YASKAWA Motoman ArcWorld IV-6200 XHD DR2C - Page 5

MOTO MAN iii ArcWorld IV-6200 XHD DR2C System Manual
Section
Page
4.14 Installing the Light Curtain System.............................................................................4-31
4.14.1 Light Curtain Installation .............................................................................. 4-31
4.14.2 Installing the Light Curtain Cable ................................................................. 4-32
4.15 Installing the Operator Station ....................................................................................4-33
4.15.1 Connecting the Operator Station ................................................................... 4-33
4.16 Connecting the Power................................................................................................. 4-34
4.17 System Check – Before System Power Up.................................................................. 4-35
4.18 System Power Up .......................................................................................................4-35
4.19 Light Curtain Alignment/Fence Anchoring.................................................................. 4-35
4.19.1 Light Curtain Alignment ................................................................................ 4-35
4.19.2 Anchor Light Curtain Walls ........................................................................... 4-35
4.19.3 Installing the Swingarm Guards .................................................................... 4-36
4.20 System Check – After Power Up ................................................................................. 4-37
4.21 Installing the Tooling and Fixtures.............................................................................. 4-38
5 OPERATION
5.1 Programming................................................................................................................ 5-1
5.1.1 I/O Assignment ............................................................................................... 5-2
5.1.2 Sweeping the Positioner ................................................................................. 5-4
5.1.3 Rotating the Headstock ................................................................................... 5-4
5.1.4 Programming Specific Jobs ............................................................................ 5-5
5.2 Daily Operation............................................................................................................. 5-7
5.2.1 Start-Up .......................................................................................................... 5-7
5.2.2 Safety Circuit Check ....................................................................................... 5-8
5.2.3 Robot Safe (Cube 23 and Cube 24) Position .................................................. 5-8
5.2.4 Selecting Weld Job (Initial Setup Only) .......................................................... 5-9
5.2.5 Starting the Master Job ................................................................................... 5-9
5.2.6 Perform Operation Cycle ................................................................................. 5-9
5.2.7 Shutdown ..................................................................................................... 5-10
5.3 System Recovery ........................................................................................................5-10
5.3.1 Alarms and Errors ......................................................................................... 5-10
5.3.2 E-STOP Recovery ......................................................................................... 5-11
5.3.3 Shock Sensor Recovery ................................................................................ 5-12
5.3.4 Using the Brake Release ............................................................................... 5-13
6 MAINTENANCE
6.1 Maintenance/Troubleshooting ...................................................................................... 6-1
6.1.1 Periodic Maintenance ..................................................................................... 6-1
INDEX