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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.
2 Operation of the remote laser function from the pendant 2.4 Operating the remote laser
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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
2 Operation of the remote laser function from the pendant 2.4 Operating the remote laser
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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,
and match the cursor on the monitor with the welding
start point.
(2) Press [MODIFY] + [ENTER] to register the
welding start point.
(3) Move the guide laser to the welding end point,
and match the cursor on the monitor with the welding
end point.
(4) Press [MODIFY] + [ENTER] to register the
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}.
(2) A dialog box will appear with the message,
"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}.
(2) A dialog box will appear with the message,
"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}.
(2) A dialog box will appear with the message,
"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}.
(2) A dialog box will appear with the message,
"Paste?" Click {YES}.
(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.
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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.
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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].
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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
Shift amount for automatic
setting of the welding end point
Tool coordinates x
component
(Range: 0 to 200 mm)
[μm]
SxE195
Shift amount for automatic
setting of the welding end point
Tool coordinates x
component
(Range: 0 to 200 mm)
[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
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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.
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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}.
(2) A dialog box will appear with the message,
"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.
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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}.
(2) A dialog box will appear with the message,
"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.
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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}.
(2) A dialog box will appear with the message,
"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.)
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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.
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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}.
(2) A dialog box will appear with the message,
"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}.
(2) A dialog box will appear with the message,
"Paste?" Click {YES}.
(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.
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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.
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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.
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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
(3) IN#(47) ON standby
(4) Set the program number for OG#(6)
(5) OT#(40) ON
(6) IN#(40) ON standby
(7) OT#(40) OFF
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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
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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.
Parameter Name Details Default Unit
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]
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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.
Parameter Name Details Default Unit
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)
6 Descriptions of each function 6.3 Welding start timing and monitoring method (all heads)
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When S1E66 = 1 (entire path)
6 Descriptions of each function 6.3 Welding start timing and monitoring method (all heads)
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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.
Parameter Name Details Default Unit
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
Number for the generic output signal
to immediately turn ON when a point
is outside the start range
-
S1E55
Point number output
register upon an outside
start range warning
Register number to output the point
number when a point is outside the
start range
-
S1E160
Number of the generic
input signal to release the
outside start range
warning
Number of the generic input signal to
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
Number for the generic output signal
to immediately turn ON when the
-
6 Descriptions of each function 6.3 Welding start timing and monitoring method (all heads)
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laser power command has
exceeded the upper limit
S1E80
Point number output
register upon a laser
power upper limit warning
Register number to output the point
number when the laser power
command has exceeded the upper
limit
-
S1E170
Number of the generic
input signal to release the
laser power upper limit
warning
Number of the generic input signal to
release the laser power upper limit
warning
-
S1E162
Welding interruption
warning
Number for the generic output signal
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
Number of the generic
input signal to release the
welding interruption
warning
Number of the generic input signal to
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.
Parameter Name Details Default Unit
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 -
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6.4. Pincushion correction function (Yaskawa head only)
* This function is available when using the remote laser with a Yaskawa Control head.
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.
Parameter Name Details Default Unit
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 is available when using the remote laser with a Yaskawa Control head.
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.)
Parameter Name Details Default Unit
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 is available when using the remote laser with a Yaskawa Control head.
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.
Parameter Name Details Default Unit
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
monitoring conditions
50
(4,000 pulses
when the top
is 0)
-
S1E238
Z-axis feedback pulse
monitoring conditions
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)
-
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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.
Investigation at the Yaskawa
factory is required. Contact
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.
Investigation at the Yaskawa
factory is required. Contact
the Yaskawa Design
Department with the details
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
7 List of alarms 6.6 Scanner abnormality monitoring function (Yaskawa head only)
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[decimal data] moves properly.
If it is broken, contact
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.
Check if the scanner is too
hot.
Check if the thermal switch
on the scanner is working
properly.
If it is broken, contact
Yaskawa.
41 A thermal switch 2
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.
42 A galvano X-axis
error was detected.
Manually operate the
scanner shaft to check if it
moves properly.
If it is broken, contact
Yaskawa.
43 A galvano Y-axis
error was detected.
Manually operate the
scanner shaft to check if it
moves properly.
If it is broken, contact
Yaskawa.
5090
44 System error
(remote laser)
[decimal data]
A galvano Z-axis
error was detected.
Manually operate the
scanner shaft to check if it
moves properly.
If it is broken, contact
Yaskawa.
45 A processing error
occurred on the
CAN-LVDS circuit
board in the scanner.
Investigation at the Yaskawa
factory is required. Contact
the Yaskawa Design
Department with the details
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
Investigation at the Yaskawa
factory is required. Contact
the Yaskawa Design
Department with the details
and alarm data.
23 Welding position
teach file load MEI
processing timeout
Investigation at the Yaskawa
factory is required. Contact
the Yaskawa Design
Department with the details
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)
Check if there is a problem
with the remote laser
welding conditions record file
settings.
27 Character string
center generation
error (vector O)
Check if there is a problem
with the remote laser
welding conditions record file
settings.
28 Character string
center generation
error (vector a)
Check if there is a problem
with the remote laser
welding conditions record file
settings.
33 Arbitrary shape load
error
Check if there is a problem
with the arbitrary shape file.
34 Arbitrary shape load
timeout error
Check if there is a problem
with the arbitrary shape file.
35 Control group error Check if there is a problem
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with the arbitrary shape file.
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
Investigation at the Yaskawa
factory is required. Contact
the Yaskawa Design
Department with the details
and alarm data.
45 Error retrieving the
status of generic
input and generic
output signals
Investigation at the Yaskawa
factory is required. Contact
the Yaskawa Design
Department with the details
and alarm data.
46 Error caused by no
area for generic
output signal control
Investigation at the Yaskawa
factory is required. Contact
the Yaskawa Design
Department with the details
and alarm data.
50 CAN communication
error in remote laser
axis operation
Check the S1E parameter
settings.
51 CAN communication
error during remote
laser axis motion
control
Check the S1E parameter
settings.
52 Error during CAN
communication
Check the S1E parameter
settings.
53 CAN communication
error when sending
the laser delay time
Check the S1E parameter
settings.
54 CAN communication
connection error
• Check if the CAN-DAC is
powered on.
• Check if the scanner's
power LED is lit up.
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• Check if the CAN data
cable has become
disconnected or replace the
cable.
55 Remote laser home
position check CAN
sending error
Check the S1E parameter
settings.
5091
56 Remote laser
processing error
[decimal data]
Remote laser home
position check CAN
receipt error
Check the S1E parameter
settings.
57, 58 CAN communication
answer back error
No CAN response
from the scanner
during welding
• Check if the CAN data
cable has become
disconnected or replace the
cable.
• Check if the scanner's
power LED is lit up.
• Increase the response time
(increase S1E175=2).
60 Motion specification
error
Check if there is a problem
with the remote laser
welding conditions record file
settings.
200 Debugging settings
are configured
incorrectly.
Set S1E190 to 0.
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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
21 Remote unit welding
start range: d2
Limits the welding start
point monitoring range.
(head X-axis direction)
[μm] 200000
22 Remote unit welding
start range: Z+ side
Limits the welding start
point monitoring range.
(head +Z-axis
direction)
[μm] 50000
23 Remote unit welding
start range: Z- side
Limits the welding start
point monitoring range.
(head -Z-axis direction)
[μm] -50000
24 Remote unit motion
limit: d1
Limits the laser beam
motion range.
(head Y-axis direction)
[μm] 200000
25 Remote unit motion
limit: d2
Limits the laser beam
motion range.
(head X-axis direction)
[μm] 200000
26 Remote unit motion
limit: Z+ side
Limits the laser beam
motion range.
(head +Z-axis
direction)
[μm] 50000
27 Remote unit motion
limit: Z- side
Limits the laser beam
motion range.
[μm] -50000
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(head -Z-axis direction)
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 during teaching.
(speed 3)
[μm/s] 8000
31 High jog movement Sets the guide laser
speed during teaching.
(speed 4)
[μm/s] 10000
32 High-speed jog
movement
Sets the guide laser
speed during teaching.
(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
welding start point.
[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
specification for the
outside motion range
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
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 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
specification for the
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)
Limits the laser beam
motion range.
(+Z-axis direction)
[μm] 200000
61 +Z direction
movement limit: h2
(X coordinates)
Limits the laser beam
motion range.
(+Z-axis direction)
[μm] 200000
62 -Z direction
movement limit: l1 (Y
coordinates)
Limits the laser beam
motion range.
(-Z-axis direction)
[μm] 200000
63 -Z direction
movement limit: l2 (X
coordinates)
Limits the laser beam
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
specification for the
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
Corrects all welding
positions. (Y-axis
direction)
[0.1 mm] 0
87 Z-axis position
correction
Corrects all welding
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
position specification
function
Forced mirror standby
position tool X
component
[μm] 0
155 Mirror standby
position specification
function
Forced mirror standby
position tool Y
component
[μm] 0
156 Mirror standby
position specification
function
Forced mirror standby
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
159 Specification for
generic input to
release the outside
motion range alarm
Generic input
number
0 = OFF 0
160 Specification for
generic input to
release the start
motion range alarm
Generic input
number
0 = OFF 0
161 Specification for
generic input to
release the welding
interruption warning
Generic input
number
0 = OFF 0
162 Specification for
generic output for the
welding interruption
warning
Generic output
number
0 = OFF 0
163 Specification of the
register for the
welding interruption
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
167 Specification for
generic input to
release the
continuous point no
welding warning
Generic input
number
0
168 Specification for
generic output for the
continuous point no
welding warning
Generic output
number
0
169 Specification of the
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
171 Specification of the
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
174 Specification for
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
Turns ON the specified
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
spacing for pincushion
correction data.
[0.01 mm] 0
209 Pincushion
correction lattice Z
size
Sets the Z direction
spacing for pincushion
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
0.01 * Unmodifiable 291270
213 Z angle data
conversion factor
Data used in
calculation
0.01 * Unmodifiable 145635
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 5953
220 X-axis mirror
oscillation angle
calculation
coefficient
Data used in
calculation
0.001 * Unmodifiable 2000
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
oscillation angle (X)
This is the minimum
X-axis mirror oscillation
angle.
* Unmodifiable 13836
224 Maximum galvano
oscillation angle (Y)
This is the maximum
Y-axis mirror oscillation
angle.
*Unmodifiable 51700
225 Minimum galvano
oscillation angle (Y)
This is the minimum
Y-axis mirror oscillation
angle.
* Unmodifiable 13836
226 Maximum galvano
oscillation angle (Z)
This is the maximum
Z-axis mirror oscillation
angle.
* Unmodifiable 61895
227 Minimum galvano
oscillation angle (Z)
This is the minimum
Z-axis mirror oscillation
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
231 Z-axis coefficient 1
(decimal)
Data used in
calculation
* Unmodifiable 10
232 Z-axis coefficient 2
(integer)
Data used in
calculation
* Unmodifiable 41400304
233 Z-axis coefficient 2
(decimal)
Data used in
calculation
* Unmodifiable 9
234 Z-axis coefficient 3
(integer)
Data used in
calculation
* Unmodifiable 872664626
235 Z-axis coefficient 3
(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
exceed the upper limit.
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
8 S1E parameters 8.1 Yaskawa Control 3D 3.67x head (8MC33A-3C001A)
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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
240 Specification for
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
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8.2. Trumpf PFO head
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] 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
20 Remote unit welding
start range: d1
Limits the welding start
point monitoring range.
(head Y-axis direction)
[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
21 Remote unit welding
start range: d2
Limits the welding start
point monitoring range.
(head X-axis direction)
[μm] 50000
22 Remote unit welding
start range: Z+ side
Limits the welding start
point monitoring range.
(head +Z-axis direction)
[μm] 30000
23 Remote unit welding
start range: Z- side
Limits the welding start
point monitoring range.
(head -Z-axis direction)
[μm] -30000
24 Remote unit motion
limit: d1
Limits the laser beam
motion range.
(head Y-axis direction)
[μm] 240000
25 Remote unit motion
limit: d2
Limits the laser beam
motion range.
(head X-axis direction)
[μm] 140000
26 Remote unit motion
limit: Z+ side
Limits the laser beam
motion range.
(head +Z-axis direction)
[μm] 40000
27 Remote unit motion
limit: Z- side
Limits the laser beam
motion range.
(head -Z-axis direction)
[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)
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 during teaching.
(speed 3)
[μm/s] 8000
31 High jog movement Sets the guide laser
speed during teaching.
(speed 4)
[μm/s] 10000
32 High-speed jog
movement
Sets the guide laser
speed during teaching.
(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.
(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
Turns ON the pointer
when the designated
generic output is ON
Generic
output number
0 = No output 0
52 Generic output
specification for the
outside motion range
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 ON when
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
55 Register specification
for the 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)
Limits the laser beam
motion range.
(+Z-axis direction)
[μm] 0
61 +Z direction
movement limit: h2 (X
coordinates)
Limits the laser beam
motion range.
(+Z-axis direction)
[μm] 0
62 -Z direction movement
limit: l1 (Y coordinates)
Limits the laser beam
motion range.
(-Z-axis direction)
[μm] 0
63 -Z direction movement
limit: l2 (X coordinates)
Limits the laser beam
motion range.
(-Z-axis direction)
[μm] 0
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
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
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
* 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
specification for the
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 Outside the laser
power upper limit
point number register
specification
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
Corrects all welding
positions. (Y-axis
direction)
[0.1 mm] 0
87 Z-axis position
correction
Corrects all welding
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
96 CAN data check
function
Checks communication
with the laser head.
[ms] * Unmodifiable 0
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
1
153 Mirror standby position
specification function
Forced mirror standby
position generic input
signal specification
Generic input
number
0 = OFF 0
154 Mirror standby position
specification function
Forced mirror standby
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
156 Mirror standby position
specification function
Forced mirror standby
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
159 Specification for
generic input to
release the outside
motion range alarm
Generic input
number
0 = OFF 0
160 Specification for
generic input to
release the outside
start range alarm
Generic input
number
0 = OFF 0
161 Specification for
generic input to
release the welding
interruption warning
Generic input
number
0 = OFF 0
162 Specification for
generic output for the
welding interruption
warning
Generic
output number
0 = OFF 0
163 Specification of the
register for the welding
interruption 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 position
return OFF
specification
The following bit masks
turn OFF the axis for
position return.
d0: X-axis, d2: Y-axis
d3: Z-axis, d4: DF
Bit
specifications
0
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
167 Specification for
generic input to
release the continuous
point no welding
warning
Generic input
number
0
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168 Specification for
generic output for the
continuous point no
welding warning
Generic
output number
0
169 Specification of the
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
171 Specification of the
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
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
offset with no straight
line scanning
Rotational angle
(clockwise rotation
around the tool Z-axis is
positive)
[deg] 0
178 Alarm 'Laser tracking
processing error [54]'
generic output number
Turns ON the specified
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.
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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.
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] 240000
21 Remote unit welding
start range: d2
Limits the welding start
point monitoring range.
(head X-axis direction)
[μm] 256000
22 Remote unit welding
start range: Z+ side
Limits the welding start
point monitoring range.
(head +Z-axis direction)
[μm] 100000
23 Remote unit welding
start range: Z- side
Limits the welding start
point monitoring range.
(head -Z-axis direction)
[μm] -100000
24 Remote unit motion
limit: d1
Limits the laser beam
motion range.
(head Y-axis direction)
[μm] 240000
25 Remote unit motion
limit: d2
Limits the laser beam
motion range.
(head X-axis direction)
[μm] 256000
26 Remote unit motion
limit: Z+ side
Limits the laser beam
motion range.
(head +Z-axis direction)
[μm] 100000
27 Remote unit motion
limit: Z- side
Limits the laser beam
motion range.
(head -Z-axis direction)
[μm] -100000
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)
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 during teaching.
(speed 3)
[μm/s] 8000
31 High jog movement Sets the guide laser
speed during teaching.
(speed 4)
[μm/s] 10000
32 High-speed jog
movement
Sets the guide laser
speed during teaching.
(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 welding start
point.
[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
specification for the
outside motion range
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 the
outside start range
Turns the specified
generic output ON when
the welding start point is
Generic
output
number
0 = No output 0
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alarm outside the motion range.
55 Register specification
for the 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)
Limits the laser beam
motion range.
(+Z-axis direction)
[μm] 280000
61 +Z direction
movement limit: h2 (X
coordinates)
Limits the laser beam
motion range.
(+Z-axis direction)
[μm] 296000
62 -Z direction
movement limit: l1 (Y
coordinates)
Limits the laser beam
motion range.
(-Z-axis direction)
[μm] 200000
63 -Z direction
movement limit: l2 (X
coordinates)
Limits the laser beam
motion range.
(-Z-axis direction)
[μm] 216000
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
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 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
specification for the
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 specification
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
Corrects all welding
positions. (Y-axis
direction)
[0.1 mm] 0
87 Z-axis position
correction
Corrects all welding
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
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
position specification
function
Forced mirror standby
position tool X component
[μm] 0
155 Mirror standby Forced mirror standby [μm] 0
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position specification
function
position tool Y component
156 Mirror standby
position specification
function
Forced mirror standby
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
159 Specification for
generic input to
release the outside
motion range alarm
Generic input
number
0 = OFF 0
160 Specification for
generic input to
release the outside
start range alarm
Generic input
number
0 = OFF 0
161 Specification for
generic input to
release the welding
interruption warning
Generic input
number
0 = OFF 0
162 Specification for
generic output for the
welding interruption
warning
Generic
output
number
0 = OFF 0
163 Specification of the
register for the
welding interruption
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
position return OFF
specification
The following bit masks
turn OFF the axis for
position return.
d0: X-axis, d2: Y-axis
d3: Z-axis, d4: DF
Bit
specifications
0
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
167 Specification for
generic input to
release the
continuous point no
welding warning
Generic input
number
0
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168 Specification for
generic output for the
continuous point no
welding warning
Generic
output
number
0
169 Specification of the
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
171 Specification of the
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
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
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
offset with no straight
line scanning
Rotational angle
(clockwise rotation
around the tool Z-axis is
positive)
[deg] 0
178 Alarm 'Laser tracking
processing error [54]'
generic output
number
Turns ON the specified
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
spacing for pincushion
correction data.
[0.01 mm] 0
209 Pincushion correction Sets the Z direction [0.01 mm] 0
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lattice Z size spacing for pincushion
correction data.
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 0.01 * Unmodifiable 291270
213 Z angle data
conversion factor
Data used in calculation 0.01 * Unmodifiable 145635
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
Data used in calculation 0.001 * Unmodifiable 2000
221 Y-axis mirror
oscillation angle
calculation coefficient
Data used in calculation 0.001 * Unmodifiable 2000
222 Maximum galvano
oscillation angle (X)
This is the maximum
X-axis mirror oscillation
angle.
* Unmodifiable 52866
223 Minimum galvano
oscillation angle (X)
This is the minimum
X-axis mirror oscillation
angle.
* Unmodifiable 12670
224 Maximum galvano
oscillation angle (Y)
This is the maximum
Y-axis mirror oscillation
angle.
* Unmodifiable 52866
225 Minimum galvano
oscillation angle (Y)
This is the minimum
Y-axis mirror oscillation
angle.
* Unmodifiable 12670
226 Maximum galvano
oscillation angle (Z)
This is the maximum
Z-axis mirror oscillation
angle.
* Unmodifiable 61604
227 Minimum galvano
oscillation angle (Z)
This is the minimum
Z-axis mirror oscillation
angle
* Unmodifiable 3932
8 S1E parameters 8.3 Yaskawa Control 3D 3.8x Head (8MC44A-3C001A)
8-93
HW1486273 93 / 95
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 -37872300
8
231 Z-axis coefficient 1
(decimal)
Data used in calculation * Unmodifiable 13
232 Z-axis coefficient 2
(integer)
Data used in calculation * Unmodifiable 273429615
233 Z-axis coefficient 2
(decimal)
Data used in calculation * Unmodifiable 10
234 Z-axis coefficient 3
(integer)
Data used in calculation * Unmodifiable 862849711
235 Z-axis coefficient 3
(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
exceed the upper limit.
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
monitoring conditions
0
238 Z-axis feedback pulse
monitoring conditions
0
239 Alarm OFF bit Turns OFF individual
laser head alarms.
d0: Thermo 1
d1: Thermo 2
d2: X
d3: Y
d4: Z
0
240 Specification for
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 S1E parameters 8.3 Yaskawa Control 3D 3.8x Head (8MC44A-3C001A)
8-94
HW1486273 94 / 95
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