当前位置:首页 >> 机械/仪表 >>

MOTOMAN 弧焊机器人 DX100梯形图


DX100

12 Standard Ladder Program 12.4 Arc Welding System Ladder Section (software version : DS1.55.00A( )-00 or later)

PLAY MODE(0.5sec DELAY):1

PLAY MODE PUL

SE(0.5sec):1

ARCOF PULSE:1

WIRE STICKING COND:1

GAS SHORTAGE:1

WIRE SHORTAGE:1

ARC SHORTAGE:1

ARC OCCURRENCE CHECK:1 WIRE STICKING DETECTION:1

REMOTE SELECT I/O PROHIBIT

CMD REMOTE MODE SELECT

PP/PANEL OPERATION PROHIBIT

SEQUENCE WAIT REQUEST

12-55

DX100

12 Standard Ladder Program 12.4 Arc Welding

WAITING UNTIL INTERFERENCE IS OFF

IN CUBE 1

IN CUBE 2

IN CUBE 3

IN CUBE 4

ALARM OCCURRENCE

START RECEIVING PREPARATION OK EXTERNAL START

CONTROL POWER ON COMPLETED (NORMALLTY ON)

SYSTEM RESERVED

SYSTEM RESERVED

OPERATION CONTINUING:1

MOTOR STOP MEMORY:1

MOTOR DIRECTION CHANGE PERMIT:1

MOTOR DIRECTION CHANGE PROHIBIT:1 MOTOR FORWARD ROTATION MEMORY:1

MOTOR REVERSE ROTATION MEMORY:1

12-56

DX100

12 Standard Ladder Program 12.4 Arc Welding

MOTOR FORWARD ROTATION PERMIT:1

MOTOR REVERSE ROTATION PERMIT:1

WIRE INCHING REQUEST:1

WIRE RETRACT REQUEST:1

WIRE INCHING:1

WIRE RETRACT:1

GAS CHECK:1

ARC SHORTAGE (DURING ARC ON):1

ARC ON INTERVAL:1

ARC ON CONTINUING PROHIBIT:1 AUTOMATIC WIRE STICKING RELEASING:1

AUTOMATIC WIRE STICKING REQUEST:1

WORK END RESPONSE:1

ARC OCCURRENCE CONDITION CYCLE1

12-57

DX100

12 Standard Ladder Program 12.4 Arc Welding

TSET START ARCON SELECT (MANAGEMENT MODE) TSET START ARCON SELECT (OPERATION&EDITING MODE) ARC OCCURRENCE CONDITION MODE:1

ARC OCCURRENCE CONDITION OK:1 WORK TIME MEASURE:1 WIRE STICKING CHECK COMPLETED AT ARC RESPONCE ERROR:1 ARC RESPONSE ERROR (FINAL):1

ARC OCCURRENCE:1

ARC OCCURRENCE(CONDITION)

RETRY PROCESSING:1

RETRY REQUEST:1

RETRY REQUEST MEMORY:1

RETRY TEST COMPLETED:1

RETRY RETURN REQUEST:1

WORK START RESPONSE:1

12-58

DX100

12 Standard Ladder Program 12.4 Arc Welding

ARC RETRY PROCESSING:1

ARC RESPONCE ERROR OUTPUT:1

ARC RESPONSE ERROR (SUB):1

ARC OCCURRENCE MEMORY:1

WIRE STICKING CHECK REQUEST:1

ARC MISSING:1

WIRE STICKING MOVE CHECK:1

WIRE STICKING MOVE CHECK MODE:1

WIRE STICKING MOVE CHECK PROHIBIT:1

AUTOMATIC WIRE STICKING RELEASE COUNT UP:1

WIRE STICKING DETECTION (AT OFF/ERROR):1

RETRY COUNT UP:1

GAS SHORTAGE ALARM MEMEMORY:1

GAS SHORTAGE ALARM:1

12-59

DX100

12 Standard Ladder Program 12.4 Arc Welding

WIRE SHORTAGE ALARM MEMEMORY:1

WIRE SHORTAGE ALARM:1

ARC ALARM MEMEMORY:1

ARC ALARM:1

SYSTEM ALARM REQUEST ASSISTANCE:1

STICKING ALARM REQUEST:1

SYSTEM SECTION ALARM CODE d0

SYSTEM SECTION ALARM CODE d1

SYSTEM SECTION ALARM CODE d2

SYSTEM SECTION ALARM REQUEST

RESTART MESSAGE INVALID:1

SYSTEM SECTION MESSAGE CODE d0

12-60

DX100

12 Standard Ladder Program 12.4 Arc Welding

SYSTEM SECTION MESSAGE CODE d1

SYSTEM SECTION MESSAGE CODE d2 SYSTEM SECTION MESSAGE REQUEST

BUZZER

WIRE STICKING (AT OFF):1

WIRE STICKING(MOVING CHACK):1

WIRE STICKING (AT ON):1 WIRE STICKING (AT ON/OFF):1

WIRE STICKING (FINAL):1

NO WIRE STICKING:1

NO WIRE STICKING (MOVING CHACK):1

WIRE STICKING(MOVING CHACK):1

12-61

DX100

12 Standard Ladder Program 12.4 Arc Welding

WIRE STICKING CHECK:1

WIRE STICKING CHECK COMPLETED:1

SEQUENCE WAIT R1

EXTERNAL HOLD

ARC RESTAT FAILED:1

ARC SHORTAGE ALARM CONDITION:1

ARC SHORTAGE ALARM CONDITION WAITING 2:1 ARC SHORTAGE ALARM CONDITION WAITING 1:1 RESTART REQUEST (ARC SHORTAGE)(12ms) RESTART REQUEST (ARC SHORTAGE)(8ms) RESTART REQUEST (ARC SHORTAGE)(4ms) GAS SHORTAGE MESSAGE CONDITION:1

12-62

DX100

12 Standard Ladder Program 12.4 Arc Welding

GAS SHORTAGE MESSAGE CONDITION WAITING 2:1 GAS SHORTAGE MESSAGE CONDITION WAITING 1:1 WIRE SHORTAGE MESSAGE CONDITION:1

WIRE SHORTAGE MESSAGE CONDITION WAITING 2:1 WIRE SHORTAGE MESSAGE CONDITION WAITING 1:1 GAS SHORTAGE ALARM CONDITION:1

WIRE SHORTAGE ALARM CONDITION:1

RESTARTING:1

ARC SHORTAGE RESTART REQUEST CONDITION:1

RESTART REQUEST (ARC SHORTAGE):1 RESTART REQUEST (GAS SHORTAGE):1

RESTART REQUEST (WIRE SHORTAGE):1

ARC SHORTAGE RESTART MEMEMORY:1

ARC SHORTAGE RESTART (ARC STOP):1

RESTART RETURN MEMORY:1

RESTART MEMORY:1 RESTART INVALID:1

12-63

DX100

12 Standard Ladder Program 12.4 Arc Welding

ARC OCCURRENCE CHECK ASSISTANCE RELAY STICKING:1 ARC OCCURRENCE CHECK RELAY STICKING:1

ARC SHORTAGE(ROBOT)

ARCWELD POWER ERROR

ARCWELD POWER ERROR:1

START LIFT REQ:1

TSET START WITH ARC WELDING MESSAGE REQ:1 NEED MANAGEMENT MODE MESSAGE REQ:1 SYSTEM RESERVED:1

ARC ON:1

SERCH INSTRUCTION:1

WIRE STICKING CHECK REQ:1

WIRE STICKING CHECK MODE:1

DIGITAL IF:1

12-64

DX100

12 Standard Ladder Program 12.4 Arc Welding User Ladder Section (software version : DS1.50.00A( )-00 or later)
EXTERNAL START

MASTER JOB CALL

MASTER JOB CALL

PLAY MODE SELECT

TEACH MODE SELECT

INTERFERENCE 1 ENTRANCE PROHIBIT INTERFERENCE 2 ENTRANCE PROHIBIT WORK PROHIBIT_ (ARC OCCURENCE PROHIBIT):1 WORK RESPONSE_ (PSEUDO ARC ON RESPONSE):1 WEAVING PROHIBIT

SENSING PROHIBIT:1

ARC SHORTAGE RESTART MEMORY RESET:1 RESTART RESET REQUEST:1

OPERATING

SERVO ON

TOP MASTER JOB

ALARM/ERROR OCCURENCE

BATTERY ALARM

REMOTE MODE SETTING

PLAY MODE SETTING

TEACH MODE SETTING

IN CUBE 1

IN CUBE 2

WORK HOME POSITION IN CUBE 64 SEQUENCE EXECUTING

GAS SHORTAGE(MONITOR)

WIRE SHORTAGE(MONITOR)

WIRE STICKING(MONITOR)

ARC SHORTAGE(MONITOR)

WIRE INCHING:1

WIRE RETRACT:1

12-82

DX100

12 Standard Ladder Program 12.4 Arc Welding

GAS CHECK OUTPUT:1

12-83

DX100 12.4.4

12 Standard Ladder Program 12.4 Arc Welding USER OPEN SIGNALS Editing of system ladder is impossible, however, the seven signals which are necessary for user’s operation are available. For example, wire inching can be programmed as shown below.
JOB
NOP . . . . . DOUT OT#(1023)ON . .

SYSTEM LADDER SECTION (EDITING IMPOSSIBLE) 70056

WIRE INCHING REQUEST

USER LADDER SECTION

11286

OT#2044 to OT#2048, OT#2036 to OT#2040, OT#2028 to OT#2032, OT#2020 to OT#2024, OT#2012 to OT#2016, OT#2004 to OT#2008, OT#1996 to OT#2000, OT#1988 to OT#1992: USER OPEN SIGNALS L
Output Number OT#2044 OT#2036 OT#2028 OT#2020 OT#2012 OT#2004 OT#1996 OT#1988 OT#2045 OT#2037 OT#2029 OT#2021 OT#2013 OT#2005 OT#1997 OT#1989 OT#2046 OT#2038 OT#2030 OT#2022 OT#2014 OT#2006 OT#1998 OT#1990 OT#2047 OT#2039 OT#2031 OT#2023 OT#2015 OT#2007 OT#1999 OT#1991 Ladder Input Number 12563, 12553, 12543, 12533, 12523, 12513, 12503, 12493 12564, 12554, 12544, 12534, 12524, 12514, 12504, 12494 12565, 12555, 12545, 12535, 12525, 12515, 12505, 12495 12566, 12567, 12568, 12569, 12570, 12571, 12572, 12573 GAS Output Meaning

Arc shortage restart memory reset

Restart reset

Inching

12-115

DX100

12 Standard Ladder Program 12.4 Arc Welding
Output Number OT#2048 OT#2040 OT#2032 OT#2024 OT#2016 OT#2008 OT#2000 OT#1992 Ladder Input Number 12567, 12557, 12547, 12537, 12527, 12517, 12507, 12497 Meaning

Retract

12-116

DX100

12 Standard Ladder Program 12.4 Arc Welding OT#2044, OT#2036, OT#2028, OT#2020, OT#2012, OT#2004, OT#1996, OT#1988: Gas output

State

One signal from user open signals and general outputs [#2044 (for arc 1), #2036 (for arc 2), #2028 (for arc 3), #2020 (for
arc 4), #2012 (for arc 5), #2004 (for arc 6),#1996 (for arc 7), #1988 (for arc 8)] turns ON while the [INTERLOCK]+[2] keys are

pressed simultaneously.

For a system with one application, use OT#2044.
SUPPLE -MENT

o function gas flow control using above user open signals, the above general outputs need to be assigned to external output signals by concurrent I/O ladder so that the signals can be connected to the welder’s input signals for gas flow control. An example of connection with one of the YASKAWA’s digital welder MOTOWELD-E series is shown below:
Robot I/F Unit (Type: JZNC-NIF01) Inserted ladder circuit
STR#11283 OUT#30050 CN08

CON3

Connector termianl converter (Type: PX7DS-40V6-R)
Logical number: 30050 Name : OUT17+ OUT17Terminal No.: 15 16

WELDING POWER SOURCE MOTOWELD-E SERIES

To XEW board

Welding instruction cable

DX100

12-117

DX100

12 Standard Ladder Program 12.4 Arc Welding OT#2045, OT#2037, OT#2029, OT#2021, OT#2013, OT#2005, OT#1997, OT#1989: ARC SHORTAGE RESTART MEMORY RESET
State

These signals are connected to signal Nos. 70101, 70301, 70501, 70701, 70901, 71101, 71301, and 71501 in the user ladder. When these signals are on, the arc shortage restart memory signal Nos. 70100, 70300, 70500, 70700, 70900, 71100, 71300, and 71500 are reset. Use the signals to reset the memory after taking necessary action, when “1:Output error and continue operation” is selected for the arc shortage restart method. For a system with one application, use output No. 2045 and signal Nos. 70101, or 70100.

70100, 70300, 70500, 70700, 70900, 71100, 71300, 71500 : ARC SHORTAGE RESTART MEMORY RESET These signals are turned on at inadvertent arc shortage if “1: Output error and continue operation” is selected for the arc shortage restart method. When these signals are turned on, a message “END OF ARC RESTARTING” is displayed on the programming pendant. Use the signals to check arc shortage during operation. OT#2046, OT#2038, OT#2030, OT#2022, OT#2014, OT#2006, OT#1998, OT#1990: RESTART RESET

State

These signals are connected to signal Nos. 41143, 41203, 41263, 41323, 41383, 41443, 41503, and 41563 in the user ladder. When these signals are on, restarting is cancelled. Use the signals to cancel restarting when “manual intervention” is selected for the restarting method. For a system with one application, use OT#2046 and signal No. 41143.

12-118

DX100

12 Standard Ladder Program 12.4 Arc Welding OT#2047, OT#2048, OT#2039, OT#2040, OT#2031, OT#2032, OT#2023, OT#2024, OT#2015, OT#2016, OT#2007, OT#2008, OT#1999, OT#2000, OT#1991, OT#1992: WIRE OPERATION
State

These signals are connected in the system ladder. When these signals are on, the wire operation output to the welder is executed. Use the signals to control wire in the job. The feed speed is determined by the last welding current output value in the playback. To control this speed, place the “ARCSET” instruction before the wire operation. For a system with one application, use OT#2046 to OT#2048.

12-119


相关文章:
初学者的必须掌握的几个梯形图
初学者的必须掌握的几个梯形图_信息与通信_工程科技_专业资料。初学者的必须掌握...熟悉 FANUC、MOTOMAN、KUKA 等机器人系统的调试/示教工作;熟 悉汽车车身电阻...
莫托曼MA1400焊接机器人技术方案
MOTOMAN-MA1900N 机器人是当今世界最先 进的弧焊...【DX100 控制柜技术规格】构造尺寸 冷却系统 概略...000 步梯形图 PCI:主 CPU2 槽,伺服 CPU1 槽 1...
motoman
motoman_机械/仪表_工程科技_专业资料。MOTOMAN 机器人在焊接中的应用摘要:本文分四个部分介绍了 MOTOMAN 机器人在焊接中的应用。第一部分介绍了 摘要 MOTOMAN 机器...
机器人参考答案
6.2 试举例说明 MOTOMAN UP6 机器人焊接作业时的...答:按用途:弧焊和点焊; 按结构:关节型和非关节型...0.7 题 0.7 图所示为二自由度平面关节型机器人...
实习报告
需要的各种机器人应用系统,广泛应用于弧焊、 点焊、...技术指标 1.MOTOMAN ES165D MOTOMAN ES165D(见图...DX100控制柜的有机结合,减弱了机器人启动和停止瞬间...
文献检索--工业机器人
弧焊机器人用激光视觉焊缝跟踪装置的开发:激光发射...年底研制推出了世界上首台弧焊专用机器人 MOTOMAN-EA...安川公司又推出了新一代机器人控制器 DX100, 同时...
更多相关标签:
弧焊机器人 | 弧焊机器人操作与编程 | 弧焊机器人工作站 | 弧焊机器人系统 | 弧焊机器人焊接速度 | abb弧焊机器人 | 松下弧焊机器人 | 弧焊机器人市场份额 |