revit 2014 user guide pdf

revit 2014 user guide pdf

XRC 2001 Controller pdf manual download. Also See for Motoman XRC 2001. The YASNAC XRC operator’s manuals above correspond to specific usage. Be sure to use the. The MOTOMAN is the YASKAWA industrial robot product. 22 Mar 2007 24-Hour Service Hotline: (937) 847-3200. Motoman XRC Controller. Inform II. User’s Manual. Part Number: 142971-1. Release Date: March 22 MOTOMAN robots, is a technical data solution that is XRC improves high speed welding, cutting and sealing instruction basic operations. Operates by icons. Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: 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. Search Function MOTOMAN. Repair or replace any non-functioning safety equipment immediately. MOTOMAN Search Function. All personnel involved with the operation of the equipment must understand potential dangers of operation.In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”,or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, W A R N I N G could result in death or serious injury to personnel. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned off. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the playback panel, the programming pen- dant, and supply cables. Position data at the point the manipulator stops can be taken-in. This information can be used with other instructions, for instance, to obtain the distance from a goal position and modify operation accordingly.

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The signal input from this port is called a direct IN signal. The output signal of the sensor can be connected via a sequencer to the direct-input signal input port. It is set as an additional item to the move instruction.When there are more than one item in the additional item, choose one. Function Executes a search function. Please give us your feedback on the technical manuals you received with your Motoman robotic solution. To participate, go to the following website: 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. Please contact your salesman directly, or the Motoman service staff at (937) 847-3200, to order the XRC Inform II manual.XRC Operator’s Manual for Spot Welding MOTOMAN. Repair or replace any non-functioning safety equipment immediately. MOTOMAN XRC Operator’s Manual for Spot Welding. Check and test all changes at slow speed. MOTOMAN XRC Operator’s Manual for Spot Welding. XRC Operator’s Manual for Spot Welding MOTOMAN. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned off. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the playback panel, the programming pen- dant, and supply cables. Find information for setup, installation, and connection of the XRC system by referring to the “MOTOMAN Setup Manual”. L O C K The number keys have additional functions along with their number values.

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Be sure to follow the proper shutdown sequence as described in Section 6. Ensure that the area around the manipulator is safe before turning on the power. This button lights. When turning the power back on, follow the previously listed instructions. Press the axis operation keys on the programming pendant to move each axis of the manipulator. 3.1.1 Joint Coordinates. This is called a move instruction. The destination position, the interpolation method, the play speed, etc.The reason it is called a move instruction is that the main instruction begins with “MOV”. The job “TEST” is registered in the XRC memory and the job is dis- S E L E C T played. The NOP and END instructions are automatically reg- istered. Jobs are created using a robot programming language called INFORM II. The following example will instruct you how to teach the manipulator all of the steps from Point A to Point B of the following workpiece. The manipulator can then be operated. 2. Move the manipulator to the desired position using the axis operation keys. S H I F T Set the speed 12.50. S H I F T Set the speed to 50. It is possible to move directly from the welding end position of Step 5 to Step1, so the manipu- lator can begin the next welding job quickly and efficiently. The error occurs because the manipulator has not been moved exactly to the taught position. T E A C H L O C K To run the program from the beginning of the job, perform the following operation. The appro- priate wire length can be determined by using the inching procedure. S H I F T Set the speed 12.50. The detail edit display is shown as follows.The check run can be performed without performing actual work. This is possible because the work output instruction of the ARCON instruction is not executed. 1. If the check run is turned off, the ARCON and the ARCOF instructions are executed. 5.4.3 Adjustments for Welding Defects To adjust welding conditions after welding, look at the appearance of the welding bead.

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Welding Defect Reason for Occurrence Correction Method. The job creating procedure is then explained.They correspond to single-, double-, and triple solenoids. Up to four hands can be controlled by a single manipulator. Teaching Procedure 6.3.1 Teaching Points. F S T Medium speed: is displayed in the status area.It is neces- sary to choose a place in which the holding workpiece and the piling up workpiece do not interfere when the manipulator approaches the palette, and teach that position. It is necessary to choose a direction in which the tools and workpiece do not interfere, and teach that posi- tion. The special play dis- play is shown.The job creation procedure is then explained.The TOOLOF instruction is registered. E N T E R Cutting Test 7.3.1 Speed Limitation Drive The speed limitation drive is executed to confirm the taught path.If the speed limitation drive is turned off, cutting is executed at the same speed as during teaching. The job content pro- cedure is then explained.F S T is displayed in status area.The check run can be conducted without actually performing work. This is because the work out- put instruction of the SPOT instruction is not executed. 1. The Emergency Stop emergency stop button is on both the programming pendant and Programming Pendant. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”,or ”PROHIBITED”. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury to personnel. When the servo power is turned off, the SERVO ON READY lamp on the playback panel and the SERVO ON LED on the programming pendant are turned off. Definition of Terms Used Often in This Manual The MOTOMAN manipulator is the YASKAWA industrial robot product. The manipulator usually consists of the controller, the playback panel, the programming pen- dant, and supply cables.

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The playback panel is installed in the upper right corner of the cabinet door and the programming pendant hangs on a hook below the playback panel. E M E R G E N C Y S T O P Enables the servo power ON. Use this button to turn servo power ON after and emergency stop or servo S E R V O O N overrun condition. L O C K The number keys have additional functions along with their number values. Displays the next page. Displays the content related to the current line.The selected motion type is shown in the status display area on the screen.I N S E R T Modifies taught position data, instructions, and data. The display area is made up of three different sections.Full Screen View Upper Screen View Middle Screen View Lower Screen View 1-13. Cancels character input, even if no characters have been entered on the input line. Change the data type for input;. This is a method where only those operators with an appropriate level can perform operations or change settings. Be sure that the operator is at the appropriate level before operation. The relative individual axes of the robot system are divided by their function into robot, base, and station axes. The motion of each axis is described in the table below. Axis Motion in Joint Coordinates Axis Axis Name Operation. The motion of each axis is described in the following table: Axis Motion in Rectangular Coordinates Axis Axis Name Operation Motion Basic Moves parallel to X-axis. The motion of each axis is described in the following table.The motion of each axis is shown in the following table: Axis Motion in Tool Coordinates Axis Axis Name. Therefore, the tool coordinates axis direction moves with the wrist. In tool coordinates motion, the manipulator can be moved using the effective tool direction as a reference regardless of the manipulator position or orientation. You may select from registered tool files when you switch tools on the manipulator. This operation can be performed only when numbers of the tool is more than one.

Up to 24 coordinate types can be registered. Each coordinate has a user number and is called a user coordinate file. M E N T Tool Tip Operations 2.8.1 TCP Fixed Operations A TCP fixed operation can only change the wrist orientaion at a fixed TCP position in all coor- dinate systems except the joint coordinates. The control point controls axis operations and it is set as the distance from the flange face. The TCP change operation is an axis operation that involves selecting the desired tool file from a list of registered files, and then manipulating the axes while changing the control point. By selecting two control points alternately, the workpieces can be moved as shown below: TCP fixed operation with P1 selected TCP fixed operation with P2 selected. Characters that Can Be Used in Job Names Job names can use up to eight alphanumeric and symbol characters. These different types of characters can coexist within the same job name. Then, the job content display is shown. NOP and END instructions at the beginning of the job are registered automatically.In the case of MOVE instructions, the instruc- tion corresponding to the motion type is automatically displayed at the time position is taught. Additional items: Speed and time are set depending on the type of instruction. When the linear motion type is used to teach a robot axis, the move instruction is MOVL. Linear motion type is used for work such as welding. This step must be inserted between two steps at an identical point. The step at the end point of the preceding circular move must coincide with the beginning point of the following circular move. The path of motion is a parabola passing through three points. When spline motion is used for teaching a robot axis, the move instruction is MOVS. As with the circular motion type, the speed taught at P2 is applied from P1 to P2, and the speed taught at P3 is applied from P2 to P3. Teach points so that the distances between the three points are roughly equal.

M E N T Setting Position Level The position level is the degree of apporoximation of the manipulator to a taught position. The position level can be added to move instructions MOVJ (joint motion type) and MOVL (lin- ear motion type). However, at the end of a called job, the manip- ulator moves the instruction next to the CALL instruction.The manipulator starts the test cycle operation.J O B EDIT DISPLAY UTILITY JOB LIST JOB00001 JOB00002 JOB00003 ARC-JOB1 SAMPLE01 3.4.2 Inserting Move Instructions N OT E. The key will blink. The position data in the present position is changed. The values of the position variables are not changed. Even MOV instructions for which S U P P L E - position variables have been set are not changed. N OT E If this occurs, follow either of the procedures below. The message “. Before playback operation, first call the job to be executed.Registering a master job automatically N OT E releases the previously registered master job. Follow the procedure below to register a job as a master job.J O B EDIT DISPLAY UTILITY M A S T E R J O B MASTER JOB T EST-1 Calling the Master Job This operation is to call a master job. The job can be called in the job content display, playback display, job select display, or the master job display. J O B EDIT DISPLAY UTILITY M A S T E R J O B MASTER JOB T EST-1 The select dialog is displayed. Doing the same operation one more time will delete the cycle time display. P L A Y Selected to PLAY mode (Light ON) T E A C H Selected to TEACH mode (Light ON) R E M O T E Selected to REMOTE mode (Light ON) If multiple operations are selected, the speed during playback is limited to the speed of the slowest of the operations. However, operation is performed at actual playback speeds for steps under this limit. Operation Select “WEAV PROHIBIT IN CHK-RUN” under the special play set display Select “COMPLETE”. There are two ways to hold. The manipulator restarts its operation, beginning at the posi- tion at which it was stopped.

E M E R G E N C Y S T O P T U R N Using the playback panel: T U R N. If releasing does not work, turn off the main power and correct the cause of the alarm. Modify? Y E S. Select “PER- MIT“. D A T A EDIT DISPLAY UTILITY O P E R A T I N G C O N D I T I O N EXTERNAL CYCLE SWITCH PERMIT PP CYCLE SWITCH. The selection dialog is displayed.N OT E If “STARTING“ is displayed, the job can not be reset.To continue the operation, press the start button on the station. The manipulator restarts its operation from the position at which it was stopped. Job calls can be used for up to 8 stack levels. S U P P L E - M E N T Operation. Line editing is pos- sible.N OT E If a job has an error in the content, its name blinks.N OT E Edit operations are restricted when the edit lock is applied.The operation can be performed in either the job content display or the job list display.When “YES” is selected, the job name is changed and a new job name is displayed. When “NO” is selected, the job name is not changed, and the process is cancelled.It is possible to partially change comments to enter new comments. The selected instruction is displayed on the input buffer line with the same additional items as registered previously.The input buffer line is displayed.For example, when the movement from lines 5 through 20 currently requires 34 seconds, and you want to reduce this to 15 seconds, this function is used. The data formats for user variables are as described in the following table: User Variables Variable No. The setting of position variables is done in the teach mode. N OT E Turn the servo power on when setting the variables with the axis keys. Types of Position Variables and Setting Methods BPxxx EXxxx. In order to select the appropriate solution, it is necessary to specify the robot type. This robot is called “Type.”. This configuration is required for SK, K, and SV model robots.The data format is the same as that of user variables.

As shown in the table below, the letter L is affixed to the variable number to indicate a local variable. For example, to view the contents of local variable LP000, save it temporarily as user variable P001. Then execute the instruction SET P001 LP000, and view the position vari- able display for P001. Scroll the display using the cursor.Move the cursor to the required job name or con- dition file name and simply press DIRECT OPEN KEY to display the contents of the file. N OT E If another display is selected while the direct open function is effective, the function is auto- matically cancelled and its lamp goes out. 6.1.2 Reserved Display Call When operating while referring to other displays, the operation can become complicated. In the model for parallel shift shown in the following, the shift value can be defined as the distance 12 (three-dimensional coordinate displace- ment). When using the parallel shift function it is necessary to measure the distance between the teaching point and the shift destination position (XYZ displacement of each coordinate) and then register this in advance as a position variable. Since this is normally performed in the user coordinates, the position data dis- play for the user coordinates is used. 6.2.3 Registering Shift Instructions To register the instruction, move the cursor to the address area in the job content display dur-. The select dialog is dis- played. The select dialog is displayed.The parallel shift conversion function shortens the modification time required in cases like this by shifting all steps of the job by the same value to create a new job. Robot Coordinates The base axis is shifted by B. The tool center point of the manipulator is shifted by A in the robot coordinates. User Coordinates The base axis is shifted by B and the tool center point of the manipulator is shifted by A in the user coordinates. Only steps taken at the “slave” from the standpoint of the SMOV instruction are subject to conversion.

The parallel shift job conversion display is shown. The PAM status display is shown. The job is taught to one of the robots and then mirror shift is executed, after which the other robot can also perform the job. Object Job Jobs and relative jobs without group axes cannot be converted. Parameter The axes which should be shifted (sign is reversed) are specified in the following parameter: S1CxG065: Mirror shift sign reversing axis specification 1st Axis (0:No reverse, 1:Reverse) 6th Axis 6.5.2. Insert the power cable and RS-232C cable into the specified connector.Inserting a Floppy Disk The floppy disk insertion slot has an opening on the front panel of the floppy disk unit. The opening is protected by a cover. Data that can be saved are classified into eight groups. The table on the next page lists the data of the seven groups. The table also shows different file names provided for saving different types of data. A floppy disk that is formatted dif- ferently from the XRC recording format needs to be reformatted before it can be used. Follow the procedure below to format a floppy disk. EXEC Y E S The floppy disk starts formatting. Loading To upload data from the external memory unit to the memory of the XRC, follow the procedure in the following. Once the load operation is completed or cancelled, the job list display is shown.TEST0007 Y E S The job starts saving, and the transmission display is shown.If loading is completed or canceled, the file select display is shown. Saving the CMOS data To save all user’s programs (BATCH USER MEMORY), all data in the CMOS (BATCH CMOS), or all data in the CMOS area (ALL CMOS AREA), a single floppy disk may not be suf- ficient. Overwriting On Existing Files If the floppy disk contains a file with the same name as the one to be created by the saving process, the confirmation dialog is displayed. TEST0007 Y E S The job starts verifying and the transmission display is shown.

Once the verifying is completed or cancelled, the data list display is shown. Deleting Files Follow the procedure below to delete a file or files on a floppy disk in the floppy disk unit.Welding conditions (level signal) 1 (1) Sets the welding conditions for the 2 (2) welder.The output format can be set as 4 (3) binary or discrete. (( ) is for discrete) 8 (4) Can handle up to 255 conditions(for 16 (5) binary). It outputs the gun pressure signal then exe- cutes the welding sequence appropriate for the gun type. The condition number when spot instruction is registered is value set on the manual spot con- dition display. Cannot be omitted at simultaneous two-gun control.An alarm occurs if the welding erroneous status lasts after current re-conduction is performed at the set number. It shows the set number of welds to tip replacement and the number currently completed.The confirmation dialog is displayed.Welding conditions (level signal) 1 (1) Sets the welding conditions for the 2 (2) welder.The output format can be set as 4 (3) binary or discrete. Explanation The pull down menu is displayed.When the welding command manual spot operation is executed, it is used as a confir- mation signal. In cases where multiple choices are possible, all choices are listed. Select one choice only. Spot Welding Instructions Presses a gun.Function Position data, These data do Base axis position data, not appear on. Function Position data, These data do Base axis position data, not appear on Station axis position data the display.Described after an instruction that specifies a certain action.Format:DIV Data1 can be an element in a position variable.Function Format:SET Data1 Data1 must always be a Format variable. Data2 SET I012 I020 Example Sets data to an element in a position variable. Function P ( ), BP ( ), SETE EX. Format:CLEAR Data1 B,I, D,R Data2,ALL,STACK ALL:Clears vari- ables of the vari- CLEAR able number in Format.

Motoman Robotics’ industryleading INFORM II language is icon-driven and easy-to-use. Application-specific software include a powerful instructions set that simplifies programming. The XRC 2001 features a patented method for programming and control of multiple robots (U.S. patent 5,889,924). It offers unmatched capability for control of up to four robots. The XRC 2001 features built-in collision avoidance, including a definition of the entire robot and its end-of-arm tool.Prices are indicative only and may vary by country, with changes to the cost of raw materials and exchange rates. Register yourself now and be a part of our community! I'm helping a friend getting a Motoman UP20 and XRC 2001 back to service in a welding application, I got few questions which I appreciate if someone can advice or point me to right direction. Some history: These are two separate used units which we are putting together, when I connect the manipulator to the controller got few errors mostly related to backup batteries and emergency circuits. Managed to find my way using the manual to disable some of the external emergency circuits for now just to test the system. At the moment when I start the controller, I get only two errors both related to backup battery, which is an achievement so far. I select Reset to clear the errors, then all seems normal but I'm unable to switch the servo ON. I have tested the switch, it is working, but the message does not change when I press or release, I traced the wires to a safety relay (Omron G9SA) installed on the inside of the door with other relays which are not engaging, this is not surprising as some of them are connected to external wires which are not connected. Related to that, I have just seen this switch is connected to CN43 so I will check this tomorrow, meanwhile if you have any thoughts please let me know. Is the wiring of the safety relay (Omron G9SA photo attached) available anywhere in the manual or this is application specific.

The other question I have whether any sort of initialization is required at this stage or simply complete the connections then manage to turn Servo ON and follow the Home Position Calibration procedure. Please excuse me if I'm missing the basics here as I'm new to all this. Attached are a photos of the screen and the safety relay with the wires of the Programming Pedant emergency stop wires marked. Thanks! I have decided to power the safety relay directly, it worked, and the P.P. Emergency stop now gone unless the P.P. emergency stop is pressed. I got the servo light flashing now. I have not tried to operate the robot, as with me supplying the safety relay directly without the other smaller relays engaging (appears in the attached photos above) I might be risking the boards, or not. Pretty sure there is proper protection on the circuits but not sure if I should try to operate it as of now. I noticed that the brake release on the controller does not work, does not light up, and does not release the brakes when pressed, not sure if this is linked to the safety relays circuit or this has another problem, any thoughts? I have disconnected the cable which goes to the brake circuit to the manipulator, changed the fuse, then tried the brake release, it seems that it is working fine, but not when the manipulator is connected. On the side i'm tracing the safety relays arrangements, a bit of progress but notice more external wires which need to be sorted. The questions now: 1- Is there any way to test the brake circuit on the manipulator ? 2- Any experience with possible reasons causing these fuses to blow? The manipulator manual for your correct robot model would show the wiring pin out. 2) A brake is shorted out. Harness is shorted. The manipulator manual for your correct robot model would show the wiring pin out. 2) A brake is shorted out. Harness is shorted.

I tried to follow the the attached schematic to check each brake circuit to the common, that was not so successful I have got many different readings between the pins some with very low Resistance below 1 ohm, few at 1.5 ohm and 3 ohm, other are just open, the measurements so far was not constant or give any clear indication on how everything connected, got resistance values between different axis breaks which was not expected. Taking about this I must highlight the brake releases circuit fuse (FU2 in the attached) get blown when I press the main release switch (SB1 in the attached) before I press the individual brake release switches. On a side note, the information I get earlier that the controller and the robot are not a match was not accurate, I have checked the serial numbers today and they match.I have disconnected A1 which is the common for the three larger motors as these these lower resistance, the fuse is not blowing now, I was hopping that the other three smaller motors manual release would work, sadly that was not the case, not sure why. (A1 is from the brake schematic above) I wanted to narrow down things, so I have kept A1 disconnected, then tried to operate the robot, when I press on the dead-man switch, I can see the brake relays operate, the larger contractors engage in the controller, in a second I get the attached error (1321 over current AMP)) with no movement on the robot. Here is what I think is happening, the robot is trying to move to a cretin potion but as S, L,and U axis brake is not release so the motors are drawing more current than they should be. What I'm trying to do here, is to see if the other three axis are working fine (R, B, and T), I want to be able to move them manually using the programming pendant, without moving the other three which are locked under brake. The questions here are: 1- Any thought on the resistance I'm getting on the brakes ?

2- How to stop the robot from moving automatically to a set position when I press the dead-man switch whatever is that, but move manually axis by axis ( I was trying in the teach mode).Have the coordinates set to JOINT (picture of robot). Jog the R, B, and T manually to see the results. I noticed that I left the brakes cable unattached inside the controller during yesterday testing, so I have connected back and tried again, as soon as I pressed the dead-man switch, the contractors latches and it blows the brake fuse again with error 4111 even with A1 disconnected. I do not have any spare so will have to get some tomorrow and start over with the wiring. I came across this post which make me wonder if my problem is somewhere else like the external wiring: Brake Fuse Blown Still looking to solve this, and wondering, is it normal for the robot in the teach mode to try to move on its own by just pressing the dead-man switch without me jogging. With all this the manual brake release is still not working. Can anyone confirm that the numbering layout I'm going to follow is correct (see attached) I'm not sure about the pins locations within each block of the connector. The good news: all breaks are working fine now, I was able to jog the robot manually with all the six axes working fine but slow. Any thoughts ? What voltage do you read at the top of the KM1 on all three phases? What voltage do you read at the top of the KM1 on all three phases? It is very unlikely that the voltage is too high as I'm using the mains voltage and that error came out during operation, however, I will check it out. If the converter is faulty, any idea on possible reasons of that.Be sure to ask if there are any rebuilt units. As for why. Well, your robot is old. Really really old. Yaskawa stopped making parts for it in 2015 and will stop supporting all XRC robots soon (end of 2020, 2021?). Then it will become like an MRC.