown:

as

If

Calibra

99).

a

data,

Cal.

OUTPUT

the

desired

until

key

performed

shown:

as

the

is

key

rapid

REVERSE

The

movement

reversing

prevent

Press

key

(DEC.)

missing

the

to

set

keytochange

Press

9)

REVERSE

selection

for

the

path

the

numerical

the

REVERSE

the

SEARCH

provides

search

of

function

welding

workpiece

1

key

the

forward

P100

the

capability

pattern.

gun/torch

certain

for

set

to

selectiontoNO

REVERSE

DISPLAY

the

REVERSE

setting.

SELECT

P1

SPEED

Y:

Most

movement,

weld

joint

selectiontoYES

or

(N),

key,

00

S045

1

to

reverse

search

except

conditions.

press

and

S045

N:0

the

pattern

search

for

the

Increase

the

display

20

M4

0

of

path

welding

operations

pattern

(Y),

press

the

(INC.)

will

appear

M4

I

/m

gun/torch

do

not

number

numerical

Decrease

or

as

require

3

to

0

shown:

4.33

SEARCH

The

piece

(2.5

ipm

SEARCH SEARCH

same

using

cm/mm.)

SPEED SPEED

time

as

SPEED

touch

the

applies

sensing.

increments.

or

press

appears

INC.orDEC.

The

the

(if

robot

to

search

Press

Increase

the

QUICK

key,

moves

speed

the

during

range

appropriate

(INC.)

INCREASE-DECREASE

changing

of

Decrease

or

the

pattern

is

0

to

39

numerical

is

data

search

to

(0

ipm

to

keys

(DEC.)

key

performed

to

locate

100

select

until

is

the

cm/mm.)

the

pressed

rapidly).

work-

in

desired desired

at

the

1

Press

10)

MOVING

The

locations

to

(10

ipm

select

to

keys

(DEC.)

CREASE

key

performed

SEARCH

forward

the

MOVING

SPEED

for

positioning

600

cm/mm.)

the

until

is

key

pressed

rapidly).

applies

the

in

desired

at

DISPLAY

tip

1

1pm

MOVING

the

robot

to

of

the

(2.5

MOVING

same

P100

SPEED

SELECT

P100

SPEED

moves

welding

cm/mm.)

SPEED

time

as

and

key,

during

wire.

increments.

or

the

The

press

appears

INC.orDEC.

S045

the

S045

2341/rn

pattern

MOVING

Press

the

(if

16

display

search

SPEED

the

Increase

the

QUICK

key,

changing

M4

i

/m

will

appear

as

M4

to

predetermined

range

appropriate

(INC.)

INCREASE-DE

is

numerical

Decrease

or

of

the

shown:

4

to

data

234

is

Press

11)

Manually

12)

Point

this

Press

MOVING

RECORD

the

P

position

P4

(see

location

RECORD

the

SF2

the

Figure

the

into

and

key,

welding

4.16)

using

program,

and

key,

P100

SPEED

the

P100

SF2

gun/torch

the

and

the

P100

P

display

so

Axis

keys.

enter

display

will

the

will

S045

appear

S046

that

Enter

desired

appear

S047

195

the

shown:

as

of

tip

movement

automatic

shown:

as

i

the

M4

/rn

M4

60

welding

data

(P,

moving

wire

or

Q,

speed.

is

L)

at at

4.34

To

do

a

function

linear

movement

tance),

Section

position

data

(T,

then

and

4.8.4).

correction

N,

F,

etc.)

data

sequence

enter

the

-

using

sequence

after

SF3

command

the

deviation

after

the

function

the

using

stored

data

movement

data

(approximately

the

appropriate

in

data

SF2

the

Q,

(P,

Cal.INPUT

command,

L),

in.

enter

number

or

0.25

(6

enter

a

mm)

a

short

dis

(see

The

SF2

command

teredinthe

4.9.3

Teaching

Pattern

the

seam

pates

at

the

ber

number

welding

requires

that

the

weld

entire

1or2.

IMPORTANT:

command

The

pattern

determines

appears

tal

as

direction.

program.

Pattern

is

3

gun/torch

horizontal

a

have

joint

thickness

a

remain

workpiece

Before

determine

to

number

intersection

the

shown

in

for

search

Search

designed

pattern

Function

to

locate

angleatexactly

fillet

weld

of

as

sequence

extension

uses

Point

which

constant

deviates

only

entering

wire

search

3

Figure

range

4.17

number

the

45,

to

or

approximately

stated

verticallyorhorizontally

data

(stick-out)

two

searching

P4

for

lines

is

a

2

is

complete

Pattern

(SF2)

seam

the

locate

For

for

vertical

the

a

sideofthe

seam

1/Bin.

search

at

moves

P4

pattern

the

and

previously,

for

P1

two-direction

Tee

(3

pattern

contact

to

find

P3P4.

search

joint

for

mm)

rather

and

Number

formed

weld

a

lap

or

number

than

number

tube

two

The

in

the

sequences

3

at

joint

larger.

3

can

using

(see

points

searching

the

vertical

exactly

is

short,

formed

If

the

conditions

be

used

pattern

enter

3,

Section

and

(P1

operation

and

are

90

with

and

metal

by

when

num

the

SF0

4.6).

and

P3),

horizon

en

the

Point

P3

Point

P4

Welding

Figure

Welding

Gun/Torch

Wire

4.17

Searching

Point

P1

Point

P0

Operation

For

Indicates

welding

direction

searching

command

detects

sensing

-

-~

Indicates

welding

position

MACRO

IMPORTANT:

gun/torch

weld

seam

the

paper

vertical

The

Point

to

7

(Item

Pattern

straight

gun/torch

assigned

motioninMACRO

until

workpiece

voltage.

straight

gun/torch

movement

by

command.

Arrows

of

path

to

P2

17)

movement

directionisfrom

the

surfaceofthe

distance

up

be

must

SF2

for

Number

movement

In

welding

movement

to

indicate

from

in

set

Data

3

the

by

wire

touch

by

assigned

data

welding

when

the

Point

System

No.

1.

back

paper.

Data

S-0570

of

In

the

of

P1

4.35

The

MACRO

commands

for

pattern

number

search

3

function

are

follows:

as

1)

2)

3)

4)

5)

S02001

Ml

001102

S021

L04

R4

03

Searchingfortheworkpiecebeginsatapproach

45

direction vertical

Welding

PointP2which

verticalupdirection.

Searching

direction

horizontal

Calculation

P1

plus

determine

Calculation

of

welding

to

the

down

motion,

is

located

the

workpiece

the

to

vertical

correct

at

Point

movement

to

distance

gun/torch

for

45

motion,

for

horizontal

locationofPoint

to

wire

welding

to

find

at

welding

find

searching

down

wire

extension

P4.

gun/torch

searching

to

position

a

predetermined

is

done

gun/torch

distance

from

P4.

position,

from

position,

Point

from

Point

tip

P2

length

Point

using

P1.

of

welding

distance

Point

P2

using

P3.

Point

P2

to

Point

for

positioning

in

to

P3

P0

a

wire

in

a

Point

to

ma

at

the

tip

a

To

press

display.

the commands

FORW.

M311

6)

M441

7)

E

8)

WARNING:

can



Turn

metal

review

the

Press

robot

key

cause

off

the

SENSOR

will

by

for

2020

1020

ELECTRIC

injury.

robot

parts

in

MACRO

key

the

RECORD

perform

pressing

each

controller

contact

commands

when

key,

the

designated

and

command

Welding

the

center

Welding

Point

End

SHOCK

BEFORE

with

P4.

MACRO

the

during

the

SF2

first

the

holding

the

to

gun/torch

of

line

P3P1.

gun/torch

command.

FROM

INTERMITTENT

touching

welding

command

MACRO

wire.

block

operation.

TEACH

the

End

(E).

movement

movementto

the

welding

operation

appears

command

Continue

ENABLE

to

position

ROBOT

after

the

as

will

appear

block

and

key

of

tip

of

tip

SENSING

drive

wire,

teaching

current

sequence

the

on

operation

pressing

welding

rolls,

gun,

program

display,

of

the

MACRO

the

BLOCK

wire

at

wire

at

VOLTAGE

or

data,

the

on

and

any

To

teach

follows:

IMPORTANT:

touch be

sensing

set

to

pattern

function

YES

(1)

search

Before

to

provide

function

beginning

TOUCH

the

data,

the

touch

(SF2)

any

sensing

sequence

teaching

VOLT

voltage

4.36

data

for

operations

selection

(see

(item

Section

pattern

for

a

program

15)

4.10).

number

in

System

3,

that

Also,

proceed

will

contain

Data

7

the

distance

as

must

of

vertical

establishing

function.

wire

from

searching

in

the

vertical

movement

up

the

not

Do

touching

movement,

from

approximate

the

value

surface

the

or

set

direction.

up

Point

P1

to

Point

locationofPoint

in

line

System

the

at

formed

Data

line

by

P2

P3

7

formed

Points

must

during

(item

by

P2

and

be

set

in

searching

small

too

17)

P3

P1

when

Points

System

using

to

and

the

7

Data

the

touch

prevent

P4

during

workpiece

(item

17)

sensing

the

welding

horizontal

deviates

for

The

following

gram

the

45,

or

seam

the

to

relates

locate

to

for

a

vertical

the

approximately

IMPORTANT:

workpiece

position

regard

torch

angle

before

just

1)

surface

that

to

searching

angle

should

a

Teach

function

is

to

be

following

example

the

Tee

side

seam

1/8

for

entering

conditions

formed

joint

of

the

weld

for

a

lap

in.

(3

mm)

Conductivity

the

and

electrode

perpendicular

direction

searching

in

a

the

wire

(SF2)

direction

perpendicular

SF2

extension

sequence

shown

at

joint

or

larger.

should

to

the

during

position

command.

search

data

pattern

in

exactly

is

formed

search

Figure

900

short,

by

provide

wire.

The

searching

the

SF0

for

a

following

to

function

(see

function

4.17

when

with

the

and

the

seam

metal

good

plates

metal-to-metal

workpiece

direction.

operation

SF1

the

reference

(SF0)

Section

4.6).

(SF2)

sequence

searching

welding

gun/torch

requires

have

that

surface

The

welding

should

be

operation.

point

before

during

entering

data

is

performed

angle

horizontal

a

thickness

a

continuity

should

between

be

gun/torch

the

same

The

welding

the

SF0

the

pattern

in

a

pro

to

locate

at

exactly

fillet

weld

range

located

angle

gun/

gun/torch

operation

search

of

the

in

with

a

2)

3)

Teach Position

approach

welding

Figure

Press

4.17.

the

SF0

Point

Continuous

(P),

gun/torch

A

typical

P

(SENSOR)

WIRE

P0

angle

display

key,

at

a

Motion

at

exactly

and

location

(Q),

450

using

P100

P

the

display

P1

EXT.

4.37

or

P

00

data

where

Linear

the

to

will

searching

movement

(L)

sides

will

appear

S045

appear

S045

Ca

of

the

as

I.

motion

data,

weld

shown:

M4

60

shown:

M4

will

and

as

joint

begin

using

position

shown

the

in

4)

Press

time

the

forward

is

key

DISPLAY

pressed

as

SELECT

shown:

key

twice,

and

the

display

will

change

each

5)

To

change

selection number

INC.

the

SF

Press

the

or

press

appears

DEC.

or

1 1

2

RECORD

the

pattern

the

(if

key,

D

+

P

A

key,

PATTERN

number,

Increase

QUICK

changing

INCREASE-DECREASE

I

R

T

and

press

(INC.)

of

the

P

1

00

.

P

E

the

SEARCH

1

00

R

N

display

P100

the

appropriate

Decrease

or

data

is

S04

SEAR

will

appear

S045

numerical

(DEC.)

key

performed

5

CH

shown:

as

NO.03

keys

until

key

is

pressed

rapidly).

M4

to

the

at

enter

desired

the

same

the

desired

pattern

time

as

When

6)

pattern

key,

IMPORTANT:

however,

data;

CPU

memor,.

OUTPUT

Cal.

The

the

Cal.

the

Press

set

change

Normally,

for

storing

number,

call

to

and

deviation

the

number

and

Cal

The

if

the

numerical

OUTPUT

Cal.

OUTPUT

see

data

deviation

the

storing

deviation

desired

the

display

.

SF2

command

Cal.

selection

1

key

to

data

information

stored

pattern

3

should

will

OUTPUT

must

to

set

NO

(N),

setting.

data

is

necessary,

during

number

be

appear

pro

select/on

be

Cal.

the

or

press

not

the

at

an

selection

selected

the

shown:

as

P1

v/des

set

necessary

endofthese

SF2

the

is

numerical

to

OUTPUT

the

follow

pattern

00

Increase

the

appears

pattern

S045

Y

1

:

capability

set

(0),

NO

to

1,

YES

to

(INC.)

for

SF2

an

instructions

search

the

on

number),

N

:

to

YES

(Y),

touch

store

deviation

to

(Y)

press

Decrease

or

command;

for

setting

the

for

operation.

display

press

M4

0 0

sensing

data

store

the

numerical

however,

a

sequences

this

(in

RECORD

the

deviation

is

deviation

not

stored

0

(DEC.)

if

the

Cal.

OUTPUT

required

case,

data.

key

need

in

to

4.38

7)

Press

the

forward

DISPLAY

SELECT

key,

and

the

display

will

appear

as

shown:

IMPORTANT:

tion

Output

last

data

entered

If

Cal.

the

selection

Calibration

desired

pressed

in

Calibration

at

ly).

Press

8)

Cal

number

OUTPUT

Step Output

the

same

REVERSE

There

will

6

the

.OUTPUT

are

is

selected

be

present

selection

YES

was

number

Output

time

forward

100

Calibration

in

(1),

or

press

number

the

as

DISPLAY

P100

that

had

previously

in

that

Calibration

6

Step

press

INC.orDEC.

was

the

Increase

appears

SELECT

PlO

Output

number

been

Output

NO

proceed

(0),

appropriate

(INC.)

the

key,

Y

o

:1

QUICK

changing

and

(if

S045

NO.00

selections

to

used

number.

numerical

Decrease

or

INCREASE-DECREASE

the

so

N

store

to

Step

keys

the

of

data

display

4

5

0

:

M4

to

(0

deviation

If

the

8.

select

to

(DEC.)

is

will

appear

M4

If

Calibra

99).

a

data,

Cal.

OUTPUT

the

desired

until

key

performed

shown:

as

0

the

is

key rapid

REVERSE

The

movement

missing

the

set

key

Press

9)

SEARCH

using

(2.5

cm/mm.)

time

the

reversing

prevent

Press

to

key

(DEC.)

The

piece

ipm

SEARCH SEARCH

same

selection

for

the

path

the

numerical

REVERSE

the

to

change

the

SEARCH

SPEED

touch

SPEED SPEED

the

as

provides

search

of

function

welding

workpiece

1

to

key

the

forward

set

selectiontoNO

REVERSE

DISPLAY

applies

sensing.

increments.

or

press

appears

INC.orDEC.

The

the

(if

the

capability

pattern.

gun/torch

for

the

movement,

certain

REVERSE

setting.

SELECT

P

SPEED

robot

to

search

Press

Increase

the

key,

moves

speed

the

QUICK

changing

to

reverse

Most

search

except

joint

or

press

and

Decrease

or

the

conditions.

the

S04

the

0

is

numerical

data

weld

selection

(N),

key,

1

0 0

during

range

appropriate

(INC.)

INCREASE-DECREASE

of

the

pattern

for

search

YES

to

the

Increase

display

20

pattern

to

39

ipm

(DEC.)

is

performed

of

path

welding

operations

pattern

(Y),

press

the

(INC.)

will

appear

5

M4

i/rn

to

key

locate

to

100

select

until

is

search

(0

keys

rapidly).

gun/torch

do

not

number

numerical

Decrease

or

shown:

as

the

cm/mm.)

the

desired

the

desired

pressed

require

3

to

0

work-

in

1

the

at

SEARCH

P

SPEED

1

4.39

0

S04

5

6

1

M4

i

/m

10)

Press

the

forward

DISPLAY

SELECT

key,

and

the

display

will

appear

as

shown:

MOVING

The

(10

to

for

to

select

key

locations

ipm keys (DEC.)

CREASE

performed

Press

11)

MOV-I

SPEED

positioning

600

cm/mm.)

the

desired

until

the

is

pressed

rapidly).

MOVING

RECORD

the

NG

applies

the

tip

1

in

ipm

desired

at

the

to

of

(2.5

MOVING

same

key,

SP

robot

the

welding

cm/mm.)

SPEED

timeasthe

SPEED

and

P

moves

SPEED

P100

the

1

E E

o

0

D

during

wire.

increments.

or

press

appears INC.orDEC.

display

The

will

so

the

MOVING

the

S045

appear

4

2

3

pattern

Press

Increase

the

(if

key,

1951/rn

as

5

41

the

M4

/

search

SPEED

to

appropriate

(INC.)

QUICK

changing

M4

shown:

m

predetermined

range

INCREASE-DE

is

numerical

Decrease

or

of

the

4

to

data

234

is

12)

do

To

function

linear

a

movement

tance),

Section

Manually

P4

Point

this

location

Press

the

SF2

position

data

(T,

and

then

4.8.4).

P

position

(see

Figure

into

RECORD

correction

N,

F,

etc.)

data

sequence

enter

the

welding

4.17)

the

program,

key,

using

sequence

SF3

SF2

using

and

the

after

command

P100

gun/torch

Axis

the

and

enter

the

display

P100

P

deviation

after

the

function

the

using

S046

that

so

the

will

Enter

desired

appear

keys.

S047

data

stored

movement

data

(approximately

the

appropriate

the

in

data

of

tip

movement

automatic

shown:

as

the

SF2

(P,

Cal.

M4

the

M4

60

command,

or

Q,

0.25

INPUT

welding

data

(P,

moving

enter

L),

in.

(6

number

wire

or

Q,

speed.

enter

a

mm)

is

at

L)

short

dis

(see

a

The tered

SF2

in

command

the

program.

for

search

pattern

number

4.40

is

3

complete

and

the

sequences

are

en

4.9.4

Teaching

Pattern

Search

Function

(SF2)

For

Pattern

Number

4

Pattern

that

seam

stated

horizontally,

number

have

thickness

a

requires

previously,

oratan

3.

IMPORTANT:

determine

command

The

pattern

and

P3),

shown

at

an

Point

P0

_

to

number4search

determines

in

Figure

inclineordecline

A

Point

P5 P6

4

is

designed

horizontal

a

pattern

incline

Before

the

which

4.18

Point

Figure

to

range

of

fillet

number

decline

or

entering

wire

extension

uses

seam

determinesifthe

the

to

ﬁ

searching

Point

P1ﬁP2

-

P~int

4.18

Searching

locate

approximately

weld.

sequence

the

seam

14

If

the

conditionsatthe

4

can

to

be

used

the

searching

data

(stick-out)

four

searching

locationatPoint

workpiece

start

point.

Dummy

Point

P9

Point

-

-

Point

P3

Operation

for

ga.

when

search

at

moves

P4.

For

a

lap

to

7/16

the

start

the

to

The

deviates

- -

gun/torch

the

Pattern

pattern

contact

-~-

IMPORTANT:

weld

formed

joint

in.

mm

(2

weld

joint

workpiece

rather

point

number

tube

find

four

points

searching

vertically,

indicates

welding

direction

searching

command

detects

sensing

Indicates

welding

position

MACRO

path

directionisfrom

seam

the

to

paper

Number

thin

by

10

to

mm),

remain

deviates

than

using

enter

4,

Section

(see

(P5,

operation

horizontally,

straight

gun/torch

assigned

motion until

workpiece

voltage.

straight

gun/torch

by

command.

Arrows

of

surface

movement

weiding

movement

indicate

movement

4

metal

plates

and

constant

the

vertically,

pattern

the

SF0

4.6).

wire

touch

data

welding

when

back

paper.

and

of

in

the

of

S-0571

P6, P1,

appears

In

the

by

in

MACRO

by

to

assigned

the

of

the

as

or

The

MACRO

1)

2)

3)

commands

S00005

MOOll

M0914000

000

for

pattern

Searching

perpendicular

vertical

Welding

original

Welding

1/4

only

number

down

4

for

the

directiontothe

motion,

gun/torch

approach

gun/torch

of

the

distance

4.41

search

function

workpiece

find

to

movement

Point

P0.

movement

between

are

begins

at

workpiece

searching

to

return

to

position

line

follows:

as

approach

surface,

Point

tip

POP9.

of

tip

of

P5.

welding

Point

using

P0

wire

in

a

to

4)

S00006

Searching

the

workpiece

searching

for

Point

the

workpiece

surface,

P6.

using

in

a

perpendicular

vertical

a

down

direction

motion,

to

find

5)

6)

7)

8)

9)

10)

Si

5611

M5611

S00003

L04

R4

M311

002

2020

tip

down

from

P1

tip

the

weld

this

location

of

welding

Points

command.

direction

motion,

Point

P2

to

Point

for

positioning

of

welding

P2

to

joint

as

wire

P5

and

find

to

Point

to

wire

to

tip

at

in

horizontal

-

locate

Point

the

P1.

Welding

Searching

the

same

P6

that

Searching

the

workpiece

searching

Calculation

P3

plus

determine

Calculation

of

welding

Welding

the

center

a

of

edge

gun/torch

distance

was

performed

for

the

movement

as

the

workpiece

surface,

Point

horizontal

locationofPoint

gun/torch

for

to

wire

of

P3.

vertical

correct

Point

at

P1

line

distance

movement

seam

the

wire

P3.

direction

movement

in

Step

using

down

extension

P4.

and

in

distance

from

P4.

toward

designate

to

position

between

MACRO

3

a

perpendicular

vertical

a

Point

length

to

position

a

review

To

press

display.

the

commands

FORW.

Precautions

M4411

11)

E

12)

WARNING:

cause

can



Turn

metal

SENSOR

the

Press

robot

will

key

Use

1)

welding

the

020

off

parts

MACRO

the

perform

by

pressing

for

each

that

a

searching

accurate

ELECTRIC

injury.

robot

controller

in

contact

key

RECORD

the

command

should

wire

during

location

Welding

Point

End

SHOCK

BEFORE

with

commands

when

the

key,

the

designated

and

holding

to

observed

be

speed

slower

Step

Point

of

gun/torch

P4.

MACRO

FROM

the

welding

during

SF2

command

first

MACRO

operation.

the

End

the

during

than

MACRO

5

P1.

movement

command.

INTERMITTENT

touching

wire.

block

Continue

TEACH

(E).

teaching

12

ipm

command

to

the

welding

operation

are

(30

which

as

block

as

cm/mm.)

appears command

ENABLE

position

ROBOT

wire,

after

teaching

the

current

wilt

appear

operation

and

key

follows:

would

of

tip

SENSING

drive

sequence

on

pressing

to

prevent

result

welding

rolls,

program

the

of

the

wire

VOLTAGE

gun,

data,

on

display,

MACRO

BLOCK

the

bending

in

misdetecting

or

the

and

the

at

any

4.42

Useaslow

2)

speed

MACRO

10

welding

P0

errors,

MACRO

gun/torch

and

dummy

moving

especially

command.

command

speed

angle

Point

for

when

An

alternative

is

to

that

P9.

the

positioning

the

welding

to

prevent

begin

remains

the

search

the

MACRO

gun/torch

a

large

at

same

between

commands

angle

change

approach

teaching

to

changes

in

torch

Point

P0

prevent

in

Step

with

in

a

angle

approach

over-

10

Step

slight

Point

Teach

3)

movement

4)

Dummy point.

The

5)

regard

Points

6)

Points distance

workpiece points

the

When

7)

quence

stopped,

ditions,

start

the

Point

distance

Point

to

P0, P6,

P0

and

apart

must

weld

start

dummy

data.

at

be

Point

P9

must

be

between

P1

P1,

P9

to

the

weld

Points

the

as

and

P2,

too

are

prevent

start

repositioned

the

on

point

using

taught

center

P9

close

the

point;

searchingisinterrupted

operation

the

dummy

point.

welding

continues

Point

gun/torch

P9

is

Position

in

P0

and

between

all

are

together,

welding

likewise,

an

equal

seam.

the

by

from

may

used

(P),

line

with

and

P1,

Points

set

as

equal

both

wire

if

distance

fail

safe

approach

contact

as

positioning

Continuous

approach

Points

P0

lengths

points

from

Points

must

bending

P0

closer

function

point

the

workpiece.

movement

Motion

Point

P1

and

pg.

in

the

be

due

and

P9

together

(see

P0

or

Linear

or

(0),

P0

and

the

weld

P9

must

be

equal

search

operation.

repositioned

to

contact

to

are

Section

where

To

data

far

to

prevent

4.11),

robot

prevent

before

apart,

these

(L)

start

with

an

equal

with

the

both

missing

and

se

motion

con

the

weld

tf

The

8)

searching

movement

Step

gun/torch

distance

pendicular

lished,

tacting

ation.

piece

The

9)

the

termines

dummy

for

returns

2

MACRO

in

between

direction

searching

the

workpiece

Therefore,

surface

position

dummy

Point

the

point

the

command,

the

direction

the

to

determine

movement

proper

helps

weld

the

Points

continues

P9,

to

seam.

tip

of

to

the

surface

distance

data

so

teaching

direction

determine

During

of

the

welding

and

Step

dummy

P0

and

workpiece

in

the

to

determine

between

the

weld

after

just

of

this

initial

the

3

Point

from

P9

to

directionofPoint

PointsP5and

seam

the

dummy

searching

4.43

workpiece

searching

wiretothe

MACRO

P9.

This

which

find

Point

inclineordecline

any

position.

SF2

sequence

point

pattern.

and

position

operation,

original

command

position

welding

approach

will

move

direction

the

is

exactly

Point

searchingisperformed

Once

P6.

P9

with

Point

the

P6

welding

workpiece

P6

must

in

remain

is

always

the

appropriate

on

considered

location

of

gun/torch

in

P0

welding

the

1/4

in

a

per

is

estab

wire

con

devi

the

work

as

de

teach

To follows:

pattern

search

function

(SF2)

sequence

data

for

pattern

number

4,

proceed

as

IMPORTANT:

touch be

The gram

the

mately

sensing

set

to

following

relatestothe

seam

14

workpiece

point.

IMPORTANT:

workpiece

position

regard

torch

angle

just

that

to

angle

should

before

Before

function

YES

(1)

to

example

conditions

for

a

lap

joint

to

ga.

7/16

deviates

vertically,

Conductivity

surface

is

and

perpendicular

searching

to

searching

in

be

a

following

beginning

data,

provide

for

entering

formed

in.

mm

(2

the

shown

by

to

any

TOUCH

touch

thin

10

horizontally,

should

the

electrode

the

to

direction

perpendicular

SF2

during

direction

position

command.

teaching

VOLT

sensing

Figure

metal

the

wire.

search

plates

or

good

The

pattern

in

mm),

provide

searching

the

SF0

for

a

following

to

operations

selection

voltage

function

4.18

when

that

seam

at

requires

incline

an

metal-to-metal

workpiece

direction.

operation

SF1

the

reference

for

(item

(see

a

program

15)

Section

(SF2)

in

sequence

that

System

4.10).

searchingisperformed

have

thickness

a

horizontalfillet

a

decline

or

to

range

the

searching

continuity

surface

The

welding

should

operation.

point

should

be

the

The

during

be

gun/torch

same

welding

the

SF0

will

contain

Data

7

in

data

to

of

approxi

weld,

and

between

located

angle

welding

gun/torch

operation

must

a

pro

locate

the

start

the

in

a

with

gun/

1)

2)

3)

Teach

function

Teach Position

the

approach

welding

direction

Press

the

wire

extension

(SF2)

(P),

sequence

Point

Continuous

gun/torch

the

to

weld

P

(SENSOR)

either

joint.

key,

search

data

P0

Motion

at

function

(see

location

a

(Q),

Section

or

perpendicular

A

typical

display

P100

P

and

the

display

(SF0)

where

Linear

the

to

will

before

4.6).

searching

movement

(L)

workpiece

P

using

data

S045

appear

entering

the

motion

data,

orata

will

appear

M4

60

shown:

as

pattern

will

begin

and

slight

angle

as

search

using

in

shown:

the the

position

4.44

4)

Press

time

the

forward

is

key

DISPLAY

pressed

as

SELECT

shown:

key

twice,

and

the

display

will

change

each

5)

To

change

selection

number

INC.

the

SF1

SF2

Press

the

or

press

appears

DEC.

or

the

RECORD

pattern

the

(if

key,

D

1

e

P

A

key,

PATTERN

number,

Increase

QUICK

changing

INCREASE-DECREASE

I

R

T

I

and

press

(INC.)

of

the

P

100

.

P

E

the

SEARCH

1

00

R

N

display

P100

the

appropriate

Decrease

or

data

is

S04

SEAR

will

appear

S045

numerical

(DEC.)

key

performed

5

CH

shown:

as

NO.04

keys

until

key

is

pressed

rapidly).

M4

to

the

at

enter

desired

the

same

the

desired

pattern

time

as

When

6)

pattern

key,

IMPORTANT:

however,

data;

CPU

memory.

Cal.

The

Press

the

set

change

OUTPUT

the

Cal.

the

Normally,

for

storing

number,

call

to

and

deviation

the

number

and

Ca

The

if

the

numerical

OUTPUT

Cal.

OUTPUT

see

deviation

the

data

storing

deviation

desired

the

display

I

.

SF2

command

Cal.

selection

1

key

to

data

information

stored

pattern

4

should

will

OUTPUT

must

to

set

NO

(N),

setting.

data

is

necessary,

during

number

be

appear

the

P

selection

selected

as

100

provides

selection

set

to

OUTPUT

press

the

necessaryforan

follow

endofthese

SF2

an

the

at

be

Cal.

or

not

the

pattern

shown:

Y

the

capability

is

set

to

numerical

to

Increase

the

instructions

pattern

appears

S04

1

:

NO

1,

YES

(INC.)

SF2

search

on

number),

5

N

:

store

to

deviation

(0),

YES

(Y)

(Y),

press

or

command;

for

operation.

the

display

press

M4

0 0

touch

Decrease

to

the

sensing

data

store

numerical

however,

setting

the

sequences

(in

the

RECORD

is

not

deviation

(DEC.)

if

Cal.

a

this

case,

deviation

stored

data.

0

key

the

need

OUTPUT

required

in

to

4.45

7)

Press

the

forward

DISPLAY

SELECT

key,

and

the

display

will

appear

as

shown:

IMPORTANT:

tion

Output

last

If

the

selection

Calibration

desired

pressed

entered

data

Cal.

in

Calibration

at

ly).

Press

8)

Cal

number

OUTPUT

Step Output

the

same

REVERSE

There

will

6

the

.OUTPUT

are

is

selected

be

present

selection

YES

was

number

Output

time

forward

Calibration

100

in

(1),

or

press

number

the

as

DISPLAY

that

in

Step

press

INC.

P100

Output

had

previously

that

Calibration

6

was

the

appropriate

the

Increase

appears

DEC.

or

SELECT

P100

NO

(if

(0),

the

key,

Y

S045

NO.00

number

been

selections

used

Output

number.

proceedtoStep

numerica

Decrease

and

or

INCREASE-DECREASE

of

the

display

(INC.)

QUICK

changing

S045

:1

N

to

store

8.

keys

the

data

will

0 0

:

M4

(0to99).

deviation

If

the

Cal.

to

select

(DEC.)

is

performed

appear

M4

If

a

the

key

as

Calibra

data,

OUTPUT

desired

until

key

rapid

shown:

the

is

REVERSE

The

movement

reversing

prevent

Press

key

(DEC.)

The

piece

ipm

SEARCH

same

missing

the

to

set

keytochange

Press

9)

SEARCH

using

cm/mm.)

(2.5

time

selection

the

for

the

path

the

numerical

REVERSE

the

SEARCH

SPEED

touch

SPEED SPEED

the

as

provides

search

of

function

welding

workpiece

1

to

key

selection

REVERSE

the

forward

DISPLAY

applies

or

The

the

(if

DEC.

sensing.

increments.

or

press

appears

INC.

the

pattern.

gun/torch

for

certain

the

set

REVERSE

SPEED

robot

to

search

Press

Increase

the

QUICK

key,

to

SELECT

the

changing

capability

Most

to

search

movement,

weld

joint

selection

NO

(N),

or

setting.

key,

P

1

0

moves

speed

during

range

appropriate

(INC.)

or

INCREASE-DECREASE

of

the

reverse

pattern

except

conditions.

to

and

the

press

S04

the

pattern

to

isO

numerical

Decrease

data

the

path

operations

for

search

YES

(Y),

Increase

display

5

20

search

39

ipm

keys

(DEC.)

is

performed

of

welding

pattern

press

(INC.)

will

appear

the

gun/torch

do

not

number

numerical

Decrease

or

as

M4

Im

to

locate

to

100

select

until

cm/mm.)

the

(0

to

key

keyispressed

rapidly).

require

shown:

the

work-

desired

at

3

in

the

to

0

1

SEARCH

P

SPEED

1

4.46

0

S04

5

1

6

M4

i

/m

Miller LINE TRACKER TOUCH SENSOR Owners manual

Specifications and Main Features

Frequently Asked Questions

User Manual