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Panasonic YA-1PA Series manual available for free PDF download: Operating Instructions Manual
Panasonic YA-1PA Series Operating Instructions Manual (236 pages)
Industrial Robot
Brand:
Panasonic
| Category:
Industrial Equipment
| Size: 6.92 MB
Table of Contents
Table of Contents
5
1 Structure
10
Parts Identification
10
Teaching Playback Method
10
2 How to Use the Teach Pendant
11
Functions
11
Jog Dial and +/- Key
12
Window Change Key
12
How to Work on the Screen
13
How to Switch the External Axes (Option)
13
User Function Keys
14
Menu Icons
15
List of Icons
16
Input Numerical Values and Characters
20
Input Numerical Values
20
Input Characters
20
Memory Check
20
3 Get Assistance While You Work (Help)
21
How to Get Online Help
21
What's in the Help Menu
21
How to Get the Version Information
21
4 TEACH Mode
22
How Operation Procedures Are Explained
22
Turn on Servo Power
23
User ID Setting for the First Time
23
Manual Operation
24
Switch the Coordinate System
25
Robot Motion Icons and Robot Movement
25
Teach Program Programming Procedure
27
Robot Movement Data
27
Create a New File
28
Teach and Save Teaching Points
28
Move Commands for each Interpolation
29
Change Speed
29
Wrist Calculation (CL Number)
29
Circular Interpolation
30
What Is Circular Interpolation
31
Teach Weld Section (Welding Spec.)
32
Wire/Inching Gas Check
32
Teaching Welding Points and Air-Cut Points4-11
32
Settings of Condition of a Teaching Point
33
Hold and Restart in Welding Operation
33
Linear Weaving Interpolation
34
Circular Weaving Interpolation
36
Trace Operation
37
Trace Start/End
37
Add Teaching Points
37
Change Teaching Points
38
Delete Teaching Points
38
Robot Position and Icons
38
Trace Motion after Editing
39
I/O Monitor
40
Program Test
41
Procedures
41
Override in the Program Test
42
Advanced Settings
43
Weld Section Shift
43
Wire Touch Detection in Teach
44
Use of Shift Buffer Data
44
Program Test
44
Trace Settings
44
Weaving
45
R-Shift Key and Teach Point Settings
46
Auto-Edit of Arc Start/End Commands
46
Edit Files (Basic Operation)
47
Open a File
47
Display a File on Top of the Screen
47
Add a Sequence Command
48
Change a Sequence Command
48
Delete a Sequence Command
48
Setting Welding Conditions (Welding) -"Auto-Edit of Arc Start/End Commands
49
File Sort
50
Save a File
51
Close a File
51
File Transfer
52
File Properties
53
Rename a File
53
File Protect
54
Delete Files
55
5 AUTO Mode
56
Start
56
Hold and Restart
57
Emergency Stop and Restart
57
Limit Condition of Operation
57
Program Unit
58
Cycle Time
58
Override
59
End of Operation
60
Advanced Use of "AUTO" Mode
60
Offline Programming
60
Program Change in Parallel Processing
60
Welding Data Log
61
6 Useful File Edit Functions
62
Cut
62
Copy
62
Paste
63
Find
63
Replace
64
Jump
64
Edit Local Variable
65
Global Data
66
Conversion
67
Tool Compensation
68
Global Variable Setting for TCP Adjustment
69
7 View
70
System List
70
Display Change
70
Position Display
70
Torch Angle
71
User-IN/OUT
71
Status IN/OUT
71
Variable
71
Display SHIFT-ON Data
72
Load Factor
72
Accumulated Time
72
Operate State
73
Operation Management
73
List of Open Files
74
Arc Weld Information
75
8 Variable Settings
77
Variables
77
Global Variable Settings
78
Application Examples of Variables
79
Byte Variable
79
Position Variable
80
Rotary/Shift Variable
81
9 Input/Output Settings
82
User Input/Output Settings
82
User I/O Terminal Type
82
User INPUT - Setting Procedure
82
Status IN/OUT
83
Status INPUT
83
Status OUTPUT
84
Status I/O to be Allocated to User Terminals
84
High-Speed Input
88
10 Robot Settings
89
User Coordinate System Settings
89
What Is a User Coordinate System
89
Setting Procedure
89
Tool Offset Settings
90
What Is Tool Offset
90
Definition of XYZ Type Tool Offset
90
Definition of L1 Type Tool Offset
91
Setting Procedure
91
Standard Tool Settings
92
RT Monitor Settings
92
What Is the "RT Monitor" Function
92
RT Monitor" Setting Procedure
93
Cube Monitor Settings
93
What Is the "Cube Monitor" Function
93
Cube Monitor" Setting Procedure
94
E-Axis Range Monitor
94
AND Condition Monitor
95
Soft-Limit Settings
96
Jog Settings
96
TCP Adjust
97
What Is TCP Adjust
97
Adjustment
97
11 Controller Settings
99
Program Start Method Settings
99
Master Method
99
Start Method Settings and I/O Allocation
100
Program Select Method
101
Signal Method
101
Binary Method
102
BCD Method
103
Login and Logout
104
Resume Settings
105
Speed Limit Settings
106
Manual/Override Speed Limit
106
Joint Speed Limit
106
Smooth Level
107
Disable Program Editing
107
Error Handling
108
What Is "Error Handling
108
Setting Procedure
109
Operation Procedure
110
Hot Edit
112
What Is "Hot Edit
112
Preliminary Settings
113
Operation Procedure
113
Definition of Shift Coordinate System
114
12 Teach Pendant (TP) Settings
116
Coordinate System Settings
116
Customize Function Keys
116
User Function Keys
116
Robot Move Key
118
External Axis Key
118
Language Settings
119
Screen Saver Settings
119
Programming (Teach) Folder Settings
120
Favorite Commands
121
13 System Information/Back up Settings
122
Error/Alarm History
122
Backup
122
14 Management Tool Settings
124
User Management Settings
124
Memory Clear
125
Date Settings
126
Origin Re-Adjustment
127
Standard Position (Main or External Axis)
127
MDI (Main or External Axis)
127
Teaching (Main or External Axis)
128
System Settings
129
Robot Settings
129
Add Optional Functions
130
External Axis
130
Mechanism Settings
131
Auxiliary IN/OUT and Analog I/O
132
Multi-Welders Settings
134
Owner Entry
135
Log File
135
System Data Adjustment
135
15 Arc Welding Machine Settings
136
Configuration Settings
136
Add a Welder
137
Rename a Welder
139
Delete a Welder
139
Set a Welder as Default
139
Weaving Settings
140
Override Settings
141
No Arc Detection
141
Welder Data Settings (CO2 /MAG/MIG)
142
Wire/Material/Weld Method
142
Adjust Value
143
Wave Adjust Data
143
Unification/Individual
146
Weld Conditions
146
Inching Speed
146
Arc Retry
147
Stick Release
147
Wire Auto Retract
147
Restart Overlap
148
Tip Change
148
Weld Monitor
149
Display Weld Condition
149
Pulse Settings
149
Flying Start
150
External Wire/Gas Control
150
Low Pulse Setting
150
Welder Data Settings (TIG)
151
Welding Mode
151
Weld Condition
151
Adjust Value
152
High Frequency and Arc Start Process
152
Pulse Settings
152
Wire Control
152
Electrode Contact Detection
153
Welder Data Settings (Powder Plasma Welding)15-19
154
Weld Conditions
154
Adjust Value
154
Powder Control
155
Pulse/Slope Control
155
Gas Control
155
Inching Speed
155
Pilot Arc
155
Changing Analog Type Welder Settings
156
16 Commands
157
Move Commands
157
Movec
157
Movecw
157
Movel
157
Movelw
158
Movep
158
Weavep
158
Input/Output Commands
159
Out
159
Pulse
160
Flow Commands
160
Call
160
Delay
160
Hold
160
Jump
161
Label
161
Nop
162
Paracall
162
Pause
162
Rem
163
Ret
163
Rsv_Cancel
163
Rsv_Prog
163
Stop
163
Wait_Ip
164
Wait_Val
164
Arithmetic Operation Commands
165
Add
165
Atan
165
Clear
165
Cnvset
165
Cos
166
Dec
166
DIV
166
Getel
166
Getpos
167
Inc
167
Mod
167
Mul
167
Set
168
Setel
168
Sin
168
Sqrt
168
Sub
169
Welding Commands(GMAW and Common Use)16-14
170
Adjrst
170
Amp
170
Arc-Off
170
Arc-On
170
Arc-Set
171
Arcslp
171
Bbktime
171
Crater
171
Fttlvl
172
Gasvalve
172
Hotcur
172
Hotvlt
172
Iac
173
Ib2
173
If-Arc
173
Init-Ib
174
Init-Ip
174
I-Pfall
174
I-Prise
174
Isc
175
Isl1
175
Isl2
176
Penet
176
Pfall
176
Pfrq
176
P-Hottm
177
Pmode
177
Ppeak
177
Prise
177
Stickchk
177
Torchsw
178
Tso
178
Tsp
178
Volt
178
Wait-Arc
178
Wfed
179
Wirefwd
179
Wirerwd
179
Wirsldn
179
Wldchk
180
Wldspd
180
Wpls
180
Weld Commands(Low Pulse MIG
181
Lpdelay
181
Lpduty
181
Lpfrq
181
Lplevel
181
Lpls
181
Weld Commands(For TIG Welding
182
Acfrq
182
ARC-SET_TIG Ib=120 Ip=180 WF=10
182
Chkvolt
182
Clean
182
Ib_Tig = 100
183
Ip_Tig = 150
183
Mixfrq
183
Mixrate
183
Pduty_Tig
184
Pfrq_Tig
184
Tigslp
184
Wfdslp
184
Wmode_Tig
185
Weld Commands(Powder Plasma Welding)16-30 16-8-1. ARC-SET_POWD
186
Carrygas
186
Crater_Powd
186
F-Range
186
Ib_Powd 20
187
Ip_Powd 95
187
Plarc
187
Plasmagas
188
Powdfed
188
Pwdmotor
188
Pwdslp
188
Shldgas
189
Startgas
189
Wait-Plarc
189
Wpls_Pwd
189
Weld Commands (MIG、TIG-FORCE Application
190
Arc-Set_Tigfc
190
Crater_Tigfc
190
Load Tigfc
190
Save Tigfc
190
Wfacc
191
Wfdcc
191
Wfeed
191
Wfsldn
191
Wfspeed
192
Wflength
192
Wspdslp
192
Logic Operation Commands
193
And
193
Not
193
Swap
194
Xor
194
Motion Assist Commands
194
Gohome
194
Smooth
194
Tool
195
Shift Commands
195
Shift-Off
195
Shift-On
195
Touch Sensor Commands (Optional)
195
Snssftld
195
Snssft-Off
196
Snssft-On
196
Snssftrst
196
Snssftsv
196
Tchsns
196
Transbase
197
Transbasv
197
Spin Arc Sensor Commands (Optional)
197
Spnarc
197
Snsofs
197
Snsgn
198
Spnprm
198
Snsline
198
Spnrev
199
Spnofs
199
External Axis Commands (Optional)
199
Eaxs_Sft-Off
199
Eaxs_Sft-On
199
Rstrev
200
Velref
200
ARC-ON/ARC-OFF Sequences
201
CO2/MAG/MIG Welding
201
TIG Welding
202
Powder Plasma Welding
202
17 Errors and Alarms
203
Alarm Codes
203
Error Codes
207
Welder Error Codes
213
Supplements
217
Remedy of E1050
217
E7XXX (Load Factor Error)
218
Lithium Battery Error
218
At Power Failure
218
Overrun Release
219
18 Appendix 18-1. Sample Programs
220
18. Appendix Application Examples of CNVSET
223
How to Add the Command
223
How to Add the Command
225
Transbasv
225
Teaching for Powder Plasma Welding
227
Teaching Welding Program
227
Powder / Gas Flow Check
228
Hold / Emergency Stop
228
Gas Control
228
Sample Programs of Palletizing
229
Sample 1
229
Sample 2
231
A Program to Calculate Distance between Points18-13
232
Sample Program of TW Seek
233
Eaxs_Sft-Off
234
Application Example 1
234
Application Example 2
235
Application Example of IF-ARC
236
Application Example
236
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