Motoman XRC Series User manual

Brand: Motoman

Model: XRC Series

Category: Welding System

Type: User manual

Motoman XRC Series is a versatile and powerful industrial robot controller designed for a wide range of applications, including spot welding, arc welding, assembly, and material handling. With its advanced motion control capabilities, the XRC Series can achieve high levels of precision and repeatability, making it ideal for applications that require accurate and consistent movements. The XRC Series is also equipped with a variety of features that make it easy to use and integrate into existing systems, including a user-friendly interface,强大的编程语言, and a variety of communication options.

Here are some of the key capabilities of the Motoman XRC Series:

Motoman, Incorporated

805 Liberty Lane

West Carrollton, OH 45449

TEL: (937) 847-6200

FAX: (937) 847-6277

24-Hour Service Hotline: (937) 847-3200

Motoman XRC Controller

Spot Welding

Manual

for MedarTM Integrated

Weld Control

Part Number: 147296-1CD

Revision: 0

The information contained within this document is the proprietary property of Motoman, Inc., and may not be

copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,

Inc.

Because we are constantly improving our products, we reserve the right to change specifications without

notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

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i SpotWelding Manual for Medar

TABLE OF CONTENTS

Section Page

1 INTRODUCTION

1.1 About this Document .................................................................................................... 1-1

1.2 System Configuration ................................................................................................... 1-2

1.3 System Components..................................................................................................... 1-4

1.3.1 XRC 2001 Controller ...................................................................................... 1-4

1.3.2 Robot .............................................................................................................. 1-4

1.3.3 Servo Robot Gun ............................................................................................ 1-5

1.3.4 Medar Integrated Weld Control ....................................................................... 1-5

1.3.5 Water Cooling System ....................................................................................1-6

1.3.6 Tip Dresser (Optional) .................................................................................... 1-6

1.3.7 Work Cell ........................................................................................................ 1-6

1.4 Equipment and Component Specifications ...................................................................1-6

1.5 Reference to Other Documentation................................................................................ 1-7

1.6 Customer Service Information ......................................................................................1-7

2-1

2 SAFETY

2.1 Introduction .................................................................................................................. 2-1

2.2 Standard Conventions ..................................................................................................2-2

2.3 General Safeguarding Tips............................................................................................ 2-3

2.4 Mechanical Safety Devices ...........................................................................................2-3

2.5 Installation Safety .........................................................................................................2-4

2.6 Programming Safety ..................................................................................................... 2-4

2.7 Operation Safety ...........................................................................................................2-5

2.8 Maintenance Safety....................................................................................................... 2-6

3-1

3 THEORY OF OPERATION

3.1 Resistance Welding Variables....................................................................................... 3-1

3.2 The Weld Cycle............................................................................................................. 3-2

3.3 Critical Factors in Resistance Welding.......................................................................... 3-2

3.3.1 Current ........................................................................................................... 3-2

3.3.2 Voltage ........................................................................................................... 3-3

3.3.3 Ohm’s Law ...................................................................................................... 3-3

3.3.4 Secondary Resistance ..................................................................................... 3-4

3.3.5 Reactance, Resistance, and Power Factor .......................................................3-4

3.3.6 Primary Current .............................................................................................. 3-5

3.4 AC Welding ..................................................................................................................3-5

3.5 DC Welding .................................................................................................................. 3-6

3.6 Spot Welding Theory .................................................................................................... 3-6

3.6.1 Steppers ......................................................................................................... 3-9

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3.7 Current Control Methods............................................................................................ 3-10

3.7.1 Automatic Power Factor ................................................................................ 3-10

3.7.2 Automatic Voltage Compensation Mode ....................................................... 3-10

3.7.3 Constant Current Mode ................................................................................ 3-11

4 SETUP AND OPERATION

4.1 Setting Up Parameters .................................................................................................. 4-1

4.2 Set Up........................................................................................................................... 4-4

4.3 Simple Weld Condition Files ........................................................................................ 4-5

4.4 Enhanced Weld Schedules............................................................................................ 4-6

4.5 Stepper Condition Files ................................................................................................ 4-7

4.6 Monitoring Weld Results .............................................................................................. 4-8

5 TROUBLESHOOTING

5.1 Medar Alarms and Errors.............................................................................................. 5-1

5.2 XRC Alarms and Errors................................................................................................. 5-3

5.3 Troubleshooting Welding Problems .............................................................................5-4

5.4 Tips for Producing Quality Welds ................................................................................. 5-5

5.5 Troubleshooting Dual Port RAM I/O ............................................................................. 5-6

A ROBOT I/O...................................................................................................................................A-1

LIST OF FIGURES

Figure Page

Figure 1-1 XRC and Medar Integrated Weld Control................................................................... 1-2

Figure 1-2 XRC/Medar Board Interface....................................................................................... 1-3

Figure 3-1 The Weld Cycle.........................................................................................................3-2

Figure 3-2 Primary vs. Secondary Voltage.................................................................................. 3-3

Figure 3-3 Reactance, Impedance, and Power Factor ................................................................. 3-4

Figure 3-4 AC Welding............................................................................................................... 3-5

Figure 3-5 Regulating Current....................................................................................................3-6

Figure 3-6 Welding Circuit with Heat Loss.................................................................................3-7

Figure 3-7 Shunting ................................................................................................................... 3-8

Figure 3-8 Normal vs. Mushroomed Electrode Surface .............................................................. 3-8

Figure 3-9 Welding Different Part Thicknesses........................................................................... 3-9

Figure 3-10 Stepper Program.......................................................................................................3-9

Figure 3-11 Automatic Power Factor .......................................................................................... 3-10

Figure 3-12 Automatic Voltage Compensation (AVC)................................................................. 3-11

Figure 3-13 AVC Mode (top) vs. Constant Current Mode........................................................... 3-12

Figure 4-1 Simple Weld Condition File ...................................................................................... 4-6

Figure 4-2 Enhanced Weld Condition File..................................................................................4-7

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iii SpotWelding Manual for Medar

LIST OF TABLES

Table Page

Table 1-1 Equipment and Component Specifications ..................................................................1-6

Table 4-1 Medar Timer Parameter List ......................................................................................... 4-1

Table 5-1 Medar Application Errors ............................................................................................. 5-1

Table 5-2 XRC Alarms and Errors ................................................................................................ 5-3

Table 5-3 Welding Troubleshooting Chart ................................................................................... 5-4

Table 5-4 XRC Outputs to Medar Board ....................................................................................... 5-6

Table 5-5 XRC Inputs From Medar Board .................................................................................... 5-7

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1-1 SpotWelding Manual for Medar

SECTION 1

INTRODUCTION

1.1 About this Document

This manual provides both general and speciﬁc information about Motoman’s spot

welding system using a Medar integrated weld control. This manual is divided into

the following sections:

SECTION 1 - INTRODUCTION

This section provides general information regarding this manual, descriptions of

the integrated weld control and its components, technical speciﬁcations,

installation instructions, a list of reference documents, and customer service

information.

SECTION 2 - SAFETY

This section describes the conventions used to identify precautionary text

throughout this manual. The section also contains a list of general cautions and

warnings that apply to many of the procedures described in this manual.

SECTION 3 - THEORY OF OPERATION

This section provides general spot welding principles. The discussion identiﬁes

speciﬁc problems and requirements, how the weld control works, and how it

addresses speciﬁc welding requirements.

SECTION 4 - OPERATION

This section provides instructions for the proper use and operation of the spot

welding system with the Medar integrated weld control. Instructions provided

include step-by-step procedures to prepare the system for use.

SECTION 5 - TROUBLESHOOTING

The information provided in this section helps the user identify alarms and errors

and remedy problems found during operation and welding. Included are tips and

techniques to overcome speciﬁc problems related to spot welding.

APPENDIX A - ROBOT I/O

This appendix identiﬁes contact and coil addresses for the robot inputs and

outputs.

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1.2 System Conﬁguration

A spot welding system is an integrated package of tools and components designed

to meet speciﬁc welding requirements. A typical system includes the components

and optional equipment listed below. Figure 1-1 shows a typical system

conﬁguration.

Figure 1-1 XRC and Medar Integrated Weld Control

• Motoman robot manipulator and XRC 2001 controller

• 3-Slot CPU rack

• Medar integrated welding board

• Welding equipment, including the following:

• Medar 3006 integrated weld control

• MedWeld cable

• Transgun (air or servo-driven)

• Water circulator/chiller

Options for the welding system include:

• Tip dresser

• Tip changer

The XRC controls the operation of the spot welding system. It coordinates the

operation of the various components of the system through execution of instruction

sequences provided in the robot program or “job” ﬁle. As the XRC steps through

the series of instructions, it directs the movement of the robot and operates the

weld control.

XRC ROBOT

CONTROLLER

MEDAR

WELD CONTROL

INCOMING POWER

(CUSTOMER–SUPPLIED)

XRC TO MEDAR

INTERFACE CABLE OUTGOING POWE

TO TRANSGUN

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The robot moves the spot welding gun and supply lines through a series of

programmed steps. The XRC controls the speed, direction, and position of the

robot as it moves from point to point. The XRC also controls the actuation of the

spot gun. If the gun is pneumatic, the XRC turns on the output to close the gun.

Servo-gun control is more integrated. The robot is programmed to know when the

gun reaches the speciﬁed clamping forces, and can synchronize the ﬁring of the

weld timer with gun pressure.

The Medar weld control provides power to the spot welding gun. The XRC

pendant is used to enter program data; however, the programs are executed by the

Medar board installed inside the controller. The Medar board directly controls the

ﬁring of SRC and current ﬂow.

The Medar programs are retained in the XRC memory.When changes are made

through the XRC pendant, the data must be written to the Medar board to take

effect. The Medar programs saved in the XRC memory can be downloaded using

a ﬂash memory card or PC. If necessary, the Medar pendant can be connected to

the Medar board to view the program or change set-up data. See Figure 1-2.

NOTE: Changes made to weld schedules with the Medar pendant are not saved in the XRC memory and

will be lost at power down. Changes to setup parameters made with the Medar pendant can be

saved in XRC memory by toggling the “UPLOAD DYNAMIC DATA” output (OUT 188). These

changes are downloaded to the Medar board when the system restarts.

Figure 1-2 XRC/Medar Board Interface

XRC PENDANT

XRC CPU

MEDAR PENDANT

(OPTIONAL)

HIGH SPEED

DUAL-PORT

RAM

MEDAR INTEGRATED

WELD CONTROL BOARD

• MEDAR programs

downloaded at power up

• Display with weld results

• Shared I/O

– weld output

– schedule select

• MEDAR programs

loaded at power up

• Programs execute

on MEDAR board

• Update changes to

programs or set up

• Average Current, etc.

• Alarm Outputs

MEDWELD

CABLE

MEDLAN PORT

XRC

MEDAR

POWER

SOURCE

OPTIONAL I/O CONTROL

(NOT USED)

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1.3 System Components

The following paragraphs contain brief descriptions of each of the spot welding

system components.

1.3.1 XRC 2001 Controller

The spot welding system includes an XRC 2001 controller and a programming

pendant. The XRC 2001 provides the following basic functions:

• Power ON

• Job creation

• Input and edit motion data

• Input and edit process data

• Memory for Medar data

• Playback

• Process sequencing

• Power OFF

• Connection to external devices through the pendant’s serial interface port

• Input/output signal processing

The XRC controls the operation, and monitors the status, of the spot welding

system's components: the manipulator, weld control, and spot welding gun. The

various safety features of the spot welding system and the associated cell operate

through the XRC. Under emergency conditions, the XRC controls the shutdown

of the robot drive power, weld current, positioner, and any other devices connected.

Refer to your XRC Operator’s Manual for more information.

1.3.2 Robot

The standard integrated spot welding package includes a vertically articulated, six-

axis, ES-165 robot with a 165 kg payload. The P-point working envelope is 2650

mm (104 inches). The robot can reach below its own base, and can travel in an arc

approximately 360˚ around the base. However, it is possible to restrict the base

axis with hard stops. Weld cables are routed inside the robot arm instead of along

the outside, which protects the cables from damage that can be caused by robot

motion during welding. These robots can be ﬂoor-, wall-, or ceiling-mounted.

Motoman robots use brushless AC servo motors with absolute position encoders.

A combination of capacitance and lithium batteries in both robot and controller

assemblies protects program positional data for up to a year. The life expectancy

for the lithium battery is approximately three years.

Power for the robot manipulator is supplied through the controller. A 4.5 KVA

isolation stepdown transformer converts the 230, 460 or 575V delta input to a

208V wye output. Refer to the manipulator manual that came with your system.

NOTE: UP-Series robots or the ES200 robot are available as options for the standard spot welding

package.

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1-5 SpotWelding Manual for Medar

1.3.3 Servo Robot Gun

The Motoman servo gun, when provided with the integrated welding package,

improves productivity and provides high quality welds. The servo motor variable

controls allow operators to program an exact force and ensure that force is accurate

and repeatable for every weld. A servo gun also allows the operator to control the

contact speed, thus minimizing deformation of the sheet metal and protecting the

welding electrodes, which improves weld quality.

Servo-controlled welding guns offer many advantages over pneumatic welding

guns. The electric servo motor runs silently, eliminating noisy exhaust sounds, and

is more energy efﬁcient than the air compressors used with pneumatic guns. Servo-

controlled guns also increase ﬂexibility with multi-position welding.

1.3.4 Medar Integrated Weld Control

The MedWeld 3006 weld control with the Medar integrated weld processing board

provides a single point of programming control from the XRC pendant menu. A

single MedWeld cable provides the interface between the weld control and the

processing board in the XRC controller, eliminating the need for multiple discrete

I/O cables.

The advantages of the Medar integrated weld control are:

• Quicker response time due to elimination of discrete I/O ﬁltering (150 ms/spot)

• 255 weld schedules

• Stepper proﬁle

• Ability to program weld sequences with the XRC pendant

• Reduced wiring, smaller enclosure, and lower cost

• Network capabilities with a MedLan cable

• Identical software and processing board for both AC and MF (mid-frequency)

DC spot welding

• Medar pendant is not required

• Weld schedules and basic setup parameters can be programmed on the

XRC pendant

• All Medar alarms are displayed on the Motoman pendant

• Easy ﬁle backup:

• Medar weld schedule is stored in XRC CMOS memory as a spot welding

condition ﬁle

• Spot welding condition ﬁle can be saved/restored to/from the PCMIA

memory card using the XRC pendant

• Welding condition ﬁles can be transmitted to a remote PC via serial or

Ethernet communications

The Medar weld control supports either AC or MFDC (mid-frequency direct

current) welding. AC and MFDC modes are selected by a parameter in the

controller (S2C373). The XRC menus for the two modes are identical, with only

minor changes in nomenclature.

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1.3.5 Water Cooling System

The water cooling system circulates water through both the spot weld controller

and the weld gun. It is important that the water temperature not exceed 86° F, as

inadequate cooling could damage the servo weld gun and transformer.

The Medar board supports thermal overload sensors from the transformer and

Medar SCR. External ﬂow sensors may be integrated with the XRC as an interlock

for welding.

1.3.6 Tip Dresser (Optional)

The optional tip dresser is used to remove weld ﬂash, oil, grease, or any other

deposit from the weld tip that may affect the gun’s ability to function properly.

The tip dresser also grinds the contact tip back to its original shape. The servo gun

can vary pressure during tip dress for cut and polish.

1.3.7 Work Cell

In addition to the items above, a complete system typically includes certain work

cell components. These components are not speciﬁcally part of the spot welding

package, but are related items that are supplied separately. Some of these items

include light curtains, interlocks, arc screens, fencing, and positioners. The

number and type of components required depend on the speciﬁc application.

1.4 Equipment and Component Speciﬁcations

Speciﬁcations for the typical spot welding system and its components are listed in

Table 1-1. Additional information is provided in the various vendor manuals

supplied with the system.

Table 1-1 Equipment and Component Speciﬁcations

Characteristic Speciﬁcation

Power Requirements

Electrical service (robot)

Electrical service (welding)

Refer to manipulator manual

Refer to Integrated Spot Welding Programming Manual

for MedWeld 3006 (#T99204-01)

Operating Environment

Temperature range

Humidity

Vibration

Other

0 - 40 ˚C

20 - 80% (non-condensing)

Less than 0.5 G

Free from corrosive gases or liquids, explosive gases, and

excessive electrical noise

MedWeld 3006 Weld Control Refer to the Integrated Spot Welder Programming Manual

for MedWeld 3006 (#T99204-01)

Spot Weld Gun Servo motor is controlled by the XRC. Refer to the spot

gun manufacturer’s speciﬁcations. Note that when used

with the ES165 robot, the largest spot gun motor that can

be used is a 2 kW.

Water Circulator Varies. See vendor manuals for speciﬁc information.

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1.5 Reference to Other Documentation

For additional information, refer to the following:

• Motoman Manipulator Manual provided with your system.

• Motoman Operator's Manual for Spot Welding (P/N 142101-1)

•

Motor Gun Function Manual (142972-1)

• Motoman Concurrent I/O Parameter Manual for XRC 2001 (P/N 147626-1)

• Integrated Spot Welding Programming Manual for MedWeld 2006 (#T99204-1)

• Vendor manuals for system components not manufactured by Motoman

1.6 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at

(937) 847-3200. Please have the following information ready before you call:

• Robot Type (UP6, ES165, etc.)

• System Type (ArcWorld 1000, FabWorld II, etc.)

• Application Type (palletizing, welding, handling, etc.)

• Robot Serial Number (located on the back side of the robot arm)

• Order No. (located on the front of the controller)

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2-1 Spot Welding Manual for Medar

SECTION 2

SAFETY

2.1 Introduction

We suggest that you obtain and review a copy of the ANSI/RIA National Safety

Standard for Industrial Robots and Robot Systems. This information can be

obtained from the Robotic Industries Association by requesting ANSI/RIA

R15.06. The address is as follows:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: 313/994-6088

FAX: 313/994-3338

Ultimately, the best safeguard is trained personnel. The user is responsible for

providing personnel who are adequately trained to operate, program, and maintain

the robot cell.

The robot must not be operated by personnel who have not been

trained!

We recommend that all personnel who intend to operate, program, repair, or use

the robot system be trained in an approved Motoman training course and become

familiar with the proper operation of the system.

This safety section addresses the following:

• Standard Conventions (Section 2.2)

• General Safeguarding Tips (Section 2.3)

• Mechanical Safety Devices (Section 2.4)

• Installation Safety (Section 2.5)

• Programming Safety (Section 2.6)

• Operation Safety (Section 2.7)

• Maintenance Safety (Section 2.8)

It is the purchaser's responsibility to ensure that all local, county,

state, and national codes, regulations, rules, or laws relating to

safety and safe operating conditions for each installation are met

and followed.

SAFETY

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2.2 Standard Conventions

This manual includes information essential to the safety of personnel and

equipment. As you read through this manual, be alert to the four signal words:

• DANGER

• WARNING

• CAUTION

•NOTE

Pay particular attention to the information provided under these headings which

are deﬁned below (in descending order of severity).

DANGER!

Information appearing under the DANGER caption concerns the

protection of personnel from the immediate and imminent hazards

that, if not avoided, will result in immediate, serious personal injury

or loss of life in addition to equipment damage.

WARNING!

Information appearing under the WARNING caption concerns the

protection of personnel and equipment from potential hazards that

can result in personal injury or loss of life in addition to equipment

damage.

CAUTION!

Information appearing under the CAUTION caption concerns the

protection of personnel and equipment, software, and data from

hazards that can result in minor personal injury or equipment

damage.

NOTE: Information appearing in a NOTE caption provides additional information which is helpful in

understanding the item being explained.

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2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,

supervisors, and anyone working near the robot must become familiar with the

operation of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. General safeguarding

tips are as follows:

• Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation of this robot,

the operator's manuals, the system equipment, and options and accessories

should be permitted to operate this robot system.

• Do not enter the robot cell while it is in automatic operation. Programmers

must have the teach pendant when they enter the robot cell.

• Improper connections can damage the robot. All connections must be made

within the standard voltage and current ratings of the robot I/O (Inputs and

Outputs).

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is

not in use.

• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use

lockout/tagout procedures during equipment maintenance. Refer also to

Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health

Standards for General Industry (OSHA).

2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is

ultimately the user's responsibility. The conditions under which the equipment

will be operated safely should be reviewed by the user. The user must be aware of

the various national codes, ANSI/RIA R15.06 safety standards, and other local

codes that may pertain to the installation and use of industrial equipment.

Additional safety measures for personnel and equipment may be required

depending on system installation, operation, and/or location. The following safety

measures are available:

• Safety fences and barriers

• Light curtains

• Door interlocks

• Safety mats

• Floor markings

• Warning lights

Check all safety equipment frequently for proper operation. Repair or replace any

non-functioning safety equipment immediately.

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2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The

following suggestions are intended to supplement, but not replace, existing federal,

local, and state laws and regulations. Additional safety measures for personnel and

equipment may be required depending on system installation, operation, and/or

location. Installation tips are as follows:

• Be sure that only qualiﬁed personnel familiar with national codes, local

codes, and ANSI/RIA R15.06 safety standards are permitted to install the

equipment.

• Identify the work envelope of each robot with ﬂoor markings, signs, and

barriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorized entry

into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robot

and other equipment (pinch points).

• Provide sufﬁcient room inside the workcell to permit safe teaching and

maintenance procedures.

2.6 Programming Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,

supervisors, and anyone working near the robot must become familiar with the

operation of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. Programming tips are

as follows:

• Any modiﬁcations to the controller PLC can cause severe personal injury or

death, as well as damage to the robot! Do not make any modiﬁcations to the

PLC. Making any changes without the written permission of Motoman will

VOID YOUR WARRANTY!

• Some operations require standard passwords and some require special

passwords. Special passwords are for Motoman use only.

YOUR

WARRANTY WILL BE VOID

if you use these special passwords.

• Back up all programs and jobs onto a ﬂoppy disk whenever program changes

are made. To avoid loss of information, programs, or jobs, a backup must

always be made before any service procedures are done and before any

changes are made to options, accessories, or equipment.

• The concurrent I/O (Input and Output) function allows the customer to

modify the internal ladder inputs and outputs for maximum robot

performance. Great care must be taken when making these modiﬁcations.

Double-check all modiﬁcations under every mode of robot operation to

ensure that you have not created hazards or dangerous situations that may

damage the robot or other parts of the system.

• Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation, manuals,

electrical design, and equipment interconnections of this robot should be

permitted to operate the system.

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2-5 Spot Welding Manual for Medar

• Inspect the robot and work envelope to be sure no potentially hazardous

conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place.

• Check the E-STOP button on the teach pendant for proper operation before

programming.

• Carry the teach pendant with you when you enter the workcell.

• Be sure that only the person holding the teach pendant enters the workcell.

• Test any new or modiﬁed program at low speed for at least one full cycle.

2.7 Operation Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,

supervisors, and anyone working near the robot must become familiar with the

operation of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. Operation tips are as

follows:

• Be sure that only trained personnel familiar with the operation of this robot,

the operator's manuals, the system equipment, and options and accessories

are permitted to operate this robot system.

• Check all safety equipment for proper operation. Repair or replace any non-

functioning safety equipment immediately.

• Inspect the robot and work envelope to ensure no potentially hazardous

conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Ensure that all safeguards are in place.

• Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation, manuals,

electrical design, and equipment interconnections of this robot should be

permitted to operate the system.

• Do not enter the robot cell while it is in automatic operation. Programmers

must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is

not in use.

• This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller, external servo box, and

other equipment. Disconnect and lockout/tagout all electrical circuits before

making any modiﬁcations or connections.

• All modiﬁcations made to the controller will change the way the robot

operates and can cause severe personal injury or death, as well as damage the

robot. This includes controller parameters, ladder, and I/O (Input and Output)

modiﬁcations. Check and test all changes at slow speed.

SAFETY

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2.8 Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,

supervisors, and anyone working near the robot must become familiar with the

operation of this equipment. All personnel involved with the operation of the

equipment must understand potential dangers of operation. Maintenance tips are

as follows:

• Do not perform any maintenance procedures before reading and

understanding the proper procedures in the appropriate manual.

• Check all safety equipment for proper operation. Repair or replace any non-

functioning safety equipment immediately.

• Improper operation can result in personal injury and/or damage to the

equipment. Only trained personnel familiar with the operation, manuals,

electrical design, and equipment interconnections of this robot should be

permitted to operate the system.

• Back up all your programs and jobs onto a ﬂoppy disk whenever program

changes are made. A backup must always be made before any servicing or

changes are made to options, accessories, or equipment to avoid loss of

information, programs, or jobs.

• Do not enter the robot cell while it is in automatic operation. Programmers

must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is

not in use.

• Be sure all safeguards are in place.

• Use proper replacement parts.

• This equipment has multiple sources of electrical supply. Electrical

interconnections are made between the controller, external servo box, and

other equipment. Disconnect and lockout/tagout all electrical circuits before

making any modiﬁcations or connections.

• All modiﬁcations made to the controller will change the way the robot

operates and can cause severe personal injury or death, as well as damage the

robot. This includes controller parameters, ladder, and I/O (Input and

Output) modiﬁcations. Check and test all changes at slow speed.

• Improper connections can damage the robot. All connections must be made

within the standard voltage and current ratings of the robot I/O (Inputs and

Outputs).

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Motoman XRC Series User manual

Brand: Motoman

Model: XRC Series

Category: Welding System

Type: User manual

Here are some of the key capabilities of the Motoman XRC Series:

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Motoman XRC Series User manual

Motoman XRC Series User manual

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