YRC1000 OPTIONS INSTRUCTIONS FOR REMOTE LASER FUNCTION€¦ · Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting

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MANUAL No.

1

YRC1000 OPTIONS

INSTRUCTIONS FOR REMOTE LASER FUNCTION

Upon receipt of the product and prior to initial operation, read these instructions

thoroughly, and retain for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN-INSTRUCTIONS

YRC1000 INSTRUCTIONS

YRC1000 OPERATOR'S MANUAL (GENERAL) (SUBJECT SPECIFIC)

YRC1000 MAINTENANCE MANUAL

YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)

The YRC1000 operator's manual above corresponds to specific usage. Be sure to use the appropriate manual.

The YRC1000 operator's manual above consists of "GENERAL" and "SUBJECT SPECIFIC".

The YRC1000 alarm codes above consists of "MAJOR ALARMS" and "MINOR ALARMS".

189214-1CD0

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DANGER

• This manual explains the Remote Laser function of the YRC1000 system. Read

this manual carefully and be sure to understand its contents before handling the

YRC1000. Any matter, including operation, usage, measures, and an item to use,

not described in this manual must be regarded as "prohibited" or "improper".

• General information related to safety are described in "Chapter 1. Safety" of the

YRC1000 INSTRUCTIONS. To ensure correct and safe operation, carefully read

"Chapter 1. Safety" of the YRC1000 INSTRUCTIONS.

CAUTION

• In some drawings in this manual, protective covers or shields are removed to show

details. Make sure that all the covers or shields are installed in place before

operating this product.

• YASKAWA is not responsible for incidents arising from unauthorized modification

of its products. Unauthorized modification voids the product warranty.

NOTICE

• The drawings and photos in this manual are representative examples and

differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to product

improvements, modifications, or changes in specifications. If such modification is

made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA representative

to order a new copy. The representatives are listed on the back cover. Be sure to

tell the representative the manual number listed on the front cover.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or inspection of

the YRC1000.

In this manual, the Notes for Safe Operation are classified as "DANGER", "WARNING",

"CAUTION", or "NOTICE".

Indicates an imminently hazardous situation which, if not

avoided, will result in death or serious injury. Safety Signs

identified by the signal word DANGER should be used

sparingly and only for those situations presenting the most

serious hazards.

Indicates a potentially hazardous situation which, if not

avoided, will result in death or serious injury. Hazards

identified by the signal word WARNING present a lesser

degree of risk of injury or death than those identified by the

signal word DANGER.

Indicates a hazardous situation, which if not avoided, could

result in minor or moderate injury. It may also be used

without the safety alert symbol as an alternative to

"NOTICE".

NOTICE is the preferred signal word to address practices

not related to personal injury. The safety alert symbol

should not be used with this signal word. As an alternative

to "NOTICE", the word "CAUTION" without the safety alert

symbol may be used to indicate a message not related to

personal injury.

Even items described as "CAUTION" may result in a serious accident in some situations.

At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure to follow all

instructions, even if not designated as "DANGER", "WARNING" and

"CAUTION".

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Precautions for the laser

DANGER

This function performs processing mainly with infrared light lasers.

These infrared lights are invisible laser light sources and are classified as Class 4

according to International Electrotechnical Commission (IEC) 60825-1:2014 ' Safety of

laser products - Part 1: Equipment classification and requirements.'

Class 4 lasers are considered dangerous if the skin or eyes are directly exposed to a

laser beam even momentarily, and even diffuse reflected light can harm the skin or

eyes. There is also a risk of fire. Always keep out of the processing room during

processing.

This function also uses Class 2 red laser pointer light to indicate the processing

position.

Class 2 lasers are considered safe lasers because danger can be avoided by an

aversion reaction of the eyes (blinking). However, there is deemed to be a potential

risk when observing a direct laser beam with optical instruments.

Use facilities that comply with the Safety Standards for Laser Beams (IEC 60825-1).

Note that Yaskawa does not guarantee the safety of facilities that comply with the

Safety Standards for Laser Beams (IEC 60825-1). Make the final decision regarding

the safety of your facilities after considering them carefully.

Description of laser classes

Class Description of the degree of risk

Class 1 Safe under any reasonably foreseeable operating conditions.

Class 1M Same as Class 1, except for an increased risk when using

optical instruments.

Class 2 Low power. Normally safe due to the protection afforded to the

eyes by aversion reactions (e.g., blinking).

Class 2M Same as Class 2, except for an increased risk when using

optical instruments.

Class 3R Increased risk with direct intrabeam exposure.

Class 3B Always dangerous with direct intrabeam exposure.

Class 4 High power. Even diffuse reflection is dangerous.

* Excerpt from IEC 60825-1:2014. Class 1C is medical use, so it is omitted in the table

above. Be sure to read the standard's original text prior to actual application.

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DANGER

• Before operating the manipulator, make sure the servo power is turned OFF by

performing the following operations. When the servo power is turned OFF, the

SERVO ON LED on the programming pendant is turned OFF.

- Press the emergency stop buttons on the front door of the YRC1000, on the

programming pendant, on the external control device, etc.

- Disconnect the safety plug of the safety fence.

(when in the play mode or in the remote mode)

If operation of the manipulator cannot be stopped in an emergency, personal injury

and/or equipment damage may result.

Fig.: Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the obstacle or error

caused the emergency stop, if any, and then turn the servo power ON.

Failure to observe this instruction may cause unintended movement of the

manipulator, which may result in personal injury.

Fig.: Release of Emergency Stop

• Observe the following precautions when performing a teaching operation within the

manipulator's operating range:

- Be sure to perform lockout by putting a lockout device on the safety fence

when going into the area enclosed by the safety fence. In addition, the

operator of the teaching operation must display the sign that the operation is

being performed so that no other person closes the safety fence.

- View the manipulator from the front whenever possible.

- Always follow the predetermined operating procedure.

- Always keep in mind emergency response measures against the

manipulator's unexpected movement toward a person.

- Ensure a safe place to retreat in case of emergency.

Failure to observe this instruction may cause improper or unintended movement of the

manipulator, which may result in personal injury.

• Confirm that no person is present in the manipulator's operating range and that the

operator is in a safe location before:

- Turning ON the YRC1000 power

- Moving the manipulator by using the programming pendant

- Running the system in the check mode

- Performing automatic operations

Personal injury may result if a person enters the manipulator's operating range during

operation. Immediately press an emergency stop button whenever there is a

problem. The emergency stop buttons are located on the front panel of the

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YRC1000 and on the right of the programming pendant.

• Read and understand the Explanation of the Warning Labels before operating the

manipulator.

DANGER

• Teaching should only be carried out by personnel who have attended all of the

following training sessions.

- Robot operation training

- Training on lasers that comply with the guidelines for JIS C6802 users

If personnel who have not attended these training sessions perform teaching, there is

a risk of major injury or property damage due to unintended actions.

WARNING

• Perform the following inspection procedures prior to conducting manipulator

teaching. If there is any problem, immediately take necessary steps to solve it,

such as maintenance and repair.

- Check for a problem in manipulator movement.

- Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the YRC1000 cabinet after

use.

If the programming pendant is left unattended on the manipulator, on a fixture, or on

the floor, etc., the Enable Switch may be activated due to surface irregularities of

where it is left, and the servo power may be turned ON. In addition, in case the

operation of the manipulator starts, the manipulator or the tool may hit the

programming pendant left unattended, which may result in personal injury and/or

equipment damage.

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CAUTION

• Perform welding after confirming that the galvano laser head is being supplied with

air and cooling water in accordance with the specifications.

Performing welding without air supply increases the possibility of spattering on the

protective glass, which shortens the service life.

Performing welding without supplying cooling water causes the optical components'

temperature to increase, which may result in laser head malfunction or reduced

welding quality.

• Do not perform welding if the protective glass is cracked or dirty.

If welding is performed with cracked or dirty protective glass, the laser may diffuse in

an unintended direction and/or the protective glass may absorb the laser energy,

resulting in laser head malfunction or damage to peripheral devices.

• Do not touch hot work or hot jigs immediately after welding with bare hands.

Touching hot work or hot jigs immediately after welding with bare hands may result in

burns.

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMAN usually consists of the manipulator, the controller, the programming

pendant, and the manipulator cables.

In this manual, the equipment is designated as follows:

Equipment Manual Designation

YRC1000 controller YRC1000

YRC1000 programming pendant Programming pendant

Cable between the manipulator and the

controller

Manipulator cable

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Descriptions of the programming pendant, buttons, and displays are shown as follows:

Equipment Manual Designation

Programming

Pendant

Character Keys

/Symbol Keys

The keys which have characters printed on them

are denoted with [ ].

ex. [ENTER]

Axis Keys

Number Keys

"Axis Keys" and "Number Keys" are generic

names for the keys for axis operation and

number input.

Keys pressed

simultaneously

When two keys are to be pressed simultaneously,

the keys are shown with a "+" sign between

them, ex. [SHIFT]+[COORD]

Displays The menu displayed in the programming pendant

is denoted with { }.

ex. {JOB}

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • •" means that

the cursor is moved to the object item and [SELECT] is pressed, or that the item is

directly selected by touching the screen.

Registered Trademark

In this manual, names of companies, corporations, or products are trademarks,

registered trademarks, or brand names for each company or corporation. The

indications of (R) and TM are omitted.

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Contents

1. Overview of the remote laser function system ................................................... 1-11

1.1. Remote laser function ............................................................................... 1-11

1.2. System configuration diagram ................................................................... 1-12

1.2.1. System configuration for the CAN specification Laser Head made by

Yaskawa Control Inc. ......................................................................... 1-12

1.2.2. System configuration for the laser head made by TRUMPF Inc. ......... 1-13

2. Operation of the remote laser function from the pendant ................................... 2-14

2.1. Pendant key ............................................................................................. 2-14

2.2. Types of lasers ......................................................................................... 2-15

2.3. Laser head coordinate system .................................................................. 2-16

2.4. Operating the remote laser ....................................................................... 2-17

2.4.1. Operating the remote laser current position window ........................... 2-17

2.4.2. Operating the remote laser record position window ............................ 2-18

3. Remote laser welding position registration files ................................................. 3-20

3.1. Creating files ............................................................................................ 3-21

3.2. Registering welding positions .................................................................... 3-22

3.2.1. Description of each setting ................................................................ 3-22

3.2.2. Method for registering welding positions ............................................ 3-23

3.3. Registering or deleting position data ......................................................... 3-24

3.4. Adding points ............................................................................................ 3-25

3.5. Deleting points .......................................................................................... 3-26

3.6. Erasing points ........................................................................................... 3-27

3.7. Copying points .......................................................................................... 3-28

3.8. Pasting points ........................................................................................... 3-28

3.9. Parallel shift .............................................................................................. 3-29

3.10. Deleting remote laser welding position registration files ............................. 3-30

3.11. Changing the number of points in remote laser welding position registration

files 3-31

3.12. Copying remote laser welding position registration files ............................. 3-32

3.13. Pasting remote laser welding position registration files .............................. 3-32

3.14. Teaching during welding position registration ............................................ 3-33

4. Remote laser welding condition registration files ............................................... 4-35

4.1. File setup .................................................................................................. 4-35

4.2. Interpolation of welding lines ..................................................................... 4-36

4.2.1. Linear interpolation ............................................................................ 4-37

4.2.2. Circular interpolation.......................................................................... 4-37

4.2.3. C-shaped interpolation ...................................................................... 4-38

4.2.4. Character-shaped interpolation .......................................................... 4-39

4.2.5. User file interpolation ......................................................................... 4-40

4.2.6. Wobbling ........................................................................................... 4-41

4.2.7. Square interpolation .......................................................................... 4-42

4.3. Setting the capable range ......................................................................... 4-43

4.4. Setting DF (defocus) ................................................................................. 4-44

4.5. Registering timers and slope control ......................................................... 4-45

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4.6. Registering or canceling position data ....................................................... 4-46

4.7. Adding paths ............................................................................................ 4-47

4.8. Deleting paths........................................................................................... 4-48

4.9. Erasing paths ........................................................................................... 4-49

4.10. Copying paths........................................................................................... 4-50

4.11. Pasting paths ............................................................................................ 4-50

4.12. Batch changing welding conditions ........................................................... 4-51

4.13. Erasing remote laser welding condition registration files ............................ 4-52

4.14. Copying files ............................................................................................. 4-53

4.15. Pasting files .............................................................................................. 4-53

4.16. How to scan arbitrary shape files .............................................................. 4-54

4.17. How to back up arbitrary shape files.......................................................... 4-54

5. Remote laser welding programs ....................................................................... 5-55

5.1. Using macro commands ........................................................................... 5-55

5.2. Macro command for turning on the laser (LASER_ON) ............................. 5-56

5.3. Macro command for turning off the laser (LASER_OF) .............................. 5-56

5.4. Macro command for communication with the laser oscillator (L_READY) .. 5-57

5.5. Sample welding programs......................................................................... 5-58

6. Descriptions of each function ............................................................................ 6-59

6.1. Analog output settings for the laser oscillator (Yaskawa head only) ........... 6-59

6.2. Laser power output timing correction function (all heads) .......................... 6-59

6.3. Welding start timing and monitoring method (all heads) ............................. 6-60

6.3.1. Welding start timing ........................................................................... 6-60

6.3.2. Setting exceptional states for signals ................................................. 6-62

6.4. Pincushion correction function (Yaskawa head only) ................................. 6-64

6.5. Scanner and communication handshake function (Yaskawa head only) .... 6-64

6.6. Scanner abnormality monitoring function (Yaskawa head only) ................. 6-65

7. List of alarms .................................................................................................... 7-66

8. S1E parameters ............................................................................................... 8-71

8.1. Yaskawa Control 3D 3.67x head (8MC33A-3C001A) ................................. 8-71

8.2. Trumpf PFO head ..................................................................................... 8-80

8.3. Yaskawa Control 3D 3.8x Head (8MC44A-3C001A) .................................. 8-86

1 Overview of the remote laser function system 1.1 Remote laser function

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1. Overview of the remote laser function system

1.1. Remote laser function

The remote laser function (on the fly) controls the position of the laser head (Trumpf Pro

and Yaskawa Control laser heads) while the robot moves and performs laser welding.

Laser Head

(Trumpf and Yaskawa Control)

1 Overview of the remote laser function system 1.2 System configuration diagram

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1.2. System configuration diagram

1.2.1. System configuration for the CAN specification Laser Head made by Yaskawa Control

Inc.

No. Name of part Part No.

I/O cable or device net cable

(Dependent on oscillator specifications)

Prepared by the customer

CAN data cable (base to CAN-DAC) HS1370057

ACP02+ASL01 circuit board for remote laser JANCD-ACP02-E

JANCD-ASL01-E

CAN-DAC conversion unit CAN-DAC

Analog cable HS1480292

CAN data cable (head to CAN-DAC) HS0371378

Galvano power cable HS0471730

* CAN-DAC requires a separate 100 or 200 VAC (single phase) power supply.

YRC1000

CAN specification Laser

Head made by Yaskawa

Control Inc.

Laser Oscillator

1 Overview of the remote laser function system 1.2 System configuration diagram

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1.2.2. System configuration for the laser head made by TRUMPF Inc.

No. Part name Part No.

I/O cable or device net cable

(Dependent on oscillator specifications)

Prepared by the customer

CAN data cable (base to head) HS0371378

ACP02+ASL01 circuit board for remote laser JANCD-ACP02-E

JANCD-ASL01-E

YRC1000

Laser Oscillator

Laser Head made by

TRUMPF Inc.

2 Operation of the remote laser function from the pendant 2.1 Pendant key

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2. Operation of the remote laser function from the pendant

2.1. Pendant key

2 Operation of the remote laser function from the pendant 2.2 Types of lasers

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2.2. Types of lasers

DANGER

Do not approach the area being irradiated by the laser or look directly at the laser.

Always perform laser welding inside a light-blocked partition where no people are

present.

Different types of lasers can be used with this function.

• Guide laser

This visible red light is used in teaching. The guide laser is used to teach the welding

start position and end position.

• Green pointer (when using the Yaskawa Control laser head)

This visible light is used in teaching to focus the laser on the work. The robot is moved

up and down along the Z-axis to adjust the distance between focal points so that the

guide laser and green pointer match up.

[INTERLOCK] + [5]: Green pointer ON

[INTERLOCK] + [8]: Green pointer OFF

• Cross laser (when using the Trumpf laser head)

This visible light is used in teaching to focus the laser on the work. The robot is moved

up and down along the Z-axis to adjust the distance between focal points so that the

guide laser and green pointer match up.

[INTERLOCK] + [5]: Cross laser ON

[INTERLOCK] + [8]: Cross laser OFF

2 Operation of the remote laser function from the pendant 2.3 Laser head coordinate system

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• Welding laser

This is a laser focused on the work when actually welding in playback.

2.3. Laser head coordinate system

The diagram below shows the laser head coordinate system.

Z

Y X

2 Operation of the remote laser function from the pendant 2.4 Operating the remote laser

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2.4. Operating the remote laser

The remote laser guide laser focuses on the work and the robot control device

programming pendant is used to move the guide laser.

To move the laser beam, the current position window and record position window must

be open.

2.4.1. Operating the remote laser current position window

(1) From the main menu, select {OPTION} {LASER CURRENT POS}.

* The remote axis coordinates indicate the coordinates according to the laser head's

unique coordinate system.

* The base axis coordinates indicate the remote laser's focal position in terms of

coordinates according to the robot's base coordinate system.

(2) The following key combinations can be used to move the guide laser.

Key combination Action

[INTERLOCK] + [X+] Move the guide laser in the remote axis X-axis positive direction.

[INTERLOCK] + [X-] Move the guide laser in the remote axis X-axis negative direction.

[INTERLOCK] + [Y+] Move the guide laser in the remote axis Y-axis positive direction.

[INTERLOCK] + [Y-] Move the guide laser in the remote axis Y-axis negative

direction.

[INTERLOCK] + [Z+] Move the guide laser in the remote axis Z-axis positive direction.

[INTERLOCK] + [Z-] Move the guide laser in the remote axis Z-axis negative

direction.

[INTERLOCK] + [e+] Move the guide laser in the DF (defocus) positive direction.

[INTERLOCK] + [e-] Move the guide laser in the DF (defocus) negative direction.

[INTERLOCK] + [6] Return the guide laser to the origin.


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DF (defocus) adjusts the focal length in the direction of the laser beam

axis.

The DF positive direction is the direction in which the focal point

approaches the head.

2.4.2. Operating the remote laser record position window

(1) From the main menu, select {OPTION} {LASER RECORD POS}.

(2) Open the desired remote laser record position file.

WD

DF = 0 DF > 0

Laser Laser

Head Head


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* If you have not yet registered any remote laser welding position registration files, no

remote laser welding position registration files will be shown. Chapter 3 explains how to

register a file.

(3) The remote axis will automatically move to the focal point.

* However, it will not return to the focal point on axes specified with the following SE

parameters.

The initial value is 0, and all axes automatically move to the focal point.

No. Details Setting

SxE164 Specification of the

axis to turn off home

position return

Bit specification (returning to the home position is

turned off when raised)

d0: X-axis, d1: Y-axis, d2: Z-axis, d3: DF

(4) The following key combinations can be used to move the guide laser.

Key combination Action

[INTERLOCK] + [4] Have the guide laser orbit the welding range circle.

[INTERLOCK] + [8] Stop the guide laser's orbiting.

* From the remote laser record position window, use [INTERLOCK] + [Z] or

[INTERLOCK] + [e] to turn off Z-axis lens operation (to prevent mistakenly teaching the

focal length).

Note that this function can be turned off with the following SE parameters.

The initial value is 0, and Z-axis lens operation is off.

No. Details Setting

SxE165 Function to turn off

Z-axis operation

Cancel setting

0: Turn off Z-axis operation when using the record

position file window.

1: Turn on Z-axis operation when using the record

position file window.

3 Remote laser welding position registration files 2.4 Operating the remote laser

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3. Remote laser welding position registration files

Remote laser welding position registration files are files to register welding positions for

use when performing laser welding.

While the robot is moving, you can view the remote laser record position file specified

with the RL_ON command and perform laser welding on the positions registered in the

file.

From 1 to 999 remote laser welding position registration files can be registered.

A single remote laser record position file can register up to 999 points.

Note that the maximum number of points for all files combined is 2,000 points.

Remote Laser Welding

Position Registration File

File 1

File 2

File 3

File n

Point m

Point 3

Point 2

Point 1

Points (points in file n)

3 Remote laser welding position registration files 3.1 Creating files

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3.1. Creating files

(1) Select {OPTION} {LASER RECORD POS}.

(2) Select {DATA} {CREATE}.

(3) In the window for registering a new position file,

enter the desired file number and the number of

points. The maximum values are as follows.

File number: 999

Number of points: 999

* Note that the number of points for all files

combined must be no more than 2,000 points.

(4) Create a new file with the desired file number

and number of points.

(5) Place the cursor over the registration status

(registered or not) and press [ENTER]. The remote

laser record position window will appear.

• Searching for a file number

In this window, place the cursor over the file

number part and press [ENTER] to become able to

enter numbers into the box. Enter the desired file

number and press [ENTER].

3 Remote laser welding position registration files 3.2 Registering welding positions

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3.2. Registering welding positions

3.2.1. Description of each setting

Item Details

{WELDING POINT

ON/OFF}

Turn ON or OFF the point for the opened point number. While

turned OFF, the relevant welding path will not be executed.

* It can only be turned on when a welding start point and

welding end point have been registered.

{WELDING CND.

No.}

Select the welding conditions for the point displayed from the

remote laser record conditions file.

{AUTO INPUT END

POINT}

Select to turn ON or OFF automatic registration of the

welding end point. If ON, when a welding start point is

registered, a position 3 mm away in the tool's X direction will

automatically be registered as the welding end point.

* While set to ON, the welding end point cannot be registered

manually.

3 Remote laser welding position registration files 3.2 Registering welding positions

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3.2.2. Method for registering welding positions

• When {AUTO INPUT END POINT} is ON

(1) Move the guide laser to the welding start point,

and match the cursor on the monitor with the welding

start point.

(2) Press [MODIFY] + [ENTER] to register the

welding start point.

(3) A position 3 mm away in the tool's X direction will

automatically be registered as the welding end point.

The values for the position displayed are orthogonal

values according to the robot's base coordinate

system.

• When {AUTO INPUT END POINT} is OFF

(1) Move the guide laser to the welding start point,


start point.



(3) Move the guide laser to the welding end point,


end point.


welding end point.

* If you press [FWD] while the cursor is matched to the welding start point or welding

end point, you can move the robot and laser to the registered position.

3 Remote laser welding position registration files 3.3 Registering or deleting position data

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3.3. Registering or deleting position data

Button or key on the monitor Details

REGISTER Register the entered data.

RETURN Return to the remote laser record position file

selection window.

[PAGE] key Go back one page.

[SHIFT] + [PAGE] key Go forward one page.

PAGE Select a page to open.

After editing data, if you select any of to without registering the data, the following

dialog box will appear.

YES: The edited data will be deleted and the action selected from to will be executed.

NO: Return to the editing screen.

3 Remote laser welding position registration files 3.4 Adding points

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3.4. Adding points

(1) To add a new point before the point displayed in

the remote laser record position window, select

{EDIT} {NEW POINT}.

(2) A dialog box will appear with the message,

"Welding point is inserted. OK?" Click {YES}.

(3) A new point will be added before the point

displayed.

* Upon adding a new point, the last point position

data is deleted from the file.

3 Remote laser welding position registration files 3.5 Deleting points

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3.5. Deleting points

(1) To delete the point displayed in the remote laser

record position window, select {EDIT} {DELETE

POINT}.


"Welding point is deleted. OK?" Click {YES}.

(3) The point displayed will be deleted and the

numbers for all subsequent points will move up by

one. (e.g., Point No. 02 Point No. 01, Point No.

03 Point No. 02, etc.)

* Upon deleting a point, a new point will be added

after the last point in the file.

3 Remote laser welding position registration files 3.6 Erasing points

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3.6. Erasing points

(1) To erase the point displayed in the remote laser

record position window, select {EDIT} {ERASE

POINT}.


"Welding point is cleared. OK?" Click {YES}.

(3) The data for the point displayed will be erased.

(There will be no change to the point numbers in the

file.)

3 Remote laser welding position registration files 3.7 Copying points

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3.7. Copying points

(1) To copy the point displayed in the remote laser

record position window, select {EDIT} {COPY

POINT}.

(2) The data for the point displayed will be copied.

3.8. Pasting points

(1) To paste a copied point, from the remote laser

record position window, open the point window where

you want to paste the point and select {EDIT}

{PASTE POINT}.


"Paste?" Click {YES}.

(3) The data for the point displayed will be overwritten

with the data for the copied point.

* If nothing has been copied, the paste function will not

operate.

3 Remote laser welding position registration files 3.9 Parallel shift

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3.9. Parallel shift

(1) To perform a parallel shift in point positions, from

the remote laser record position window, select

{UTILITY} {PARALLEL SHIFT}.

(2) Enter the range of points, coordinates (base or

tool), and shift volume for the parallel shift and select

{EXECUTE}.

(3) The desired points in the opened file will be shifted.

3 Remote laser welding position registration files 3.10 Deleting remote laser welding position registration files

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3.10. Deleting remote laser welding position registration files

(1) From the remote laser record position file selection

window, place the cursor over the registration file to

delete and select {DATA} {DELETE}.

(2) A dialog box will appear with the message, "Delete

selected file. OK?" Click {YES}.

(3) The selected file will be deleted, and you will be

returned to the remote laser record position file

selection window.

3 Remote laser welding position registration files 3.11 Changing the number of points in remote laser welding position registration files

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3.11. Changing the number of points in remote laser welding position

registration files

(1) From the remote laser record position file selection

window, place the cursor over the file for which you

want to change the number of points that can be

registered and select {EDIT} {CHANGE NUM OF

POINTS}.

(2) Enter the new number of points.

* The maximum input value is either 999 or the number

of remaining points + the number of points prior to the

change, whichever is smaller.

(3) Press [ENTER] to change the number of points.

3 Remote laser welding position registration files 3.12 Copying remote laser welding position registration files

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3.12. Copying remote laser welding position registration files

(1) To copy a remote laser record position file, from

the remote laser record position file selection window,

place the cursor over the file to copy and select {EDIT}

{COPY FILE}.

(2) All data in the file indicated by the cursor will be

copied.

3.13. Pasting remote laser welding position registration files

(1) To paste a copied file, from the remote laser record

position file selection window, place the cursor over

the destination file and select {EDIT} {PASTE FILE}.



(3) The data in the file indicated by the cursor will be

overwritten with the data of the copied file.

* If the source and destination files have different

numbers of points, the number of points will conform

to the destination file. Point data that does not fit

within the number of points in the destination file will

be deleted.

3 Remote laser welding position registration files 3.14 Teaching during welding position registration

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3.14. Teaching during welding position registration

To perform welding by circular interpolation (explained in detail in 4.2.2), register the

welding position to be directly below the scanner. If the position is registered while the

scanner is on an incline with respect to the work, the face of the drawn circle will also be

on an incline.

CAUTION

• When welding a work with a high reflectance ratio (e.g., aluminum), do not place

the scanner perpendicular to the work. The irradiated laser beam may return to the

laser scanner, fiber, or oscillator, causing equipment damage.

3 Remote laser welding position registration files 3.14 Teaching during welding position registration

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When the welding position is directly below the scanner, the focus will automatically be

aligned with the registered position during automatic operation.

4 Remote laser welding condition registration files 4.1 File setup

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4. Remote laser welding condition registration files

Remote laser welding condition registration files are files to register welding conditions

for use when performing laser welding. Remote laser welding condition registration files

can be viewed within the remote laser record position file specified with the RL_ON

command while the robot is moving to perform laser welding. There are 200 remote

laser welding condition registration files.

A single remote laser record conditions file can register up to 15 welding conditions.

4.1. File setup

(1) Select {OPTION} {LASER WELDING CND}.

(2) Select the remote laser record conditions file to use.

Remote laser welding condition registration files are

numbered from No. 001 to No. 200.

(3) Move the cursor to the registration status part and

press [SELECT] to make the remote laser record

conditions window appear.

If at least one welding path is registered, the

registration status will be {REGIST}.

• Searching for a file number

In this window, place the cursor over the file number

part and press [SELECT] to enter numbers. Enter the

number of the file to open and press [ENTER].

4 Remote laser welding condition registration files 4.2 Interpolation of welding lines

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4.2. Interpolation of welding lines

You can specify 15 welding paths in a single remote laser record conditions file.

Register welding conditions from welding path No. 01 in order starting from the small

path number.

Item Details

{PATH ON/OFF} While turned OFF, that welding path will not be executed.

* Upon entering the laser power, this is automatically set to ON.

{LASER POWER} Set the laser output [W].

{WELDING SPEED} Set the laser welding speed.

{WELDING LINE}

Select one of STRAIGHT, CIRCLE, 'C', CHARACTER, USER

FILE, WOBBLING, or SQUARE. The details of each type of

interpolation are explained in the next and subsequent chapters.


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4.2.1. Linear interpolation

Weld in a straight line from the welding start point to the

welding end point.

4.2.2. Circular interpolation

Weld in a circular motion with the welding start point

position as the circle's center at the specified radius.

The welding start position is the position on the circle's

radius in the direction from the welding start point to the

welding end point. The welding direction is

counterclockwise when the value entered for the radius

is positive, and clockwise when the value entered is

negative. You can also teach the program the circle's

angle.

Parameters for automatic setting of the welding end point

Normally, the automatic welding end point position is fixed at X = +3 mm on the tool

coordinate system, but you can use the following parameters to set an offset from the

tool's home position. With these parameters, you can also specify the desired welding

start position at automatic registration.

Parameter Name Details Unit

SxE193

Shift amount for automatic

setting of the welding end point

Tool coordinates x

component

(Range: 0 to 200 mm)

[μm]

SxE194



Tool coordinates x

component


[μm]

SxE195



Tool coordinates x

component


[μm]


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When the program calculates the position for the automatic end point based on the

above parameter settings, if the setting is outside the setting range, after the start point

is registered during remote laser welding position registration, the following error will

occur when the program attempts to calculate the end point.

ERROR: 3270 Welding end point automatic registration parameter error

If the parameter setting is within the range of 0 to 200 mm but the position of the end

point is not a position that allows robot movement, the following error will occur.

ERROR: 3271 Welding end point automatic registration outside active range

4.2.3. C-shaped interpolation

On a straight line from welding start point A (teach) to

welding end point B (teach), weld in the trajectory of a

semicircle having a specified radius plus a straight line

having a specified length. If you enter a negative

number for the radius, you can flip the C shape.


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4.2.4. Character-shaped interpolation

Characters can be specified as a letter (A to Z) or

number (0 to 9). If unspecified, the character will be [A].

Place the cursor on the character and press [SELECT]

to bring up the keyboard window. Select the desired

character and press [ENTER] to choose it. Set the

letter's orientation with the welding start point (A) and

welding end point (B), and specify the character size

(a a) vertically.


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4.2.5. User file interpolation

You can weld arbitrary shapes created with special

purpose software included on the delivery CD. Place

the cursor over the file number and press [SELECT] to

specify numbers 1 to 10. Select the desired file and

press [ENTER] to choose it. Set the interpolation

orientation with the welding start point (A) and welding

end point (B), and specify the interpolation size (a a)

vertically.

For details on scanning arbitrary shapes that you have

created, see 4.16 How to scan arbitrary shape files.

For details on how to create arbitrary shapes, see the

Instruction Manual for the Tool to Create a

User-defined Laser Welding Trajectory Shape.


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4.2.6. Wobbling

When performing laser welding for a lap joint or butt weld, the diameter of the spot for

the laser to focus is small, so wobbling is sometimes performed. Wobbling is an

interpolation method that ensures a sufficient bead width by spinning the laser focal

point while moving it along the welding line.

Wobbling setup

(1) On the remote laser record position window, teach the welding start point (during

teaching) and welding end point (during teaching).

(2) On the remote laser record conditions window, select {WELDING LINE} and then

select [WOBBLING].

(3) Enter the following parameters that can be input while wobbling is selected.

• Wobbling height a [mm]

• Wobbling width b [mm]

• Pitch p [mm]

• Speed v [mm/s]: Rotation speed at the point of processing (not the movement speed at

the center of wobbling)

* The center speed is not a parameter that can be set. It is calculated based on the

above parameter settings.


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4.2.7. Square interpolation

Square-shaped welding with sides of radius R can be performed. The square size is

specified by L1 and L2 for the distance from the center.

The size of the specified radius R may not exceed half the height of each side.

(Possible range: L1 ≥ R and L2 ≥ R)

• Checking if the square is outside the welding range

The method for checking if the square is outside the welding start range can be changed

by parameters. When drawing a square, the monitoring target changes as follows.

(i) S1E066 = 0 Check only if the start point is within the range.

Monitor

(ii) S1E066 = 1 Check if the entire path is within the range.

Monitor four corners

4 Remote laser welding condition registration files 4.3 Setting the capable range

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4.3. Setting the capable range

If the path taught is within the remote laser welding start range, the remote laser function

performs welding within the remote laser unit movement limits.

In the remote laser record conditions window, you can set the desired welding range for

each path.

Values can be set from 1 to 100 [%]. The maximum values for the remote unit welding

range and remote unit movement limits set with S1E parameters can be reduced as

desired.

* For details on S1E parameters, see the explanation of S1E parameters in Chapter 7.

4 Remote laser welding condition registration files 4.4 Setting DF (defocus)

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4.4. Setting DF (defocus)

In the remote laser record conditions window, you can set the welding start point DF and

welding end point DF for each welding path.

DF (defocus) is a function that adjusts the focal length in the laser beam axis direction.

4 Remote laser welding condition registration files 4.5 Registering timers and slope control

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4.5. Registering timers and slope control

{START TIMER}: For the designated time period, the laser power remains OFF and the

laser stays in position at the registered start point until the specified period of time

elapses and welding begins.

{END TIMER}: For the specified time period, the laser power remains ON and the laser

stays in position at the registered end point until the specified period of time elapses and

welding ends.

{WELD START SLOPE}: Over the course of the specified slope, the laser power

increases from the specified start power to the specified laser power during welding. To

turn ON slope control, place the cursor over {WELD ST. ON/OFF}, press [SELECT], and

select ON.

{WELD END SLOPE}: Over the course of the specified slope, the laser power

decreases from the specified start power to the specified laser power upon welding

completion. To turn ON slope control, place the cursor over {WELD ED. ON/OFF}, press

[SELECT], and select ON.

4 Remote laser welding condition registration files 4.6 Registering or canceling position data

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4.6. Registering or canceling position data

Button or key on the monitor Details

REGISTER Register the data entered.

RETURN Return to the remote laser record position file

selection window.

[SHIFT] + [PAGE] key Go back one page.

[PAGE] key Go forward one page.

PAGE Select a page to open.

After editing data, if you select any of to without registering the data, the following

dialog box will appear.

YES: The edited data will be deleted and the action selected from to will be executed.

NO: Return to the editing screen.

4 Remote laser welding condition registration files 4.7 Adding paths

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4.7. Adding paths

(1) To add a new path before the path displayed in the

remote laser record conditions window, select {EDIT}

{INSERT PATH}.


"Welding path is inserted. OK?" Click {YES}.

(3) A new path will be added before the path

displayed.

* Because 15 paths can be registered per remote

laser record conditions file, adding a new path deletes

the condition data in the 15th path.

4 Remote laser welding condition registration files 4.8 Deleting paths

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4.8. Deleting paths

(1) To delete the path displayed in the remote laser

record conditions window, select {EDIT} {DELETE

PATH}.


"Welding path is deleted. OK?" Click {YES}.

(3) The path displayed will be deleted and the numbers

for all subsequent paths will move up by one. (e.g.,

Path No. 02 Path No. 01, Path No. 03 Path No.

02, etc.)

* Because 15 paths can be registered per remote laser

record conditions file, deleting a path adds a new path

in the 15th path slot.

4 Remote laser welding condition registration files 4.9 Erasing paths

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4.9. Erasing paths

(1) To erase the path displayed in the remote laser

record conditions window, select {EDIT} {CLEAR

PATH}.


"Welding path is cleared. OK?" Click {YES}.

(3) The data for the path being displayed will be erased.

(There will be no change to the path numbers after that

path.)

4 Remote laser welding condition registration files 4.10 Copying paths

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4.10. Copying paths

(1) To copy the path displayed, in the remote laser

record conditions window for the path being displayed,

select {EDIT} {COPY PATH}.

(2) The data for the path being displayed will be

copied.

4.11. Pasting paths

(1) To paste a copied path, from the remote laser

record conditions window, open the point window

where you want to paste the path and select {EDIT}

{PASTE PATH}.

(2) A dialog box will appear with the message, "Paste?"

Click {YES}.

(3) The data for the path displayed will be overwritten

with the copied path.

* If nothing has been copied, the paste function will not

operate.

4 Remote laser welding condition registration files 4.12 Batch changing welding conditions

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4.12. Batch changing welding conditions

(1) From the remote laser record conditions window,

place the cursor over the file in which you want to

change all welding conditions, then select {EDIT}

{CHANGE ALL}.

(2) Switch the condition for CHANGE ALL from OFF to

ON and change the value. You can only enter values

for conditions that are ON.

(3) Enter a value, then click {EXECUTE}.

After the change is made, you will automatically return

to the remote laser record conditions file selection

window.

Conditions that are OFF cannot be changed.

* If you press {CANCEL}, you will return to the remote

laser record conditions file selection window and no

changes will be made.

4 Remote laser welding condition registration files 4.13 Erasing remote laser welding condition registration files

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4.13. Erasing remote laser welding condition registration files

(1) From the remote laser record conditions file

selection window, place the cursor over the

registration file to erase, then select {EDIT}

{CLEAR FILE}.


"Welding line is cleared. OK?" Click {YES}.

(3) The file's content will be erased and the

registration status will change from [REGIST] to

[UNREGI].

4 Remote laser welding condition registration files 4.14 Copying files

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4.14. Copying files

(1) To copy a remote laser record conditions file, from

the remote laser record conditions file selection window,

place the cursor over the file to copy and select {EDIT}

{COPY FILE}.

(2) All data in the file indicated by the cursor will be

copied.

4.15. Pasting files

(1) To paste a remote laser record conditions file, from

the remote laser record conditions file selection

window, place the cursor over the destination file and

select {EDIT} {PASTE FILE}.



(3) The data in the file indicated by the cursor will be

overwritten with the data of the copied file.

* If no files have been copied, the paste function will

not operate.

4 Remote laser welding condition registration files 4.16 How to scan arbitrary shape files

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4.16. How to scan arbitrary shape files

(1) Insert an SD card or USB memory stick that contains arbitrary shape file data into

the programming pendant.

(2) Select {EX. MEMORY} {LOAD}.

(3) Select {FILE/GENERAL DATA}.

(4) Select {REMOTE LASER USER DATA} and press [ENTER]. The arbitrary shape file

created will be scanned.

4.17. How to back up arbitrary shape files

(1) Insert an SD card or USB memory stick into the programming pendant.

(2) Select {EX. MEMORY} {SAVE}.

(3) Select {FILE/GENERAL DATA}.

(4) Select {REMOTE LASER USER DATA} and press [ENTER]. The arbitrary shape

file(s) will be saved to the SD card or USB memory stick.

5 Remote laser welding programs 5.1 Using macro commands

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5. Remote laser welding programs

5.1. Using macro commands

To use a macro command, select [INFORM LIST] {MACRO} and choose the macro

command you want to use.

Macro command name Details

LASER_ON Turns the laser ON and starts (open welding file)

processing.

LASER_OF Turns the laser OFF.

L_READY Connects to the laser oscillator.

5 Remote laser welding programs 5.2 Macro command for turning on the laser (LASER_ON)

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5.2. Macro command for turning on the laser (LASER_ON)

RLPOS FILE NO.: Welding position file number (1 to

999) to open with the laser ON.

START POINT NO.: Point number (the maximum is the

number of points in the position file) from which to start

welding within the set position file.

CONT POINT NO.: The number of points to open

consecutively from the start point number (1 to 30).

Enter the above values and press [ENTER] to write the

data to the program.

* For diagrams, 5 to 6 points in welding position file 1

will be opened.

5.3. Macro command for turning off the laser (LASER_OF)

There are no arguments for the LASER_OF command,

so just press [ENTER].

When you press [ENTER], the data will be written to

the program.

5 Remote laser welding programs 5.4 Macro command for communication with the laser oscillator (L_READY)

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5.4. Macro command for communication with the laser oscillator

(L_READY)

LASER PRG NO: The program number set with the

laser oscillator.

Enter the above value and press [ENTER] to write the

data to the program.

* At delivery, the L_READY macro performs sequences for the following generic

inputs/outputs. Change the macros as needed to match the equipment and oscillator

being used.

(1) IN#(36) ON standby

(2) OT#(47) ON


(4) Set the program number for OG#(6)

(5) OT#(40) ON


(7) OT#(40) OFF

5 Remote laser welding programs 5.5 Sample welding programs

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5.5. Sample welding programs

The following is an example of a program for performing remote laser welding.

In the example job, point No. 5 and point No. 6 in the remote laser record position file No.

1 are welded between robot position and robot position .

* Call L_READY at the start of the job.

* If possible, have the robot move at a constant speed during welding.

Robot Position

Robot Position

Robot Position Robot Position

6 Descriptions of each function 6.1 Analog output settings for the laser oscillator (Yaskawa head only)

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6. Descriptions of each function

6.1. Analog output settings for the laser oscillator (Yaskawa head only)

* This function is available when using the remote laser with a Yaskawa Control head.

You can set analog output settings for the laser oscillator being used with the

equipment.

You can set the maximum value for laser power commands and the respective analog

values with the following S1E parameters. Set them to match the equipment.

Analog values for the laser power command values are used for interpolation of line

shapes with the maximum values set with the parameters as the upper limit.

Parameter Name Details Default Unit

S1E214

Maximum oscillator output Maximum oscillator output

(Maximum value for the laser

power command)

6000 [W]

S1E215 Analog values for

maximum oscillator output

Analog voltage during the

maximum laser power command

10 [V]

* The upper limit setting for the input value for laser power output in the remote laser

welding conditions record file is limited by the S1E001 value.

6.2. Laser power output timing correction function (all heads)

The laser scanner axis motion command and the laser power command are output

simultaneously to the planned trajectory.

However, due to the difference between mirror axis motion response to the axis motion

command and the laser oscillator's laser irradiation response to the laser power

command (usually laser oscillation response is quicker), the laser irradiation timing may

actually be earlier with respect to the laser irradiation position.

You can delay the timing of the laser power output command with the following S1E

parameter. Set it to match the processing conditions and equipment.


S1E42

Laser power output

timing correction

Delays the timing of the laser power

output command with respect to the

mirror axis command by the

specified amount of time.

0 [ms]

6 Descriptions of each function 6.3 Welding start timing and monitoring method (all heads)

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6.3. Welding start timing and monitoring method (all heads)

6.3.1. Welding start timing

There are two ways to monitor welding start timing.

You can specify the method with the following S1E parameter.


S1E66

Method for monitoring the

welding start range

Sets the method for monitoring the

welding start range.

(0: start point only; 1: entire path)

1 -

When S1E66 = 0 (start point only)


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When S1E66 = 1 (entire path)


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6.3.2. Setting exceptional states for signals

When points on paths other than the first path are outside the motion range, outside the

welding start range, or outside the laser power upper limit, or when welding is

interrupted, this function immediately turns ON the set generic output signal without

waiting for the LASER_OF command.

By using signals sent by this function, you can build a system that issues alarms

immediately or after all paths are completed.

These generic output signals can be turned off by turning from ON to OFF the generic

input signal for release specified by parameters.

The generic output signals will turn ON and, at the same time, the registers specified by

the parameters will output the welding point numbers (1 to 999) where exceptions occurred.

* When the generic input signal for release is turned OFF, output of welding point

numbers is cleared.


S1E52

Outside motion range

warning

Number for the generic output signal

to immediately turn ON when a point

is outside the motion range

0 (none) -

S1E53

Point number output

register upon an outside

motion range warning

Register number to output the point

number when a point is outside the

motion range

0 (none) -

S1E159

Number of the generic

input signal to release the

outside motion range

warning

Number of the generic input signal to

release the outside motion range

warning

-

S1E54

Outside start range

warning


to immediately turn ON when a point

is outside the start range

-

S1E55

Point number output

register upon an outside

start range warning


number when a point is outside the

start range

-

S1E160



outside start range

warning


release the outside start range

warning

-

S1E78

Laser power upper limit Upper limit for the laser power

command

(Threshold for monitoring the

exception status)

0

(No upper

limit)

[W]

S1E79 Laser power upper limit

warning


to immediately turn ON when the

-


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laser power command has

exceeded the upper limit

S1E80

Point number output

register upon a laser

power upper limit warning


number when the laser power

command has exceeded the upper

limit

-

S1E170



laser power upper limit

warning


release the laser power upper limit

warning

-

S1E162

Welding interruption

warning


to immediately turn ON upon the

occurrence of a minor failure alarm,

hold, emergency stop, work

prohibition signal, or motion

continuation prohibition

-

S1E163

Point number output

register upon a welding

interruption warning

Number of the register to output the

point number when a welding

interruption warning is issued

-

S1E161



welding interruption

warning


release the welding interruption

warning

-

S2C1288

Register write control

specification

Speeds up generic register writing

for point number output.

(0: OFF, 1: ON)

-

• For the first path, if the point position is outside the welding start range and the

distance from the light axis origin to the point position is increasing (becoming further

away), the path is deemed to be outside the welding range.

• The welding start range is set by parameters (S1E20, 21, 22, 23).

• If the first path is deemed to be outside the welding start range, the target of welding

control moves to the path of the next point, and the outside welding range warning

signal turns ON.

• If a welding complete command is issued during approach motion, the path is

unconditionally deemed to be outside the welding start range.

• The specification for determining if a path is outside the welding start range is ON

when S1E158=1.


S1E158

New outside welding start

range specification

Turns ON setting of monitoring to

determine if the first path is outside

the welding start range.

(0: OFF, 1: ON)

0 -

6 Descriptions of each function 6.4 Pincushion correction function (Yaskawa head only)

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6.4. Pincushion correction function (Yaskawa head only)


This function corrects the XYZ coordinate distance equivalence in the scanner motion

range for differences arising from errors in scanner assembly.

The pincushion correction function can be turned ON or OFF as needed with the

following parameters.

* Always restart the robot controller after switching the pincushion correction function

ON or OFF.


S1E210 Pincushion correction

function validity specification

Turns pincushion correction

ON. (0: OFF, 1: ON)

0 -

6.5. Scanner and communication handshake function (Yaskawa head

only)


This function performs a receipt processing check on response data from the scanner

during the 1-ms communication cycle between the scanner and the robot controller. An

alarm sounds if communication response stops due to a CAN cable disconnection or

scanner malfunction.

(If this function is turned OFF, the robot controller can only send signals from the

scanner on a 1-ms cycle during laser welding.)


S1E174 Handshake function

ON/OFF specification

Turns check processing ON or OFF.

(0: ON; not 0: OFF)

0 -

S1E175

Number of times for a

handshake timeout

Sets the number of delays when a

signal is not received.

(Recommended value: 2)

2 [ms]

([times])

6 Descriptions of each function 6.6 Scanner abnormality monitoring function (Yaskawa head only)

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6.6. Scanner abnormality monitoring function (Yaskawa head only)


This function monitors errors from the galvano driver for the head so that the system can

issue alarms. It also monitors the deviation between the motor feedback pulse from the

galvano driver and the command pulse; it issues an error if there is an abnormal

deviation. This function can be controlled with the following S1E parameters.


S1E236

X-axis feedback pulse

monitoring conditions

Specifies the upper limit for the

deviation between the feedback

pulse and the pulse command as

well as the acceptable value for the

number of successive attempts to

exceed the upper limit.

Top byte:

Upper limit of deviation (unit: 256

pulses)

Bottom byte:

Number of successive attempts to

exceed the limit (unit: times)

Example of the upper limit of

deviation: 1,024 pulses; number of

successive attempts to exceed the

limit: 5 times

Top byte: 4, bottom byte: 5

0x0405

1029 (decimal)

50

(4,000 pulses

when the top

is 0)

-

S1E237

Y-axis feedback pulse


50

(4,000 pulses

when the top

is 0)

-

S1E238

Z-axis feedback pulse


50

(4,000 pulses

when the top

is 0)

-

S1E239

Alarm OFF bit Turn OFF individual scanner

alarms.

(Alarm OFF for raised bits)

d0: Thermostat 1

d1: Thermostat 2

d2: X-axis

d3: Y-axis

d4: Z-axis

0

(all ON)

-

7 List of alarms 6.6 Scanner abnormality monitoring function (Yaskawa head only)

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7. List of alarms

Alarm

No.

Sub

code

Message Cause Response

5020

0 to 199 Parameter error

[decimal data]

There is an error in

the value set for a

sensor parameter

(S1E).

The subcode

number indicates the

number of the

sensor parameter

with an error.

Set the value for the sensor

parameter of the number

displayed to one within the

setting range.

5050

1 to 233 Motion extension

processing error

[decimal data]

A malfunction

occurred in the

internal interface.

Investigation at the Yaskawa

factory is required. Contact

the Yaskawa Design

Department with the details

and alarm data.

5051

1 to 201 Skill command

processing error

[decimal data]

An error occurred in

a macro command

description.



the Yaskawa Design

Department with the details,

alarm data, and macro

command for which the

alarm occurred.

5090

** System error

(remote laser)

[decimal data]

A malfunction

occurred in the

system of the remote

laser function

processing part.

Perform the action listed for

the relevant subcode below.

0 to 21 A malfunction

occurred in general

processing.



the Yaskawa Design


and alarm data.

30 A scanner

temperature error

was detected.

Check if the scanner is too

hot.

Check if the thermal switch

on the scanner is working

properly.

If it is broken, contact

Yaskawa.

5090 31 System error

(remote laser)

A scanner alarm was

issued.

Manually operate the

scanner shaft to check if it


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[decimal data] moves properly.


Yaskawa.

32 A CAN

communication error

was detected.

• Check if the CAN data

cable has become

disconnected or replace the

cable.

• Check if the 3D scanner is

powered on.

40 A thermal switch 1

error was detected.


hot.



properly.


Yaskawa.

41 A thermal switch 2

error was detected.


hot.



properly.


Yaskawa.

42 A galvano X-axis

error was detected.



moves properly.


Yaskawa.

43 A galvano Y-axis

error was detected.



moves properly.


Yaskawa.

5090

44 System error

(remote laser)

[decimal data]

A galvano Z-axis

error was detected.



moves properly.


Yaskawa.

45 A processing error

occurred on the

CAN-LVDS circuit

board in the scanner.



the Yaskawa Design


and alarm data.

5091 ** Remote laser

processing error

An error occurred

during remote laser

Perform the action for the

relevant subcode.


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[decimal data] function processing.

20 Welding position

teach file number

error

There is a mistake in the file

number specified in the

RL_ON command. Check

the file number.

21 Welding position

teach file not

registered

Check if there is a mistake in

the file number specified in

the RL_ON command.

Check that the file being

called has been created.

22 Welding position

teach file control

group error



the Yaskawa Design


and alarm data.

23 Welding position

teach file load MEI

processing timeout



the Yaskawa Design


and alarm data.

24 Welding position

teach file load MEI

processing error

The file specified in the

RL_ON command does not

exist.

Create the file.

25 Interpolation

trajectory center

generation error

(vector O)

Check if there is a problem

with the remote laser

welding conditions record file

settings.

5091

26 Remote laser

processing error

[decimal data]

Interpolation

trajectory center

generation error

(vector a)




settings.

27 Character string

center generation

error (vector O)




settings.

28 Character string

center generation

error (vector a)




settings.

33 Arbitrary shape load

error


with the arbitrary shape file.

34 Arbitrary shape load

timeout error



35 Control group error Check if there is a problem


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36 Tool file load timeout Check if there is a problem

with the tool data settings.

37 Tool file load error Check if there is a problem

with the tool data settings.

38 Teach position start

number error

Check the specified teach

position number.

39 Number of

continuous points

error

Check if only continuous

points have been taught.

43 Mismatch in the

conditions file,

transfer data, and

position number

Check if there is a mistake in

the conditions file number

specified in the remote laser

record position file.

5091

44 Remote laser

processing error

[decimal data]

Timeout while

retrieving the status

of generic input and

generic output

signals



the Yaskawa Design


and alarm data.

45 Error retrieving the

status of generic

input and generic

output signals



the Yaskawa Design


and alarm data.

46 Error caused by no

area for generic

output signal control



the Yaskawa Design


and alarm data.

50 CAN communication

error in remote laser

axis operation

Check the S1E parameter

settings.


error during remote

laser axis motion

control


settings.

52 Error during CAN

communication


settings.


error when sending

the laser delay time


settings.


connection error

• Check if the CAN-DAC is

powered on.

• Check if the scanner's

power LED is lit up.


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cable has become


cable.

55 Remote laser home

position check CAN

sending error


settings.

5091

56 Remote laser

processing error

[decimal data]

Remote laser home

position check CAN

receipt error


settings.

57, 58 CAN communication

answer back error

No CAN response

from the scanner

during welding


cable has become


cable.

• Check if the scanner's

power LED is lit up.

• Increase the response time

(increase S1E175=2).

60 Motion specification

error




settings.

200 Debugging settings

are configured

incorrectly.

Set S1E190 to 0.

8 S1E parameters 8.1 Yaskawa Control 3D 3.67x head (8MC33A-3C001A)

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8. S1E parameters

8.1. Yaskawa Control 3D 3.67x head (8MC33A-3C001A)

* Orange-colored cells are parameters that must be set to match the equipment.

S1E Item Details Unit Remarks Default

0 Laser application

specification

Set when there is a

laser application.

* Unmodifiable 96

1 Laser power input

limit

Limits the laser power

input value.

[W] Varies by

oscillator

specifications

6000

2 Welding speed input

limit

Limits the welding

speed input value.

[0.1 mm/s] 40000

8 Segment interrupt

mediation method

0: Mask method

(conventional)

2: Counter method

(new)

0

10 Servo delay time Factors in a delay of

the specified duration.

[ms] ON when

S1E46=0

(normally

S1E46=1)

160

20 Remote unit welding

start range: d1

Limits the welding start

point monitoring range.

(head Y-axis direction)

[μm] 200000


start range: d2



(head X-axis direction)

[μm] 200000


start range: Z+ side



(head +Z-axis

direction)

[μm] 50000


start range: Z- side



(head -Z-axis direction)

[μm] -50000

24 Remote unit motion

limit: d1

Limits the laser beam

motion range.


[μm] 200000


limit: d2


motion range.


[μm] 200000


limit: Z+ side


motion range.

(head +Z-axis

direction)

[μm] 50000


limit: Z- side


motion range.

[μm] -50000


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28 Amount of

jogging/inching

movement

Sets the amount of

guide laser movement

for inching during

teaching.

(speed 1)

[μm] 1000

29 Low jog movement Sets the guide laser

speed during teaching.

(speed 2)

[μm/s] 1000

30 Medium jog

movement

Sets the guide laser


(speed 3)

[μm/s] 8000

31 High jog movement Sets the guide laser


(speed 4)

[μm/s] 10000

32 High-speed jog

movement



(speed 5)

[μm/s] 10000

33 Range check area

rotation angle

Rotates the area

specified in S1E20 to

27.

[deg] * Unmodifiable 0

39 2D/3D specification Sets the scanner to 2D

or 3D.

0: 3D

1: 2D

* Unmodifiable 0

40 Generic output

specification during

welding

Turns ON generic

output specified during

welding.

Generic output

number

0 = No output 0

42 Laser power output

timing correction

Specifies the duration

of laser power output

delay to match the

mirror axis movement

delay.

[ms] 0

45 CAN-compatible

laser head

Specifies whether the

3D scanner is

CAN-compatible.

0: Not

compatible

1: Compatible

* Unmodifiable 1

50 Welding start

position limit

acceptable speed

Limits the scanner

speed up to the


[mm/s] 4000

51 Generic output

specification for the

laser pointer

Turns ON the pointer

when the designated

generic output is ON.

Generic output

number

0 = No output 0

52 Generic output



alarm

Turns the specified

generic output ON

when the unit is outside

the motion range

during welding.

Generic output

number

0 = No output 0


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53 Register



point number

Sends the point

number that is outside

the motion range to the

specified register.

Register

number

0 = No output 0

54 Generic output

specification the for

outside start range

alarm

Turns the specified

generic output ON

when the welding start

point is not in the

motion range.

Generic output

number

0 = No output 0

55 Register


outside start range

point number

Sends the point

number that is outside

the start range to the

specified register.

Register

number

0 = No output 0

56 Generic output

specification for

LASER OFF

Turns ON generic

output during execution

of the LASER OFF

command.

Generic output

number

0 = No output 0

57 IN signal

specification for laser

output correction

Corrects laser output

when the specified

generic input is ON.

Generic input

number

0 = No

correction

0

58 Register number for

laser output

correction factor

Specifies the register

number for the laser

output correction factor.

Register

number

0 = No

correction

0

59 Laser output value

register number

specification

Sends the laser output

value to the specified

register number.

Register

number

0 = No output 0

60 +Z direction

movement limit: h1

(Y coordinates)


motion range.

(+Z-axis direction)

[μm] 200000

61 +Z direction

movement limit: h2

(X coordinates)


motion range.

(+Z-axis direction)

[μm] 200000

62 -Z direction

movement limit: l1 (Y

coordinates)


motion range.

(-Z-axis direction)

[μm] 200000

63 -Z direction

movement limit: l2 (X

coordinates)


motion range.

(-Z-axis direction)

[μm] 200000

66 Method for

monitoring the

welding start range

Sets the method for

monitoring the welding

start range.

0: Start point

only

1: Entire path

1

67 Specification for

continuous laser

pointer ON during

test operation

Specifies laser pointer

control for test

operation during

teaching.

0: Forced OFF

1: Continuous

1


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72 Home position

motion during laser

pointer ON

Moves the guide laser

to the home position

when the laser pointer

is ON.

0: OFF

1: ON

0

73 Control of welding

speed during test

operation

Limits the welding

motion speed for test

operation during

teaching.

[%] 0

77 Alarm receiving

specification

Specifies receiving of

alarms from the

scanner.

0: No

1: Yes

1

78 Laser power upper

limit

Controls the upper limit

for laser output values.

[W] 0 = No upper

limit

Not required

due to control

with S1E001.

0

79 Generic output


laser power upper

limit check

Turns ON the specified

generic output when

the laser output

exceeds the S1E078

value.

Generic output

number

0 = No output 0

80 Specification of the

point number register

when outside the

laser power upper

limit

Sends the point

number that exceeds

the laser output upper

limit to the specified

register.

Register

number

0 = No output 0

85 X-axis position

correction

Corrects all welding

positions. (X-axis

direction)

[0.1 mm] 0

86 Y-axis position

correction


positions. (Y-axis

direction)

[0.1 mm] 0

87 Z-axis position

correction


positions. (Z-axis

direction)

[0.1 mm] 0

89 1 path welding limit

time

Limits the 1 path

welding time.

[ms] 5000

93 Specification to

control speed during

test operation

Limits the welding

motion speed to match

the robot speed limit

ratio for test operation

during teaching.

0: No

1: Yes

0

95 Restart of welding

after an alarm after

an emergency stop

Specifies whether to

restart welding after an

emergency stop.

0: No

1: Yes

1


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96 CAN data check

function

Checks communication

with the laser head.

[ms] 0 = OFF 5

99 End of welding move

to origin specification

Specifies the laser

head movement at the

end of welding.

0: No

movement

1: Move to

origin

0

153 Mirror standby

position specification

function

Forced mirror standby

position generic input

signal specification

Generic input

number

0 = OFF 0

154 Mirror standby


function


position tool X

component

[μm] 0

155 Mirror standby


function


position tool Y

component

[μm] 0

156 Mirror standby


function


position tool Z

component

[μm] 0

157 Electricity cutoff

function

Specification for the

generic input signal to

request forced laser

power OFF

Generic input

signal

0 = OFF 0


generic input to

release the outside

motion range alarm

Generic input

number

0 = OFF 0


generic input to

release the start

motion range alarm

Generic input

number

0 = OFF 0


generic input to

release the welding


Generic input

number

0 = OFF 0


generic output for the


warning

Generic output

number

0 = OFF 0


register for the


warning point

number

Sends the point

number where welding

was interrupted to the

specified register.

Register

number

0 = OFF 0

164 Record position file

window home

The following bit masks

turn OFF the axis for

Bit

specifications

0


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position return OFF

specification

position return.

d0: X-axis, d2: Y-axis

d3: Z-axis, d4: DF

165 Specification to

release the function

to turn off Z-axis

operation when

using a record

position window file

Releases the function

to turn off Z-axis

operation in the record

position window.

0: Operation

invalid

1: Operation

valid

0


generic input to

release the

continuous point no

welding warning

Generic input

number

0



continuous point no

welding warning

Generic output

number

0


register for the

number of

continuous points not

welded

Register

number

0 = OFF 0

170 Generic input

specification for

release of the laser

power upper limit

check

Generic input

number

0 = OFF 0


CAN data output

function for

debugging

Bit specifications

d0: Base XYZ [0.1 mm]

d1: scanner XYZ [0.01

mm]

Bit

specifications

* For

debugging

0


turning OFF the

communication

answer back check

function

Turns OFF the check

on sending and

receiving with the 3D

scanner.

0: Check

1: No check

0

175 Communication

answer back timeout

duration

Sets the duration for

communication not

being received.

[ms] 0

176 Number of wobbling

speed divisions

Sets the number of

calculations per 1 ms

when calculating

wobbling interpolation.

Register

number

0 = 100 times 0

177 Circular path rotation Rotational angle [deg] 0


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offset with no straight

line scanning

(clockwise rotation

around the tool Z-axis

is positive)

178 Alarm 'Laser tracking

processing error [54]'

generic output

number


generic output when

Alarm 5053 (Laser

tracking processing

error [54]) occurs.

Generic output

signal

0 = OFF 0

207 Pincushion

correction lattice X

size

Sets the X direction

spacing for pincushion

correction data.

[0.01 mm] 0

208 Pincushion

correction lattice Y

size

Sets the Y direction


correction data.

[0.01 mm] 0

209 Pincushion

correction lattice Z

size

Sets the Z direction


correction data.

[0.01 mm] 0

210 Pincushion

correction function

specification

Turns ON pincushion

correction.

0: OFF, 1: ON 0

211 X angle data

conversion factor

Data used in

calculation

0.01 * Unmodifiable 291270

212 Y angle data

conversion factor

Data used in

calculation


213 Z angle data

conversion factor

Data used in

calculation


214 Maximum oscillator

output

This is the oscillator's

maximum output.

[W] * Set this to

match the

equipment.

6000

215 Analog for maximum

oscillator output

This is the maximum

analog voltage sent

from the CAN-DAC.

[V] * Set this to

match the

equipment.

10

216 X-axis focal length Data used in

calculation

[0.1 mm] * Unmodifiable 3730

217 Y-axis focal length Data used in

calculation

[0.1 mm] * Unmodifiable 3730

218 3D head dist4 Data used in

calculation


219 3D head dist5 Data used in

calculation


220 X-axis mirror

oscillation angle

calculation

coefficient

Data used in

calculation


221 Y-axis mirror Data used in 0.001 * Unmodifiable 2000


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oscillation angle

calculation

coefficient

calculation

222 Maximum galvano

oscillation angle (X)

This is the maximum

X-axis mirror oscillation

angle.

* Unmodifiable 51700

223 Minimum galvano


This is the minimum


angle.


224 Maximum galvano

oscillation angle (Y)

This is the maximum

Y-axis mirror oscillation

angle.

*Unmodifiable 51700

225 Minimum galvano


This is the minimum


angle.


226 Maximum galvano

oscillation angle (Z)

This is the maximum

Z-axis mirror oscillation

angle.


227 Minimum galvano


This is the minimum


angle.

* Unmodifiable 3641

228 Formula selection Selects the formula to

use.

0: 2D

1: 3D

* Unmodifiable 1

230 Z-axis coefficient 1

(integer)

Data used in

calculation

* Unmodifiable -651586


(decimal)

Data used in

calculation

* Unmodifiable 10


(integer)

Data used in

calculation



(decimal)

Data used in

calculation

* Unmodifiable 9


(integer)

Data used in

calculation



(decimal)

Data used in

calculation

* Unmodifiable 10

236 X-axis feedback

pulse monitoring

conditions

Specifies the upper

limit for the deviation

between the feedback

pulse and the pulse

command as well as

the acceptable value

for the number of

successive attempts to


Top byte: Upper limit of

Top byte: 0 =

4096 pulses

Bottom byte: 0

= 25 times

0

237 Y-axis feedback

pulse monitoring

conditions

0

238 Z-axis feedback

pulse monitoring

conditions

0


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deviation (256 pulses)

Bottom byte: Number

of successive attempts

(times)

239 Alarm OFF bit Turns OFF individual

laser head alarms.

d0: Thermo 1

d1: Thermo 2

d2: X

d3: Y

d4: Z

0


receiving alarms

from the internal

PCB

Turns laser head

alarms ON or OFF.

0: No

1: Yes

1

241 Parameter

endianness

conversion

Data used in

calculation

0: No

1: Yes

* Unmodifiable 0

242 Position data

endianness

conversion

Data used in

calculation

0: No

1: Yes

* Unmodifiable 0

243 X-axis sign reversal Data used in

calculation

0: No

1: Yes

* Unmodifiable 1

244 Y-axis sign reversal Data used in

calculation

0: No

1: Yes

* Unmodifiable 0

245 Z-axis sign reversal Data used in

calculation

0: No

1: Yes

* Unmodifiable 1

246 Defocus sign

reversal

Data used in

calculation

0: No

1: Yes

* Unmodifiable 1

8 S1E parameters 8.2 Trumpf PFO head

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8.2. Trumpf PFO head


0 Laser application

specification

Set when there is a laser

application.

* Unmodifiable 96

1 Laser power input limit Limits the laser power

input value.

[W] Varies by

oscillator

specifications

6000


limit

Limits the welding speed

input value.

[0.1 mm/s] Varies by

head

specifications

40000

8 Segment interrupt

mediation method

0: Mask method

(conventional)

2: Counter method (new)

0

10 Servo delay time Factors in a delay of the

specified duration.

[ms] ON when

S1E46=0

(normally

S1E46=1)

160


start range: d1




[μm] Varies by

head

specifications

Set to match

the head

specifications.

The welding

start range of

the remote

laser unit

should always

be set to less

than the

remote laser

head

movement

limit.

When using

2D heads, set

the Z-axis

direction

parameter to

10000 [μm].

180000


start range: d2




[μm] 50000





(head +Z-axis direction)

[μm] 30000






[μm] -30000


limit: d1


motion range.


[μm] 240000


limit: d2


motion range.


[μm] 140000


limit: Z+ side


motion range.


[μm] 40000


limit: Z- side


motion range.


[μm] -40000

28 Amount of

jogging/inching

movement

Sets the amount of guide

laser movement for

inching during teaching.

[μm] 1000


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(speed 1)



(speed 2)

[μm/s] 1000

30 Medium jog movement Sets the guide laser


(speed 3)

[μm/s] 8000



(speed 4)

[μm/s] 10000

32 High-speed jog

movement



(speed 5)

[μm/s] 10000

33 Range check area

rotation angle

Rotates the area

specified in S1E20 to 27.


39 2D/3D specification Sets the scanner to 2D or

3D.

0: 3D

1: 2D

* Unmodifiable 0

40 Generic output


welding

Turns ON generic output

specified during welding.

Generic

output number

0 = No output 0


timing correction

Specifies the duration of

laser power output delay

to match the mirror axis

movement delay.

[ms] 0

45 CAN-compatible laser

head

Specifies whether the 3D

scanner is

CAN-compatible.

(Yaskawa Control head)

0: Not

compatible

1: Compatible

* Unmodifiable 0

50 Welding start position

limit acceptable speed

Limits the scanner speed

up to the welding start

point.

[mm/s] 4000

51 Generic output

specification for laser

pointer


when the designated

generic output is ON

Generic

output number

0 = No output 0

52 Generic output



alarm

Turns the specified

generic output ON when

the unit is outside the

motion range during

welding.

Generic

output number

0 = No output 0

53 Register specification

for the outside motion

range point number

Sends the point number

that is outside the motion

range to the specified

register.

Register

number

0 = No output 0

54 Generic output

specification for

Turns the specified


Generic

output number

0 = No output 0


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outside start range

alarm

the welding start point is

not in the motion range


for the outside start

range point number


that is outside the start


register.

Register

number

0 = No output 0

56 Generic output

specification for

LASER OFF


during execution of the

LASER OFF command.

Generic

output number

0 = No output 0

57 IN signal specification

for laser output

correction


when the specified


Generic input

number

0 = no

correction

0


laser output correction

factor




Register

number

0 = no

correction

0


register number

specification



register number.

Register

number

0 = No output 0

60 +Z direction

movement limit: h1 (Y

coordinates)


motion range.

(+Z-axis direction)

[μm] 0

61 +Z direction

movement limit: h2 (X

coordinates)


motion range.

(+Z-axis direction)

[μm] 0

62 -Z direction movement

limit: l1 (Y coordinates)


motion range.

(-Z-axis direction)

[μm] 0

63 -Z direction movement

limit: l2 (X coordinates)


motion range.

(-Z-axis direction)

[μm] 0

66 Method for monitoring

the welding start range

Sets the method for


start range.

0: Start point

only

1: Entire path

1


continuous laser

pointer ON during test

operation


control for test operation

during teaching.

0: Forced OFF

1: Continuous

0

72 Home position motion

during laser pointer

ON

Moves the guide laser to

the home position when

the laser pointer is ON.

0: OFF

1: ON

0


speed during test

operation

Limits the welding motion

speed for test operation

during teaching.

[%] 0

77 Alarm receiving

specification


alarms from the scanner.

0: No

1: Yes

* Unmodifiable 0


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78 Laser power upper

limit

Controls the upper limit

for laser output values.

[W] 0 = No upper

limit

Not required

due to control

with S1E001.

0

79 Generic output


laser power upper limit

check


generic output when the

laser output exceeds the

S1E078 value.

Generic

output number

0 = No output 0

80 Outside the laser

power upper limit


specification


that exceeds the laser

output upper limit to the

specified register.

Register

number

0 = No output 0

85 X-axis position

correction


positions. (X-axis

direction)

[0.1 mm] 0

86 Y-axis position

correction


positions. (Y-axis

direction)

[0.1 mm] 0

87 Z-axis position

correction


positions. (Z-axis

direction)

[0.1 mm] 0


time

Limits the 1 path welding

time.

[ms] 5000

93 Specification to control

speed during test

operation


speed to match the robot

speed limit ratio for test

operation during

teaching.

0: No

1: Yes

0


after an alarm after an

emergency stop



emergency stop.

0: No

1: Yes

1

96 CAN data check

function



[ms] * Unmodifiable 0



Specifies the laser head

movement at the end of

welding.

0: No

movement

1: Move to

origin

1

153 Mirror standby position

specification function




Generic input

number

0 = OFF 0




position tool X

component

[μm] 0

155 Mirror standby position Forced mirror standby [μm] 0


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specification function position tool Y

component




position tool Z

component

[μm] 0


function




power OFF

Generic input

signal

0 = OFF 0


generic input to

release the outside

motion range alarm

Generic input

number

0 = OFF 0


generic input to

release the outside

start range alarm

Generic input

number

0 = OFF 0


generic input to

release the welding


Generic input

number

0 = OFF 0




warning

Generic

output number

0 = OFF 0


register for the welding


point number


where welding was

interrupted to the

specified register.

Register

number

0 = OFF 0


window home position

return OFF

specification



position return.


d3: Z-axis, d4: DF

Bit

specifications

0


release the function to

turn off Z-axis

operation when using

a record position

window file

Releases the function to

turn off Z-axis operation

in the record position

window.

0: Operation

invalid

1: Operation

valid

0


generic input to

release the continuous

point no welding

warning

Generic input

number

0


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continuous point no

welding warning

Generic

output number

0


register for the number

of continuous points

not welded

Register

number

0 = OFF 0

170 Generic input

specification for


power upper limit

check

Generic input

number

0 = OFF 0


CAN data output

function for debugging

Bit specifications



mm]

Bit

specifications

* For

debugging

0


speed divisions

Sets the number of


when calculating


Register

number

0 = 100 times 0

177 Circular path rotation


line scanning

Rotational angle

(clockwise rotation

around the tool Z-axis is

positive)

[deg] 0



generic output number


generic output when

Alarm 5053 (Laser

tracking processing error

[54]) occurs.

Generic

output signal

0 = OFF 0

* Orange-colored cells are parameters that must be reconfigured to match the head

specifications and equipment.

8 S1E parameters 8.3 Yaskawa Control 3D 3.8x Head (8MC44A-3C001A)

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8.3. Yaskawa Control 3D 3.8x Head (8MC44A-3C001A)

* Orange-colored cells are parameters that must be set to match the equipment.


0 Laser application

specification

Set when there is a laser

application.

* Unmodifiable 96

1 Laser power input

limit

Limits the laser power

input value.

[W] Varies by

oscillator

specifications

6000


limit

Limits the welding speed

input value.

[0.1 mm/s] 40000

8 Segment interrupt

mediation method

0: Mask method

(conventional)

2: Counter method (new)

0

10 Servo delay time Factors in a delay of the

specified duration.

[ms] ON when

S1E46=0

(normally

S1E46=1)

160


start range: d1




[μm] 240000


start range: d2




[μm] 256000






[μm] 100000






[μm] -100000


limit: d1


motion range.


[μm] 240000


limit: d2


motion range.


[μm] 256000


limit: Z+ side


motion range.


[μm] 100000


limit: Z- side


motion range.


[μm] -100000

28 Amount of

jogging/inching

movement

Sets the amount of guide

laser movement for

inching during teaching.

[μm] 1000


8-87

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(speed 1)



(speed 2)

[μm/s] 1000

30 Medium jog

movement



(speed 3)

[μm/s] 8000



(speed 4)

[μm/s] 10000

32 High-speed jog

movement



(speed 5)

[μm/s] 10000

33 Range check area

rotation angle

Rotates the area

specified in S1E20 to 27.


39 2D/3D specification Sets the scanner to 2D or

3D.

0: 3D

1: 2D

* Unmodifiable 0

40 Generic output


welding


specified during welding.

Generic

output

number

0 = No output 0


timing correction

Specifies the duration of

laser power output delay

to match the mirror axis

movement delay.

[ms] 0

45 CAN-compatible

laser head

Specifies whether the 3D

scanner is

CAN-compatible.

0: Not

compatible

1: Compatible

* Unmodifiable 1

50 Welding start position

limit acceptable

speed

Limits the scanner speed

up to the welding start

point.

[mm/s] 4000

51 Generic output


laser pointer


when the designated

generic output is ON.

Generic

output

number

0 = No output 0

52 Generic output



alarm

Turns the specified


the unit is outside the

motion range during

welding.

Generic

output

number

0 = No output 0


for the outside motion

range point number


that is outside the motion


register.

Register

number

0 = No output 0

54 Generic output


outside start range

Turns the specified


the welding start point is

Generic

output

number

0 = No output 0


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alarm outside the motion range.


for the outside start

range point number


that is outside the start


register.

Register

number

0 = No output 0

56 Generic output

specification for

LASER OFF


during execution of the

LASER OFF command.

Generic

output

number

0 = No output 0

57 IN signal specification

for laser output

correction


when the specified


Generic input

number

0 = No

correction

0


laser output

correction factor




Register

number

0 = No

correction

0


register number

specification



register number.

Register

number

0 = No output 0

60 +Z direction

movement limit: h1 (Y

coordinates)


motion range.

(+Z-axis direction)

[μm] 280000

61 +Z direction

movement limit: h2 (X

coordinates)


motion range.

(+Z-axis direction)

[μm] 296000

62 -Z direction

movement limit: l1 (Y

coordinates)


motion range.

(-Z-axis direction)

[μm] 200000

63 -Z direction

movement limit: l2 (X

coordinates)


motion range.

(-Z-axis direction)

[μm] 216000

66 Method for monitoring

the welding start

range

Sets the method for


start range.

0: Start point

only

1: Entire path

1


continuous laser

pointer ON during

test operation


control for test operation

during teaching.

0: Forced

OFF

1: Continuous

1

72 Home position motion

during laser pointer

ON

Moves the guide laser to

the home position when

the laser pointer is ON.

0: OFF

1: ON

0


speed during test

operation


speed for test operation

during teaching.

[%] 0

77 Alarm receiving

specification


alarms from the scanner.

0: No

1: Yes

1

78 Laser power upper Controls the upper limit [W] 0 = No upper 0


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limit for laser output values. limit

Not required

due to control

with S1E001

79 Generic output


laser power upper

limit check


generic output when the

laser output exceeds the

S1E078 value.

Generic

output

number

0 = No output 0



when outside the

laser power upper

limit specification


that exceeds the laser

output upper limit to the

specified register.

Register

number

0 = No output 0

85 X-axis position

correction


positions. (X-axis

direction)

[0.1 mm] 0

86 Y-axis position

correction


positions. (Y-axis

direction)

[0.1 mm] 0

87 Z-axis position

correction


positions. (Z-axis

direction)

[0.1 mm] 0


time

Limits the 1 path welding

time.

[ms] 5000

93 Specification to

control speed during

test operation


speed to match the robot

speed limit ratio for test

operation during

teaching.

0: No

1: Yes

0


after an alarm after

an emergency stop



emergency stop.

0: No

1: Yes

1

96 CAN data check

function



[ms] 0 = OFF 5



Specifies the laser head

movement at the end of

welding.

0: No

movement

1: Move to

origin

0

153 Mirror standby


function




Generic input

number

0 = OFF 0

154 Mirror standby


function


position tool X component

[μm] 0

155 Mirror standby Forced mirror standby [μm] 0


8-90

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function

position tool Y component

156 Mirror standby


function


position tool Z component

[μm] 0


function




power OFF

Generic input

signal

0 = OFF 0


generic input to

release the outside

motion range alarm

Generic input

number

0 = OFF 0


generic input to

release the outside

start range alarm

Generic input

number

0 = OFF 0


generic input to

release the welding


Generic input

number

0 = OFF 0




warning

Generic

output

number

0 = OFF 0


register for the


warning point number


where welding was

interrupted to the

specified register.

Register

number

0 = OFF 0


window home

position return OFF

specification



position return.


d3: Z-axis, d4: DF

Bit

specifications

0


release the function

to turn off Z-axis

operation when using

a record position

window file

Releases the function to

turn off Z-axis operation

in the record position

window.

0: Operation

invalid

1: Operation

valid

0


generic input to

release the

continuous point no

welding warning

Generic input

number

0


8-91

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continuous point no

welding warning

Generic

output

number

0


register for the

number of continuous

points not welded

Register

number

0 = OFF 0

170 Generic input

specification for


power upper limit

check

Generic input

number

0 = OFF 0


CAN data output

function for

debugging

Bit specifications



mm]

Bit

specifications

*For

debugging

0

174 Specification for turn

OFF the

communication

answer back check

function

Turns OFF the check on

sending and receiving

with the 3D scanner.

0: Check

1: No check

0

175 Communication

answer back timeout

duration

Sets the duration for

communication not being

received.

[ms] 0


speed divisions

Sets the number of


when calculating


Register

number

0 = 100 times 0

177 Circular path rotation


line scanning

Rotational angle

(clockwise rotation

around the tool Z-axis is

positive)

[deg] 0



generic output

number


generic output when

Alarm 5053 (Laser

tracking processing error

[54]) occurs.

Generic

output signal

0 = OFF 0

207 Pincushion correction

lattice X size

Sets the X direction


correction data.

[0.01 mm] 0


lattice Y size

Sets the Y direction


correction data.

[0.01 mm] 0

209 Pincushion correction Sets the Z direction [0.01 mm] 0


8-92

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lattice Z size spacing for pincushion

correction data.


function specification

Turns ON pincushion

correction.

0: OFF, 1: ON 0

211 X angle data

conversion factor

Data used in calculation 0.01 * Unmodifiable 291270

212 Y angle data

conversion factor


213 Z angle data

conversion factor


214 Maximum oscillator

output

This is the oscillator's

maximum output.

[W] * Set this to

match the

equipment

6000

215 Analog for maximum

oscillator output

This is the maximum

analog voltage sent from

the CAN-DAC.

[V] * Set this to

match the

equipment

10

216 X-axis focal length Data used in calculation [0.1 mm] * Unmodifiable 3730

217 Y-axis focal length Data used in calculation [0.1 mm] * Unmodifiable 3730

218 3D head dist4 Data used in calculation 0.1 * Unmodifiable 380

219 3D head dist5 Data used in calculation 0.1 * Unmodifiable 5951

220 X-axis mirror

oscillation angle

calculation coefficient


221 Y-axis mirror

oscillation angle

calculation coefficient


222 Maximum galvano


This is the maximum


angle.


223 Minimum galvano


This is the minimum


angle.


224 Maximum galvano


This is the maximum


angle.


225 Minimum galvano


This is the minimum


angle.


226 Maximum galvano


This is the maximum


angle.


227 Minimum galvano


This is the minimum


angle

* Unmodifiable 3932


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228 Formula selection Selects the formula to

use.

0: 2D

1: 3D

* Unmodifiable 1


(integer)

Data used in calculation * Unmodifiable -37872300

8


(decimal)

Data used in calculation * Unmodifiable 13


(integer)



(decimal)



(integer)



(decimal)


236 X-axis feedback

pulse monitoring

conditions

Specifies the upper limit

for the deviation between

the feedback pulse and

the pulse command as

well as the acceptable

value for the number of

successive attempts to


Top byte: Upper limit of

deviation (256 pulses)

Bottom byte: Number of

successive attempts

(times)

Top byte:

0 = 4096

pulses

Bottom byte:

0 = 25 times

0

237 Y-axis feedback pulse


0

238 Z-axis feedback pulse


0

239 Alarm OFF bit Turns OFF individual

laser head alarms.

d0: Thermo 1

d1: Thermo 2

d2: X

d3: Y

d4: Z

0


receiving alarms from

the internal PCB

Turns laser head alarms

ON or OFF.

0: No

1: Yes

1

241 Parameter

endianness

conversion

Data used in calculation 0: No

1: Yes

* Unmodifiable 0

242 Position data

endianness

conversion

Data used in calculation 0: No

1: Yes

* Unmodifiable 0

243 X-axis sign reversal Data used in calculation 0: No

1: Yes

* Unmodifiable 1

244 Y-axis sign reversal Data used in calculation 0: No

1: Yes

* Unmodifiable 0


8-94

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245 Z-axis sign reversal Data used in calculation 0: No

1: Yes

* Unmodifiable 1

246 Defocus sign reversal Data used in calculation 0: No

1: Yes

* Unmodifiable 1

* Blue-colored cells are parameters whose settings differ from those of the Yaskawa

Control 3.67x head (8MC33A-3C001A).

HW1486273

Specifications are subject to change without notice for ongoing modifications and improvements.

95 / 95

MANUAL No.

© Printed in Japan August 2019 19-08

1

YRC1000 OPTIONS

INSTRUCTIONS FOR REMOTE LASER FUNCTION

Documents

YRC1000 OPTIONS INSTRUCTIONS FOR REMOTE LASER FUNCTION€¦ · Safety Signs identified by the signal word DANGER should be used sparingly and only for those situations presenting