training topics xrc

Motoman Technical Education Center Specialized/On-Site Training Topics Company Fax Contact Email Phone

Date

Please complete this form by indicating desired training topics and then fax to the Motoman Training Coordinator at (937) 847-6277. Please complete the contact info on the left on each sheet you fax.

XRC Training Topics Page 1 of 5

XRC Description and Operations XRC System Components Powering Up the XRC Turning Off Power to the XRC Playback Panel E-Stop Operating Controls Programming Pendant Screen Display Function Keys and Soft Keys Servo On Light Enable/Disable E-Stop Teach Lock Editing Keys EIA232D (RS232C) Port Coordinates/Axes Joint Coordinates SLURBT World/Cylindrical Coordinate Frame Tool Coordinate Frame User Coordinate Frame Alarms and Errors Error Messages Minor Alarms Major Alarms User Alarms Displaying Major/Minor Alarms Specified Point (Second Home) Alarm 4107 Recovery Checking Specified Point Creating a Job Naming a Job Numerically Naming a Job Alphanumerically Selecting a Job Registration of Master Job Calling the Master Job to the Screen Path Creation Joint Motion Type Linear Motion Type Play Speed Selection Teaching Positions as Program Steps Overlapping First and Last Steps Path Confirmation

Playing a Job Circular and Spline Motion Types Editing the Job List Copy Job Rename Job Delete Job Detail Job List Capacity INSERT, MODIFY, DELETE steps Change Motion Types Position Level Specification Adding Position Levels Cut, Copy, Paste, & Reverse Paste General Line Edit and DETAIL EDIT Speed Correction/Adjustment Play SPD Edit - General/Detail Edit Change Speed - Relative/Absolute Speed Override Utility Traverse Run Time (TRT) Set Up Special Run Low Speed Start Speed Limit Dry-Run Speed Check-Run Machine Lock Control Instructions Linking Jobs with CALL and RET (Return) Direct Open Key JUMP LABEL Commenting TIMER PAUSE Displaying and Editing Arithmetic Variables INC DEC SET CLEAR Conditional IF Statement Programming within New Line Instruction Adding to An Existing Line Instruction Input/Output Instructions Digital Output instructions

Digital Input Instructions Analog Output Instruction Monitoring Input/Output Status Creating User Frames Accessing User Frames Edit Protection Edit Lock Key switch Software Edit Protection for Jobs Step Only Changing - Permit/Prohibit Tool Center Point Definition Manual Modify TCP Data Automatic Calibration for X, Y, & Z Tool Data Introduction to XRC Welding Equipment Definition and Location in Cell Interconnections Sample Part Welding Welding Parts with Preset Conditions Troubleshooting Weld Defects Changing Weld Parameters During Welding Variables in a Weld System Amp/Volt Relationship, Affect on Arc Wire Size and Type Gas Mix and Flow Rate Electrical Stick-Out (ESO) Welding Alarms and Errors Lack of Arc Wire Stick Welding Instructions Standard Weld File Construction Enhanced Weld File Construction Using Call Jobs for Starting and Ending Welds Using In-Line or One-Line ARCON and ARCOF Using Arc Start Files (ASF) and Arc End Files (AEF) Troubleshooting and correcting defects Basic Explanation of Weave Files Weaving with Single, Smooth pattern of specified Introduction Safety Video and Safety Discussion Course Objectives Overview Advanced Use of CONTROL Instructions Binary Values for Byte/Groups/Half Groups CALL or JUMP to B-VAR or UNIV-IG Review of IF Criteria.


Date



Security System Security Modes Edit Review The Set-Up Icon Teaching Conditions Set Word User ID Reserve Job Name Key Allocation Date/Time Set Speed Operate Cond The Parameter Icon SC Parameters AP Parameters RS Parameters Soft Limits Axis Limits Cube Soft Limits Robot Origin Home Position Operation Origin Interference Zones Defining Cubes by CENTER POSITION Defining Cubes by MIN-MAX Modifying Cubes Display of SP OUT Diagnostics for Cubes WAIT SOUT = ON for In Cube1 Axis Interference C. I/O User Messages & Alarms Registering User Messages Registering User Alarms Default Speeds NWAIT tag and CWAIT control instruction UNTIL tag Variable Types and Addresses Local/Global Scalar/Array Address Arithmetic, Position, & System Type Setting Position Variable Data Type Cartesian Coordinate Frames Registering/Editing Position Variables Motion Steps Using Position Variables

Incremental Moves [IMOV] Arithmetic Functions System Variables Function Position Variable Functions Calculating Functions Value Setting Functions Counting Functions Trigonometric Functions Boolean Logic Functions Shift Function Temporary Shift Instructions (SFTON/SFTOF) MSHIFT Parallel & Mirror Shift Dynamic Editing (PAM) Relative Job Creating a User Frame TEACH COORD 3-D Shift Using Relative Job Conversion Position Modification for Tool (PMT) Saving New TCP Data Shifting points Multiple Tool Path Function (TCPON/TCPOF) Interrupt Job Function Setting Table Priority Levels Programming EI/DI Search Function Independent Control/Concurrent Jobs Robot/Concurrent Job Types Programming PSTART/PWAIT Coordinated Motion Internal Shock Sensor Shock Sensor Levels/Operation Job Instructions for Shock Sensor Additional Options Endless Rotation Independent T-Axis External Reference Point Form-Cut Introduction Explain Course Objectives Review Course Outline Introduction to XRC Welding Equipment Definition and Location In Cell Interconnections

Welding Power Source Wire Feeder Gas Interface Troubleshooting Weld Defects Variables In A Weld System AmpVolt Relationship, Effect on Arc Wire Size and Type Gas Mix and Flow Rate Electrical Stick-Out (ESO) Welding Alarms and Errors Lack of Arc Wire Stick Changing Weld Parameters During Welding Changing Voltage Changing Current Welding Instructions Standard Weld File Construction Review Enhanced Weld File Construction Review Using Call Jobs for Starting and Ending Welds Job Construction Using In-Line or One-Line Arc Start and Arc End Explanation of Available Instructions Editing Welder Condition Files Set-Up Choosing a File for Use Naming a File Data Collection by Welding Samples Data Registration Saving and Selecting a File for Use Arc Adjust Compensation Polarity Selection % -vs- Actual Voltage Settings Software Weaving Standard Base Weave Reference Points; Registration and Accessing Editing reference points Weave pattern types; L, triangle, and simple Editing weld paths containing weave instructions Welding & Weaving Using Circular and Spline Circular Interpolated Welding Paths Curve Fit (Spline) Interpolated Paths Maintaining Proper Torch Angles


Date



User Frames Creating User Frames Accessing User Frames SECURITY MODE Features Changing the Registered User ID Number Setting Time/Date Accessing/Checking System Information Registering Variable & VO Names Creating User Messages with Concurrent I/O Creating User Alarms with Concurrent I/O Customizing 8 Preset Speed Choices Temporary Release of Soft Limits Defining and Modifying Soft Limits Releasing Mechanical Interference Limits Home Position Calibration Changing Absolute (ABSO) Data Subset, Standard, or Expanded Learning Function Parameter ON/OFF Use of Tags for Learning Programming using enable SPD tag Programming using Position LVL tag XRC User Word List Programming job names into list Using Reserve Job names Search Options Searching for a Line, Step, or instruction Searching for a Label ,or Tag Default Speeds Using CONST Using VAR Programming NWAIT, CWAIT, & UNTIL Explanation of IMOV Programming Using IMOV Explanation of PSHIFT Shifting a Job Using PSHIFT System Variables Programming using $PX Programming using GETS Advanced Arithmetic Functions Using CNVRT Using GETE & SETE Floppy Disk back-up FC2

FDE Overview of ComArc III ComArc Seam Tracking Basic Explanation of Functions System Overview Hardware and Software Necessary Boards and Software Concurrent I/O Ladder Modifications ComArc Box (if required) Front Panel Connections Definition of Terms PC1 and PC2 Measurement Modes Upper Current Offset Passover Dead-Zones Measurement Set-up Measurement Modes Overview Enabling Measurement Modes Location of ComArc Instructions Device Screen COMARCON COMARCOF Additional Instructions Location of Various ComArc Screens Rapid Input (RIN) Screen ComArc Files Correction Quantity Files Measurement Screens Current Programming a ComArc Welding Path Procedural Overview Basic Instructions Seam Finding (Touch Sensing) Reference Points Required Necessary Instructions SEARCH IMOV GETE and SETE Additional Instructions Programming the Touch1 Job

Troubleshooting Seam Tracking Troubleshooting Touch Sensing Advanced Touch Sensing Explanation of Touch2 Job Explanation of Touch3 Job Programming Custom Touch Jobs Lap Touch Multiple Touch Electrical Electronic Components Electrical Safety Procedures XRC Internal Component Layout CPU Rack (Major Unit) Electrostatic Discharge Safety Circuit Card Removal and Handling Electrical Power Flow Power Flow Overview Block Level Diagram Signal Flow Signal Flow Overview Block Level Diagram Elementary Wiring Diagrams Layout/Coordinate System Trace Circuit Card Signal/Power Flow Power Supply Module Control Processor Module Servo Control Module Servo ON Block Level Diagram Servo ON Sequence Servo Pack and Converter Description of Components Setting Information Basic Troubleshooting Alarm Message List Elementary Diagrams Electrical Power Input/Output (I/0) Components I/O Motherboard Configuration and Components I/O Circuit Cards XTU01 Board XIO01 I/O Board XIO02 I/O Board


Date



Input/Output Addressing Input Addresses as 2000 Series Output Addresses as 3000 Series Dedicated Inputs/Outputs External E-Stop Input Servo ON Input External Hold Input Remote Mode Select Input Servo ON Output Shock Sensor Input External Controller Power Control Jumper Location Power Control Switch Wiring Encoders Position Feedback Using Encoders Absolute Encoders Incremental Encoders Robot Calibration Manipulator Information Robot/Controller Connection Drawings Maintenance/Inspection Procedures Recommended Spare Parts List Illustrated Parts Breakdown Saving Controller Information General Purpose Arc Welding Spot Welding Material Handling Accessing the Ladder Program Input/Output devices Inform Language Instructions DOUT PULSE WAIT DIN Ladder Hardware Components XCP01 XIU01 XIO01 XIO02 MARIO / MIF05 Logical Addressing (Operands) Universal Inputs #0XXX; Outputs #1XXX

External Inputs #2XXX; Outputs #3XXX Specified Inputs #4XXX; Outputs #5XXX Auxiliary Relays #7XXX Control Status/Pseudo Inputs #80XX Data Link Inputs #8200 Network Inputs #9XXX M-registers (Timers/Counters) System Information Robot and System Version Display Displaying Names and Monitoring I/O Registering Names for Universal I/O Simple I/O Monitor Screen C. I/O Software Components Ladder Configuration Program I/O scan time Software Construction Mapping of I/O for General Purpose Mapping of I/O for Arc Welding Mapping of I/O for Spot Welding Mapping of I/O for Material Handling Editing the User Ladder Edit/Compiling the I/O User Ladder Examples of Ladder Diagram Ladder Programming Instructions Ladder Symbols Ladder Programming Instructions GSTR; GOUT STR; STR-NOT OUT AND; AND-NOT OR; OR-NOT AND-STR; OR-STR TMR; CNT Ladder use for Cubic Interference Zones Teaching Cubes 1-8 MIN/MAX Method CUBE LENGTH Method NUM KEY Method Modifying Cubes Using the WAIT for Cube SOUT#81-88. Ladder User Messages/Alarms Registering C. I/O User Messages Registering C. I/O User Alarms

Program Message/ Alarm Display Ladders I/O Control Parameters Parity of General I/O Groups Data of General I/O Groups Alarm Code Specific Output Data 16 Bit Instructions Arithmetic Flags Data Conversion: BCD, BIN Math Instructions: MOV, ADD,SUB, MUL, DIV, MOD Boolean: WAND, WOR, WXOR, WNOT Bit Moves: SHL, SHR, ROL, ROR, Introduction to ArcWorld 6000 Series Overview of Course Objectives Robot Safety Introduction to Arc World 6200 System System Components and Location XRC100 Dual Robot Controller MRM2 Series Positioner Welding Equipment Safety Interlocks System Variations Component Interconnections Jogging the Group Axes Selection of Group to jog Jogging robots Jogging Station Development of Jobs Robot Jobs Station Jobs Robot and Station Jobs Concurrent Job Concurrent Jobs Robot Jobs Use of Special Instructions PSTART PWAIT Testing the Jobs FWD/BWD Test Start Multi Job/ Single Job Modification of Points Independent Control Special Key Assignments


Date



Travel Speed Control Coordinated Control Travel Speed Control Special Key Assignments Using Synchronous/Single Operation Synchronizing through TSYNC Travel Speed Control Special Key Assignments Using TSYNC Instruction Job Duplication Mirror Shift Parallel Shift Twin Coordinated SYNC tag Job Modification 6200 I/O assignments User I/O Assignments Servo Drive Cycle Start/Station Ready Auto/Manual Selector Switch At SideA At SideB Dedicated I/O Assignments Emergency Stops/Overtravel Master Job Start Manual Sweep/Rotate Operations Sweeping the Positioner to SideA Sweeping the Positioner to SideB Rotating the Headstock Welding Screens Arc Start files Arc End Files Cube Defn and Assignment Defining Cubes (Cubic) Cube Assignments (Parameters) Viewing Specified Outputs Operating Procedures Startup, Loading, E-Stop Recovery Shock Sensor Recovery Standard Fault Recovery Procedures

training topics xrc

Documents