Fiber Laser - FLW

Operation reference
AMADA LASER (Ytterbium Fiber Laser) FANUC R30iA

Procedure to start
① Air compressor “ON” → Make sure that the main air pressure is 0.49MPa or more
(AIR)
② Open the valve of shield gas (Argon or Nitrogen, etc)
(Check the remaining amount of gas in cylinder)
(Argon is usable for general materials)
(Nitrogen is usable for general steels (SPCC,SUS304,SECC, etc.), aluminum
(A1000,A5000))
③ FANUC controller R-30iA circuit breaker “ON”
④ Laser oscillator circuit breaker ”ON” (“ON” at any time)
⑤ OSCILLATOR MODE keyswitch ”Robot”
⑥ Controller POWER switch button ”ON” (The window display and the ROBOT READY light
are illuminated.)
⑦ ROBOT MODE keyswitch ”T1 250mm/s”
⑧ Return the air type interfere sensor.
(Make the shock sensor and torch stand upright, and according to the white line, move
down the head to fit in.)
⑨ Make sure that the EMISSION ENABLE keyswitch is ”OFF”.
⑩ LASER keyswitch ”ON” → LASER READY LED light flashes. (in preparation)
⑪ The LASER READY LED light and pilot lamp (green) are illuminated.
Complete the start up.
 Fiber Laser - FLW
Operation reference
AMADA LASER (Ytterbium Fiber Laser) FANUC R30iA

Procedure to finish operation

① Move the robot to the work origin point (for next day’s work to recover the air type
interfere sensor.)
② Close the partition door.
③ EMISSION ENABLE keyswitch ”OFF”
④ LASER keyswitch ”OFF” (The LASER READY LED lights off)
⑤ Controller POWER switch ”OFF” (The display lights off)
⑥ OSCILLATOR MODE keyswitch ”OFF”
⑦ Laser oscillator circuit breaker ”OFF” (only for a long period of time to leave idle)
Leave it ”ON” usually.
⑧ FANUC controller R-30iA circuit breaker ”OFF”
⑨ Close the shield gas valve
⑩ Air compressor ”OFF”

(Note 1) Do not turn off the oscillator breaker for protecting the cooling water from freezing up in winter time.
(Note 2) Always keep the external chiller primary breaker ON.
 Table of contents

1・・・・・・・・・Basic robot operation

2・・・・・・・・・Machine operation
3・・・・・・・・・Programming example 1 Basic program
4・・・・・・・・・Teaching hand box ①
5・・・・・・・・・Teaching hand box ②
6・・・・・・・・・Manual feed
7-9・・・・・・・ Program operation
10-11・・・・・ Instruction for interpolation
12・・・・・・・・Calibration result check
13-15・・・・・ Welding order
16-18・・・・・ Program change/adding/elimination
19-20・・・・・ Instruction change
21・・・・・・・・Check before starting a program
22-24・・・・・ Processing condition file
25-29・・・・・ Welding special feature
30-36・・・・・ Utility
37-28・・・・・ Operative method
39・・・・・・・・ Make a full use of robot
40・・・・・・・・ Program example 2 advanced program
41・・・・・・・・ Program example 3 track shape
42・・・・・・・・ Program example 4 advanced track shape
43・・・・・・・・ Program example 5 advanced track shape
44・・・・・・・・ Program example 6 overlaying program
45・・・・・・・・ How to process a corner
46・・・・・・・・ Edit work
47・・・・・・・・ Multiple programs batch processing
48-51・・・・・ Program shift
52・・・・・・・・ Robot operation with a rotating table
53-55・・・・・ With a rotating table
56-60・・・・・ Attachment: Standard working process chart

This reference material has been made for machine operators.

Please read the operation manual for each unit carefully before operation.
Basic
Basicrobot
robotoperation
operation

１
 Machine operation

New product

Assembly
Tack welding (with Shuttle option)
Repeat product

Examine
product position
Assembly/Tack welding Automated product
Set the product
Select a table
Assembly/Tack welding
Create a new program
Positioning
JIG resetting Select a station
Teaching
Processing direction Set the product
Processing condition Positioning
JIG resetting

Movement check Start TAS operation

forward/backward Set a product

TAS operation
Prepare to run Correct the position Automatic
job retrieving

Start Set a JOB to use

Inspection

Inspection Prepare to run

Start (processing)

Start (return)

Inspection

２
 Program
Programexample
example11 Basic
Basicprogram
program
This program is an example of straight welding program.
Specify material type and thickness, then create program.
Refer to the condition list for each material type and thickness available to specify.

Specify a condition file 1:M102(‘SUS1.0’) Specify the file

Specify a processing
condition No. 2:E_NO(1)
Initial position 3:L P[1] R[1] cm/min CNT100

Start position 4:L P[2] R[1] cm/min CNT100 Position to start welding

Welding operation 5:LASERON Laser ON/Shutter open

Weld end position 6:L P[3] R[1] cm/min CNT100 Point to finish welding

Finish processing 7:LASEROFF Close the shutter

Retract position 8:L P[4] R[1] cm/min CNT100

Initial position 9:L P[5] R[1] cm/min CNT100
Finish macro 10：MCR_END

[End]

・Dry run speed and welding speed are automatically detected.

・Dry run speed is selectable from F1-F4.

Initial position

Retract position

Welding operation
Start position

Start welding Pass point Finish welding

・Welding speed is automatically retrieved from the specified condition file.

３
 Teaching
Teachinghand
handbox
box①
①
●Teaching hand box layout
•Enables all the necessary operation for robot such as
programming and test execution.
•Enables to move the arm and wrist of robot by key operation
of the teaching hand box.
•The Robot stops when you press the EMERGENCY STOP
button. Moreover, the Deadman switch makes the robot stop
just taking your hand off from the box while using.

Hand box EMERGENCY STOP

enable switch button

Screen

List key Function key

Selects the program list window. Selects the function
key menu.
Edit key
Selects the program edit window. Next page key
Preview key
Displays the next page’s
Preview the Data key function menu.
previousoperation. Selects the data screen such as
register. FCTN key
Menu key Displays auxiliary function.
Selects the screen menu. Group key
Cursor key Select a jog group.
Moves the cursor.
Hold key
Step key Makes the robot pause.
Forward key
Reset key Execute programs.
Reset the alarm.
Jog keys
Back space key Moves the robot manually.
Deletes the letters or
numbers shown before
and after the cursor.
COORD key
Switches the kind of jogs.
Item key
Moves the cursor to
any item or line.
Override keys
Adjusts the robot speed.
Enter key
Inputs numbers and
selects menu. Input/Output key Tool 1/2 key Set up key
Displays the I/O window. Displays the tool 1 and 2. Displays the setting window.
Position display key
Displays the current position.
Status key Regular position return key
Displays the status window. Not available now.

Notes) The teaching hand box that you use actually might be a little different from the above.

４
 Teaching
Teachinghand
handbox
box②
②
The following short cut keys are available at teaching hand box.

●Inside mirror movement Enables to see the guide laser properly by moving
the inside mirror when using the guide laser.

Dead
-man Shift Set up Inside mirror for camera “in and out”

Every time pressing once, switches in and out.

●Filler nozzle up/down movement

Moves the nozzle up or down when using filler.

Tool 1 Filler nozzle “up and down”

Every time pressing once, switches up and down.

●Side nozzle up/down movement

Moves the nozzle up or down when using TAS.

Tool 2 Filler nozzle “up and down”

Every time pressing once, switches up and down.

●Feeds the filler material

Forwards filler-materials to processing point.

Dead While pressing, feeds filler-materials at slow speed

Shift Tool 1 and then (2 seconds later) moves quickly.
-man

●Retracts the filler material

Retracts filler-materials.

Dead
Shift Tool 2 While pressing, returns filler-materials at slow
-man speed and then (2 seconds later) moves quickly.

●Return to reference position

Returns the robot to the reference position.

Dead Move
-man Shift menu While pressing, the robot moves to the reference
postion.

５
 Manual
Manualaxis
axisfeed
feed
Let’s operate the robot to grasp the movement features.

●Make sure to check before start

Mode switch Switches “enable” or “disable” of the teaching hand
box’s operation.
Select “ON” to operate manually.

Turn the mode key “ON”.

OFF ON

Select a jog group Switches the operations of robot, carriage and table.

Select a group depending on the situation for

movement. (G1=robot G1S=carriage G3=rotating
table)

G1 G1 S G3

Select a movement
coordinate system Select the coordinate system depending on the
situation for movement.

Ortho- Each
Tool 3LDR 0
gonal axis

The coordinate systems are shown at the upper right on

the screen.
＊No use of 3LDR 0.
Select an Adjust the speed for manual feeding.
axis speed 100％⇔50％⇔5％⇔FINE⇔VFINE
Enables to switch among the above five stages of
fixed speed.
Switch the speed in combination with a “Shift key”
and “+ or - key”.
5% for 10% or more
1% for 10% or less

Deadman switch To turn on the servo power.

Enables manual operation for each axis with

holding.

Notes : Press lightly.

When pressing too firmly, the servo is turned off.

６
Programming
Programmingoperation
operation
Let’s create, retrieve and copy a program.

●Create a newly program

Press “SELECT”.

SELECT

“CREATE” is shown on the F2.

Press “CREATE of the F2.

Ｆ２

Program input display is shown up.

A list for selecting input method is shown in the
upper part of the F5.

・Select using “cursor” a input method among

Words/Upper Case/Lower Case/Options.

Specify a input
method with cursor.

Input a program name using the letters displayed in

“F1-F5” with F keys, and then press “ENTER”.

Ｆ１～５ ENTER

After the above procedure, the new program

display is shown up.

Reference: A key board is shown up when selecting

“other/key board”.

ENTER

７
●Retrieve an existing program
Press “SELECT”.

SELECT

A list of existing programs is shown.

Find a program to use with “cursor” and press

“ENTER”.

ENTER

●Copy an existing program

Press “SELECT”.

SELECT

A list of existing programs is shown.

Find the program to copy with “cursor”.

Press “NEXT” to display COPY at the F1, and then

press “COPY”.

NEXT F1

COPY display appears.

For the COPY TO, input the name of program using

the letters displayed on “F1-F5”, then press
“ENTER” to change the name.

Ｆ１～５ ENTER

Input method is the same as creating a new

program.

８
●Delete an existing program
Press “SELECT”.

SELECT

A list of existing programs is shown.

Find the program to delete with “cursor”.

DELETE is shown on the F3.

Press “DELETE” on the F3 to delete the program.

F3

９
 Instruction
Instructionfor
forinterpolation
interpolation
Movement instruction is set with interpolation method (straight-line interpolation and circular interpolation)
and movement speed.
・In the programming display, select an
interpolation method from the options (2 kinds)
displayed on the function keys.

・POINT
・CIRC

The “POINT” means an order of straight-line

interpolation.

●Straight-line interpolation
Select the “POINT” of the F1.

Ｆ１

The standard movement menu 1 is displayed.

Select the order to use with “cursor” and press

“ENTER”.

ENTER

Straight line
position[2]
Straight line
Straight line position[3]
position [1]

When making a straight-line interpolation at each point, use this order.

１０
●Arc interpolation

The “CIRC” means an order of arc interpolation.

Select “CIRC” of the F2.

Ｆ2

The CIRC 1 is displayed.

Select the order to use and press “ENTER”.

ENTER

Circular arc
Circular arc position[1]
position[2]

Creates an arc by instructions for two points of start and end point of arc.

１１
 Program
Programmovement
movementcheck
check
Check the created program in the forward/backward feed of step operation and continuous operation.

●Switch between step and continuous operation

“STEP” button is to switch between step and
continuous operation.

Step-operation status Continuous-operation status

●Check on step operation

Backward Forward 1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:L @P[3] R[1] cm/min CNT100

＋ 4:L P[4] R[1] cm/min CNT100

5:L P[5] R[1] cm/min CNT100

Speed 100% 6:L P[6] R[1] cm/min CNT100

[End]
Speed set

・For step operation, with pressing once on the key of forward or backward, performs moving
forward or backward one line.
・Current position of robot is marked with @ in front of the POSITION ”P” in the program.

●Check on continuous operation

Backward Forward

1:L P[1] R[1] cm/min CNT100

2:L P[2] R[1] cm/min CNT100

＋ 3:L @P[3] R[1] cm/min CNT100

4:L P[4] R[1] cm/min CNT100
Speed 100% 5:L P[5] R[1] cm/min CNT100
6:L P[6] R[1] cm/min CNT100
Speed set
[End]

・For continuous operation, with pressing once the key of forward or backward, performs to the final
line from the current line where the instruction has been made.
・The movement becomes SMOOTH without stopping at each teaching point.

１２
Welding
Weldinginstruction
instruction
Program setting to make a welding instruction to laser oscillator as follows.

・Select LASER assigned on the F3 key in the

programming screen. (4 kinds)

・Processing condition designation

・Processing condition No. designation
・Laser ON
・Laser OFFF

●Processing condition designation (M102((‘’))

Set a condition list of material type/thickness to use.

Select “LASER” of the F3.

F3

The laser menu 1 is displayed.

Select M102(‘.…’) with cursor, and press “ENTER”.

ENTER

M102(‘…’) is inserted into the program.

Select the part of processing condition in the

M102(‘.…’) with cursor.

CHANGE appears in the F5. Then press “CHANGE”.

F5

Parameter type selection menu appears, then

select “STRINGS” of the F5.

F5

Alpha Input 1 menu appears in the F5, then select

among Words, Upper Case, Lower Case and
Options with cursor then press “ENTER”.

Input
F5 ENTER
name

１３
●Processing condition No. designation
The standard values are filed to be selected depending on processing purpose.
Enables to specify as E_NO (processing condition number).
Select “LASER” of the F3.

F3

LASER MENU 1 appears.

Select E_NO(Constant) with “cursor” and press

“ENTER”.

ENTER

E_NO(Constant) is inserted into the program.

Select (Constant) of E_NO(Constant) with “cursor”.

Input the processing condition No. directly from

with “keyboard” of control board and press
“ENTER”.

Input numbers ENTER

<Standard condition array table>

No. Name Intended purpose
E1 Standard pulse <PULSE-L> In standard setting, overheated part, edge condition and
minimum deformation

E2 Hard pulse <PULSE-H> Gap and corner processing

E3 High speed <HIGH> High speed welding, lap welding application

E4 Standard <NORMAL> Generally stable condition for standard gap

E5 Flat <FLAT-F> R and flat finish

E6 Filler standard <FLAT-F> For flat finish, standard gap t X 30%

E7 Back up 1<Reserve1>
E8 Back up 2<Reserve2>
E9 Weaving <WV> For gap processing (gap=thickness 30%)

E10 Weaving filler <WV-F> Material thickness and leg length setting such as open and
fillet

When needing a strong condition, change the processing condition file M102.
(example: M102(‘t1.0’) ⇒ M102(‘t1.2’))
Or when needing weak condition, change the processing condition file M102 in the same way.
(example: M102(‘t1.0’) ⇒ M102(‘t0.8’))
１４
●Welding start instruction (LASERON)
Instruction for teaching a welding start point to start welding from there.

Select “LASER” of the F3.

Ｆ3

Laser menu 1 appears.

Select LASERON with “cursor”, and press “ENTER”.

ENTER

LASERON is inserted into the program.

●Welding end instruction （LASEROFF）

Instruction for teaching welding end point and not to weld from there.

Select “LASER” of F3.

Ｆ3

Laser menu 1 appears.

Select LASEROFF with “cursor” and press “ENTER”

ENTER

LASEROFF is inserted into the program.

１５
Program
Programchange/adding/elimination
change/adding/elimination
How to change/add/eliminate a teaching position in programs are as follows.

●Change a teaching position

To change the position(P) 3

1:L P[1] R[1] cm/min CNT100 1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100 2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100 3:L ＠P[3] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100 4:L P[4] R[1] cm/min CNT100
[End] [End]

Move the robot to the position to change.

Press “TOUCHUP” of the F5 key.

F5

１６
 ●Add a teaching position
To add between the position (P) 2 and 3.

1:L P[1] R[1] cm/min CNT100

2:L P[2] R[1] cm/min CNT100 1:L P[1] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100 2:L P[2] R[1] cm/min CNT100
1:L P[1] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100 3:
2:L P[2] R[1] cm/min CNT100
[End] 4:L P[3] R[1] cm/min CNT100
3:L @P[5] R[1] cm/min CNT100
5:L P[4] R[1] cm/min CNT100
4:L P[3] R[1] cm/min CNT100
[End]
5:L P[4] R[1] cm/min CNT100
[End]

Make the edit menu display on the F5 with pressing “

NEXT”.

NEXT

Press “EDIT” of the F5 key to display the edit menu.

F5

Select INSERT with “cursor”, and press “ENTER”.

ENTER

Input the number of lines to input with “key board” and

press “ENTER”.

KEY
INPUT ENTER
BOARD NUMBERS

In this case, insert one line.

Press “NEXT” to display the point menu.

NEXT

Select “POINT” of F1 key.

F1

Default Motion1 is displayed.

Select the instruction to use with “cursor” and press

“ENTER”.

ENTER
A straight line (L) is added on the third line.

１７
●Delete a teaching position
To delete the position 1 (P1)

1:L P[1] R[1] cm/min CNT100 1:L P[2] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100 2:L P[3] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100 3:L P[4] R[1] cm/min CNT100
4:L P[4] R[1] cm/min CNT100 [End]
[End]

Press “NEXT” to display the edit menu in the F5 key.

NEXT

Press “EDCMD” of the F5 key to display the edit

menu.

F5

Select DELETE with “cursor” and press “ENTER”.

ENTER

Delete line(s)? is displayed.

Select the line to delete with “cursor” and press

“YES” of the F4 key.

Ｆ４

The first line is deleted so that the positionP [2]

moves to the first line.

１８
Instruction
Instructionchange
change
How to change an instruction in a program.

●Change a processing condition

Put a cursor on the processing condition name of M102
in the program.

CHANGE comes up in the F5 key, press “CHANGE”.

F5

A select menu of parameter type comes up, then select

“STRINGS”of the F5 key.

F5

Alpha Input 1 menu comes up on the F5, then select

among Words, Upper Case, Lower Case and Options
with “cursor” and press “ENTER”.

Input
F5 name
ENTER

●Change a welding condition No.

Put a cursor at the number of E_NO on the program.

Input the numbers directly from “KEY BOARD” of control

board, and press “ENTER”.

Input ENTER
number

１９
●Change an interpolation
Put a cursor on the interpolation instructions (Joint, Linear,
Circular) in the program.

CHOICE comes up on the F4, then press “CHOICE”.

F4

The select menu of Motion Modify comes up, then select

with “cursor” and press “ENTER”.

ENTER

●Change an interpolation part (without robot teaching)

How to change the position the same as the
coordinate specified once with teaching.

Put a cursor at the number of POSITION in the program.

Input the position number directly from “key board” of hand

box and press “ENTER”.

Input ENTER
number

How to input a coordinate directly in the coordinate

value data.

Put a cursor on the position number in the program.

The POSITION comes up at the F5, then press “POSITION”.

F5

The position information appears, then put a cursor at the axis

to move, input the numbers directly with “key board” and
press “ENTER”.

Key Input
numbers
ENTER
board

２０
 Check
Checkbefore
beforestarting
startingaaprogram
program
Procedure from the status being ready to process after preparing the program till the
start of processing.

① Teaching hand box enable switch

“ON”→”OFF”
② Partition door
Close the door
“Close”
③ Robot mode
“AUTO”
④ Safety device
“RESET”
⑤ Alarm reset
“RESET”
⑥ Open a program
“OPEN”
⑦ Transfer to the schedule
“TRANSFER”
⑧ Feed rate setting
Select from “F1～F4”
⑨ Emission enable keyswitch
“ON”
⑩ Start running
“START”

２１
 Processing
Processingcondition
conditionfile
file
For processing conditions, the standard values for each typical material type and thickness are filled.
Basically an instruction is made at the top of program, but it is also available to insert into a program during
the operation when needing to change the processing condition.
Enables to specify at M102 (processing condition name) in the program.

F3 Select “LASER” of the F3, then laser 1 comes up.

Select an order to use with “cursor” and press “ENTER”. ENTER

After inserting into the program, input the name of condition to process with “key board”.

●Check on a processing condition list

To check the processing condition in the file, or the name
of processing condition to use for M102.

When selecting “CONDITION.”, enables to confirm the

condition being processed now or the registered
condition list.

By pressing “LIST”, enables to check a list of registered

conditions.

●Open a processing condition

Use for checking and selecting the number of condition
being programmed, and changing the condition being
used.

Select a “condition file to use”.

After selecting the condition file, press “CALL”.

The details of processing condition come up.

２２
●How to modify a processing condition
Two ways to modify a processing condition.
The first one is to input directly.
The second one is to select from the pull-down menu.

The way to input directly

“Touch on the screen” on the part of processing
condition to modify.
The part to modify is high-lighted.
Input the number to modify and press “ENTER”.

Key boardﾞ ENTER

The way to input from pull-down

“Touch on the screen” on the part of processing
condition to modify.
A pull-down menu comes up.
Then, select the number displayed.

Setting condition with a pull-down menu (6 items)

・Welding gas type
・Filler control
・Slope up
・Slope down
・Fine
・Joint shape
The others are to be input directly.

Add comments with the modified conditions (arbitrarily).

To save the comments with the modified condition, press

“COMMENT” to display the comment window and input
with “key board”.

Key boardﾞ ENTER

２３
●How to modify a filler condition
As for filler conditions, with changing the speed and
control system, enables to create optimum conditions for
welding with overlaying and gaps.
The first one is to input directly.
The second one is to select from pull down menu.

Direct-input method “Filler speed”.

Touch on the screen for the processing condition to
modify.
The part to change is highlighted.
Then, input the number to change with “key board” and
input “ENTER”.

Key board ENTER

Pull down input method “Filler control”

“Touch” on the screen for a processing condition to
modify.

A pull down menu is displayed.

Then, select the number displayed on the screen.

●Slope up/Slope down/Fine

Enables to reduce defects and to create a stable welding
bead by adjusting emission and frequency in response to
the speed for parts where the welding speed changes
rapidly such as at the points to start/end processing and
the edge.
To change the condition, select from the pull down menu.

Pull down input method

“Touch” on the screen for a processing condition to
change.

Pull down menu is displayed.

Then, select a number on the screen.

Enables to see the conditions selected on the above

screen in the power control display.
As for Fine, enables switch to a certain condition in the
section to lower the speed by a constant rate. As for
Slope up/down, enable to switch to a certain condition in
a certain section from starting the processing or by
ending the processing.

For the details of selected conditions, enable to see with

pressing the button of “POWER CTRL”.

The part to change is highlighted.

Then, input the number to change from “key board”, and
press “ENTER”.

Key board ENTER

２４
 Special
Specialfeatures
featureswhen
whenwelding
welding
The explanations for the special features of FLM are as follows.

●ＳＬＯＰＥ ＵＰ instruction
The slope up is the feature that is effective to reduce penetration when starting welding by lifting up the
laser beam like a slope.
1:M102(‘SUS1.0’) No setting on the program of slope up.
2:E_NO(1) Create a program as usual.
3:L P[1] R[1] cm/min CNT100 To use, set a processing condition in the slope-up
4:LASER ON column of processing condition.
5:L P[2] R[1] cm/min CNT100 The setting method is as follows.
6:LASER OFF
7:L P[3] R[1] cm/min CNT100
8:MCR_END
[End]

Display the processing condition screen.

Select the slope up column to display the pull down

list.

Display the processing condition screen in the 301-

305.

To display the detailed processing conditions, press

“POWER CTRL”.

The photo on the left is the detailed condition of

power control.

The slope up is set with the conditions below.

“Initial Power” (Power to start welding)
“Stop Time” (Duration to stop at the start point of
welding)
“Distance” (Distance from the start point of welding
to the point to reach the power of processing
condition)
The way of thinking is as follows.
Power
Distance

Initial Power

Time
Stop Time

２５
●ＳＬＯＰＥ ＤＯＷＮ instruction
The slope down feature is effective to reduce penetration when welding is finished by lifting down the laser
beam like slope.

1:M102(‘SUS1.0’) To set a slope down in a program, add a

2:E_NO(1) SLOPEDOWN instruction just before LASER OFF.
3:L P[1] R[1] cm/min CNT100 To add, select an order that includes SLOPEDOEN in
4:LASER ON the STRAIGHT LINE/ARC instruction.
5:L P[2] R[1] cm/min FINE SLOPDOWN
6:LASER OFF
7:L P[3] R[1] cm/min CNT100
8:MCR_END
[End]

Then, select the slope down column of the

processing condition.
The setting method is as follows.

Display the processing condition screen.

Select the slope down column to display the pull

down list.

Display the processing condition screen in the

condition of 401-405.

Select the POWER CTRL to display the detailed

processing condition.

The photo on the left is the detailed condition of

power control.

The slope down is set with the conditions below.

”Finish Power” (Power to finish welding)
“Stop Time” (Duration to stop at the point to finish
welding)
“Distance” (Distance from the final point with the
power of processing condition till the point to finish
welding)
The way of thinking is as follows.
Power
Distance

FinishPpower

Time
Stop Time

２６
●Fine control
The fine control is a feature to reduce welding defects by controlling the emission when the robot-
movement speed slows down such as the corner part.

1:M102(‘SPC1.0’) No setting on the program.

2:L P[1] R[1] cm/min CNT100 Create a program as usual.
3:E_NO(１) ④
①
4:LASERON
5:C P[3]
② ③
6: P[4] R[1] cm/min CNT100
7:L P[4] R[1] cm/min CNT100
8:LASEROFF
9:MCR_END
[End]
The setting method is as follows.

Display the screen of processing condition.

Select the slope down column to display the pull

down list.

Display the processing condition screen in the

conditions of 901-910.

To display the detailed processing condition, select

the POWER CTRL.

The photo on the left is the detailed conditions of

power control.

The fine control is set with the conditions below.

“Power” (Emission when the speed of robot
movement is slowed)
“Freq” (Frequency when the robot movement is
slowed down)
“Duty” (Duty when the robot movement is slowed
down)
“Parameter” (A threshold is a certain % of robot-
slowdown against welding speed, to execute a fine
control)
The way of thinking is as follows.

Range less than speed % set

Emission
① ② ③ ④
Power set for processing condition

① ④

② ③
Power set
for fine control

Time

２７
●Focal point
The focal point feature is to make a bead meet welding purpose by automatically moving up/down the
condensed lens where a laser beam passes.

1:M102(‘SUS1.0’)
2:E_NO(1) No setting of the program.
3:L P[1] R[1] cm/min CNT100 Create a program as usual.
4:LASER ON
5:L P[2] R[1] cm/min CNT100
6:LASER OFF
7:L P[3] R[1] cm/min CNT100
8:MCR_END
[End]
The way of setting is as follows.

Display the screen of processing condition.

Select the focal point column.

Input directly within 0-50 mm.

With the above setting, the focal point moves to the

set point automatically to process while
programming.

●Weaving
The weaving feature is to make a bead wider than usual by rotating the a lens on the way a laser beam
passes.

1:M102(‘SUS1.0’) No setting of the programming.

2:E_NO(1) Create a program as usual.
3:L P[1] R[1] cm/min CNT100
4:LASER ON
5:L P[1] R[1] cm/min CNT100
6:LASER OFF
7:L P[1] R[1] cm/min CNT100
8:MCR_END
[End]
The way of setting is as follows.

Display the screen of processing condition.

Select the weaving column.

Input directly within 1-3000 rpm.

The weaving control is made between LASER ON

and OFF of program.

２８
●Filler control
The filler control is a feature to use for overlaying welding.

1:M102(‘SUS1.0’) No setting of the program.

2:E_NO(1) Create a program as usual.
3:L P[1] R[1] cm/min CNT100 Only add the red part of the left program, when
4:LASER ON taking the filler nozzle in and out.
5:L P[2] R[1] cm/min CNT100
6:LASER OFF
7:L P[3] R[1] cm/min CNT100
8:MCR_END
[End] The way of setting is as follows.

Display the processing condition screen.

Select the filler control column to display the pull

down menu, and select 1 or 2. (1 is recommended.)

1･･･Filler control complying with the speed set for

the processing condition.
2･･･Filler control complying with the speed set for
the processing condition and following the robot
speed.

Select the filler speed column.

Input directly within 1-300 cm/min.

The processing condition of No28 is for filler cutting.

(If no number is input, the robot stops with an
alarm.)

Now a filler processing is prepared.

２９
 Utility
Utility
The explanation for utility feature is as follows.

When pressing the UTILITY on the screen, the menu like

the left photo appears. Press the menu to use for
processing.

Utility menu list (7 kinds)

・Reference position
・Carriage location exchange
・Filler setup
・Shield gas adjustment
・Table setup
・Centering adjustment
・TAS calibration

●Reference position
The reference position stands for returning the robot to the regular position when the operation is finished.
Furthermore, enables an arbitrary instruction to retract for each axis.

When selecting the Reference Position in the menu

screen, the screen like the left photo comes up.

Reference position
Reference point is to automatically return to the robot’s
origin position set in the specification with a button.

Select “Ref.Point” in Reference Position, and press

“START” on the control panel.

Ref.Point

Reference position
2nd Ref. Point is to automatically return to the specified
coordinate with a button of 2nd Ref.Point.

Select “2nd Ref.Point” in Reference Position and press

“START” on the control panel.

2nd Ref.Point

３０
 Retracting movement
The movement of Avoid is to retract the world
coordinates of X,Y,Z and tool coordinate of Z to the
specified value.

Select “a button of axis” to retract, then input the Avoid

Dist. with “key board” and press “START” button on the
control panel.

Key Input
World X number
board

●Carriage Location Exchange

The Truck Location Exchange is to move the location of robot’s carriage with a button. Also, enables to
move to the arbitrary location.

POS.A / POS.B

The feature is to move the carriage to the position

specified in specification with a button.

With the robot position moved to the 2nd Ref. Point,

select “POS.A/B” for specifying the carriage position and
press “START” on the control panel.

POS. A/B

Arbitrary Location

Arbitrary Locale is to move automatically to the specified

position with a button.

With the robot position moved to the 2nd Ref. Point,

select “Arbitrary Locale” of carriage then input the
desired position with “key board” and press “START” on
the control panel.

Arbitrary key Input

Locale number
board

３１
●Filler setup
Filler setup is to use when mounting a filler on the robot and when to automatically feed the desired
amount of filler.

Filler rate setting

To set the desired speed of filler feeding.

Input the desired value in the Filler Speed with “key

board” and press “START” on the control panel.

Key Input
Filler Speed number
board

●Shield gas check

To check the gas flow rate and to use as a gas flow when exchanging the gas cylinder.

Gas type
Select “Argon” or “Nitrogen” from pull down menu.

Pull down menu Argon or Nitrogen

Main/Side gas flow rate and time

Input directly with “key board”.

Key Input
board number

After setting all the above, press “START” on the control

panel.

３２
●Table setup
Table setup is to move the gradient and rotation of table to a desired angle (0, 90, 180, 270 deg.) or an
arbitrary angle.

Gradient
To tilt the table angle to the fixed angle.

Select a button of “Gradient” of table angle with fixed

amounts and press “START” on the control panel.

-90°

Gradient of arbitrary angle

To tilt the table angle by the desired amount.

Select the “Arbitrary Angle”, and press “START” on the

control panel.

Arbitrary Key Input

Angle number
board

Rotation

To rotate the table to an angle with a fixed value.

Select the “Rotation” of table angle with fixed value and

press “START” on the control panel.

-90°

Rotation-Desired angle

To rotate the table to an angle of desired value.

Select “Arbitrary angle”, then input the desired value

with “key board” and press “START” on the control panel.

Arbitrary Key Input

Angle number
board

３３
●Centering adjustment
To check errors of target locations for laser beam and camera.

Processing condition setting

・Power ・Main Gas Kind
・Frequency ・Main Gas Quantity
・Duty ・Time
・Focus
・Collimation

Input the desired value with “key board” or select from

the pull down menu, and press “START” on the control
panel.

Key Input
Desired value number
board

Pull down menu Select

３４
●TAS calibration
To match a TAS cross target and a laser beam.
For advance preparation, to create a laser evidence with one shot on the material utilizing the centering adjustment.

When selecting the TAS calibration in the menu display,

the screen like the left photo appears.

Decide if executing a calibration or not.

YES NO

If YES, follow to the instruction below.

If NO, returns to the menu display.

Specify the laser spot position and press “ENTER”.

ＯＫ

When pressing OK, the adjustment display like the photo

below comes up.

Match the cross cursor position and welding point.

The following three methods are for the case of gap

occurred. (three types)
・Touch on the screen directly, and move to the correct
welding point.
・Touch the arrows of four directions on the screen and
moves to the correct welding point.
・Using a mouse, move to the correct point.

When achieving the correct position, press “FIX”.

FIX

Reference

Press “SHOW” to switch the cursor on the screen ON/OFF.

SHOW

３５
 To adjust the remaining two points in the same way as
the previous page.

Match the cross cursor position and welding point.

The following methods are for the case with gaps

occurred. (3 types)
・Touch on the screen directly, and move to the correct
welding point.
・Touch the arrows of four directions on the screen and
moves to the correct welding point.
・Using a mouse, move to the correct point

After finishing adjustment, press “FIX”.

FIX

Now TAS calibration is finished.

The followings are to select whether finishing TAS

calibration and whether confirming the movement.

THE CALIBRATION PROCESS IS COMPLETED. DO YOU

WANT TO CHECK THE CALIBRATION RESULT?

YES NO

Press “NO” to finish adjustments.

Press “YES” to check the calibration result.

The way to check is the same as adjustment.

DO YOU FINISH THE CALIBRATION?

OK

Press “OK” to finish the calibration.

３６
 Operation
Operationmethod
method
To execute welding using TAS from the schedule of usual operational way.
For the advance preparation, a program to use in the robot side or in NC must exist.

List
When pressing “LIST” on the screen, the program names
registered in the robot like the left photo appear.

Select “Program” to use.

Select the “SCHEDULE REGISTER”, and transfer the

program to the schedule screen.

SCHEDULE
REGISTER

Schedule
When pressing “SCHEDULE” on the screen, the program
names, which have been registered now in schedule,
appear like the left photo.

Select “PROGRAM” to use.

When selecting TAS column, the pull down menu appears

to fix a TAS usage.

When select “Manual” of “Automatic”, TAS is enabled.

The followings are the explanation of manual operation.

Press “TRANSFER” button.

TRANS
-FER

Set the screen after pressing “TRANSFER” to switch to the

TAS, with “SETTING” button.

Start a TAS operation

TAS screen appears like the left photo.

Turn “ON” the EMISSION ENABLE keyswitch.

Press “START” button on the control panel.

３７
The first point of teaching points is displayed on the screen.

Check the alignment of the cross cursor position and

welding position on the screen.

The followings are for the case with misalignment. (Three

types)
・Touch on the screen directly, moves to the correct welding
point.
・Touch the arrows of four directions on the screen, and
move to the correct welding point.
・Using a mouse, and move to the correct welding point.

When reaching the correct position, press “NEXT”.

Fine adjustment for processing point

The followings are to modify the welding points

instructed in programs in the same way as the above.

After correcting the final teaching point and pressing

“NEXT”, program is transferred automatically like the left
photo.
After the transfer is finished, starts welding.

３８
Make
Makefull
fulluse
useof
ofrobot
robot

３９
 Program
Programexample
example22 Advanced
Advancedprogram
program
This program is the applied example of welding program.
Create a program after specifying the material type/thickness.
Refer to the condition list for each material type/thickness which are available to specify.

Specify the condition file

Specify condition file 1:M102(‘SPC1.0’) of SPC1.0mm

Specify condition NO 2:E_NO(2)

Initial position 3:L P[1] R[1] cm/min CNT100

Start position 4:L P[2] R[1] cm/min CNT100 Welding start position

Start processing 5:LASERON LASER ON/Pulse

Welding operation 6:L P[3] R[1] cm/min CNT100

Condition change 7:E_NO(3) Change to continuous CW

welding
Welding operation 8:L P[4] R[1] cm/min CNT100
Welding operation 9:L P[5] R[1] cm/min CNT100
Welding operation
(SP) 10:L P[6] 100cm/min CNT100 Change the speed forcibly

Finish processing 11:LASEROFF Shutter closed

12:M102(‘SPC2.0’) Enhance the condition

Condition file change changing the thickness

13:E_NO(3) CW welding

14:L P[7] R[1] cm/min CNT100

Start processing 15:LASERON LASER ON

Welding operation 16:L P[8] R[1] cm/min CNT100 Welding pass point

Finish welding 17:LASEROFF Shutter closed

Retract position 18:L P[9] R[1] cm/min CNT100

Setup position Speed change for
19 L P[5] 500cm/min CNT100
time saving
20:MCR_END

[End]

This is an example. Use the application according to the purpose.

４０
 Program
Programexample
example33Track
Trackshape
shape
The followings are the applied program and others for your reference.

Straight line 1 6 1:L P[1] R[1] cm/min CNT100

2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
5
2 4:E_NO(2)
5:LASERON
6:L P[4] R[1] cm/min CNT100
3 7:LASEROFF
4
8:L P[5] R[1] cm/min CNT100
Start Finish
processing processing 9:L P[6] R[1] cm/min CNT100
[End]

1 6
Circular arc 1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
3:E_NO(2)
2
4:LASERON
Start
5:C P[3]
processing ＋
6: P[4] R[1] cm/min CNT100
7:LASEROFF
8:L P[5 R[1] cm/min CNT100

5 9:L P[6] R[1] cm/min CNT100

[End]
3

Finish processing
4

Straight line and circular arc 1:L P[1] R[1] cm/min CNT100
2:L P[2] R[1] cm/min CNT100
1 7 3:E_NO(2)
4:LASERON
5:L P[3] R[1] cm/min CNT100
2 5:C P[3]
6 6: P[4] R[1] cm/min CNT100
＋ 7:L P[6] R[1] cm/min CNT100
8:LASEROFF
3 5 9:L P[7] R[1] cm/min CNT100
[End]

４１
 Program
Programexample
example44 Advanced
Advancedtrack
trackshape
shape

Consecutive arcs 1:L P[1] R[1] cm/min CNT100

1 8 2:L P[2] R[1] cm/min CNT100
3:E_NO(2)
4:LASERON
7 5:C P[3]
2
5 6: P[4] R[1] cm/min CNT100
7:C P[5]
4 8: P[6] R[1] cm/min CNT100
6
3 9:LASEROFF
10:L P[7] R[1] cm/min CNT100
11:L P[8] R[1] cm/min CNT100
[End]

Circle 9 1:L P[1] R[1] cm/min CNT100

1 2:L P[2] R[1] cm/min CNT100
8 3:E_NO(2)
4:LASERON
2 5:C P[3]
7
6: P[4] R[1] cm/min CNT100
6 7:C P[5]
8: P[6] R[1] cm/min CNT100
9:L P[7] R[1] cm/min CNT100

3 5 10:LASEROFF
＋
11:L P[8] R[1] cm/min CNT100
12:L P[9] R[1] cm/min CNT100
[End]
4

1:L P[1] R[1] cm/min CNT100

Straight line combined with arc 2:L P[2] R[1] cm/min CNT100
3:L P[3] R[1] cm/min CNT100
3:E_NO(2)
4:LASERON
1 11 5:C P[4]
6: P[5] R[1] cm/min CNT100
7:L P[6] R[1] cm/min CNT100
2 8:L P[7] R[1] cm/min CNT100
9:C P[8]
10
5 6 7 10: P[9] R[1] cm/min CNT100
4 8 11:LASEROFF
12:L P[10] R[1] cm/min CNT100
3 ＋ ＋ 9 13:L P[11] R[1] cm/min CNT100
[End]

４２
 Program
Programexample
example55 Track
Trackshape
shapeapplication
application

The followings are the applied program and others.

Valuable curvature arc 1:L P[1] R[1] cm/min CNT100

2:L P[2] R[1] cm/min CNT100
8 7 3:L P[3] R[1] cm/min CNT100
1 ＋
4:E_NO(2)
5:LASERON
6:C P[3]
7: P[4] R[1] cm/min CNT100

6 8:C P[3]
5 9: P[4] R[1] cm/min CNT100
2
10:LASEROFF
4 11:L P[8] R[1] cm/min CNT100
[End]

3 ＋

４３
 Program
Programexample
example66 Overlaying
Overlayingprogram
program
This program is an example of straight line overlaying welding program.
Set the optimum filler wire and specify the filler condition number.
Refer to the condition list for optimum filler wire type/diameter and others.

Specify condition file 1:M102(‘SUS6.0’) Specify condition file

Specify condition No. 2:E_NO(6)

Initial position 3:L P[1] R[1] cm/min CNT100 Macro “Filler moving down”

Start position 4:L P[2] R[1] cm/min CNT100 Welding start position

Start processing 5:LASERON LASER/FILLER ON

Close to finishing 6:L P[3] R[1] cm/min CNT100 (Just before)

welding Welding end point
Wire stop condition 7:E_NO(1) Condition change
(without wire)

Welding end position 8:L P[4] R[1] cm/min CNT100 Wire moving up point
(pull out)

Finish processing 9:LASEROFF LASER OFF

Extract position 10:L P[5] R[1] cm/min CNT100

Initial position 11:L P[6] R[1] cm/min CNT100

12:MCR_END

[End]

Initial position

Dry run and welding speed are

detected automatically.
Dry run can be selected among
F1-F4.

Extract position

Move the wire up promptly

Welding movement (pull out)
Start position

Start processing Finish point

2mm before

Welding speed and filler speed are automatically retrieved from the specified condition file.

４４
 Corner
Cornerprocessing
processingmethod
method
An example for smooth movement on the corner parts and for
preventing to be burned.

●Cut back on corner

Processing head

Ａ
① ②
1 :L P[1] R[1] cm/min CNT100 Moves to ①
2:LASERON Starts welding
③ 3 :L P[2] R[1] cm/min CNT100 Moves to ②
4 :L P[3] R[1] cm/min CNT100 Rotates to the posture of ③
5 :L P[4] R[1] cm/min CNT100 Moves to ④
6：LASEROFF Finishes welding[End]

Welding line
④
B
1:L P[1] R[1] cm/min CNT100 Moves to ①
2:LASERON Starts welding
3:L P[2] R[1] cm/min CNT100 Moves to ②
4:LASEROFF Shut the shutter once
5:L P[3] R[1] cm/min CNT100 Rotates to the posture of ③
6：
：LASERON Restarts welding
5:L P[4] R[1] cm/min CNT100 Moves to ④
6：LASEROFF Finishes welding[End]

When programming as A, the robot may stop at the part with ☆ mark being disabled to move, and collides
with a work due to the tip of processing head moved a little.
Moreover, as laser continues hitting on the same part, there may be burning and burn-down.
Therefore, like B,
on a corner, shut the shutter once,
Rotate the robot to the forward direction, then process, to bring the stable movement.

４５
 Edit
Editwork
work
The following is an explanation about the COPY in edit menu.

●Cut/Copy/Paste
Press “F→” to display the edit menu on F5.

NEXT

Press “EDIT” of F5 to display the edit menu.

F5

Select the COPY with “cursor” and press “ENTER”.

ENTER

Select the first line with “cursor” and press “COPY”

of F2.

F2

Select the part to copy with “cursor” and press

“COPY” of F2.

F2

The contents to copy are displayed.

Then, select with F2, F3, F4 to copy.

F2：LOGIC
F3：POSITION NUMBER
F4：POSITION DATA

４６
 Batch
Batchprocessing
processingof
ofmultiple
multipleprograms
programs
To execute multiple programs with one start, see the following methods.

●To insert into a program (between the POSITION[2]and[3])

Insert a line between the POSITION [2]and [3]
beforehand.

Press “INSTRUCTION” button of F1.

F1

Using “cursor”, select 6 CALL and press “ENTER”.

ENTER

Displays the program list saved inside the robot like

the left photo.

Using “cursor”, select a program to use and press

“ENTER”.
*Call JOB0001, here.

ENTER

Adds the CALL INSTRUCTION.

Now, the program goes to JOB0001 from

POSITION[2]. After JOB0001 is finished, it
becomes the program to move to the POSITION[3].

４７
Program
Programshift
shift
To move a certain part of program done teaching once parallel to a different place.
Product 2

Product 3
Z axis Product 1
Z axis
Y axis
Y axis

X axis
X axis

● Overall shift
Display the source program to copy on the teaching
hand box.

Press “MENU” to display the menu list of the left

photo.

MENU

Select “UTILITY” of MENU1, then press “ENTER”.

ENTER

1. Specify the name of SOURCE PROGRAM to convert.

2. For RANGE, select ALL or PARTLY of program.

3.The START LINE is not selectable for entire program.

4.The FINISH LINE is not selectable for entire program.

5.For the CONVERT-TO PROGRAM, specify the location

to insert the converted program.
To specify a new program name. create a new program.
To specify an existing program, insert an existing
program.

6.For the LINE to INSERT, to insert an existing program,

specify a line to insert.
To specify a new program, not available to specify.

４８
 To copy the entire program, input TEST0001A at
the CONVERT-TO PROGRAM.

The way to change a program name is the same as

the way to input a new program name.

Move to the next page with “SHIFT”+”↓”

SHIFT ＋
To set the movement amount.

2.To specify the SOURCE POSITION, specify the

position of representative point of the source.

3.To specify the CONVERT-TO POSITION, specify the

position of representative point of the convert-to.

For easy setting, specify the program position

information for the SOURCE POSITION, and specify
the position to move directly for the CONVERT-TO
POSITION.

Call the POSITION[ ] to the SOURCE POSITION, and

specify the standard position in [ ].

Key
F4 ENTER
board

For the CONVERT-TO POSITION, move the robot to

the desired point, then press “SHIFT”+F5 to save
the current position of robot.

Shift ＋ F5

Another way is to input the movement amount

directly with “key board”.

Key
ENTER
board

When pressing the “CONVERT” button of F2, asks

“DO YOU CONVERT?”. Select “YES” to finish
converting.

F2 F5

４９
●Partly shift
The same operation as the overall shift up to the
program shift display.

Move a “cursor” to the part of RANGE and press

“ENTER”. Then “PARTLY” at F4 and “ALL” at F5
come up. Select “PARTLY” at F4.

ENTER F4

To set the START/END LINE, move the “cursor” and

input the number with “key board”.

Key
ENTER
board

The way to change a program name is the same as

the way to input a new program name.
To convert an existing or the same programs, input
those program names.

To add and copy to the SOURCE PROGRAM.

For the LINE TO INSERT, input the number of line to

insert in the CONVERT-TO, then “ENTER”.

Key
ENTER
board

Move to the next page with “SHIFT”+”↓”.

Shift ＋

Call the P[ ] with F4 to the SOURCE POSITION, and

specify the standard position in [ ].

Key
F4 ENTER
board

５０
 For the CONVERT-TO POSITION, move the robot to
the desired point and press “SHIFT”+ “RECORD” of
F5 to save the current position of robot.

SHIFT ＋ F5

Another way is to input the movement amount

directly with “key board” + “ENTER”.

Key
ENTER
board

When pressing “EXECUTE” of F2, asks,Execute

transform? . Select “YES” of F4 to finish converting.

F2 F4

５１
Robot
Robotoperation
operationwith
withrotating
rotatingtable
table

５２
 With
Withrotating
rotatingtable
table
Here the composition of a robot with rotating table and the operation method are described.

●Control group

Robot group
:G1

Robot
An axis of the
manipulator

Station group
:G3

Base Station
An Axis, such as a travel An axis other than robot
axis to move all of the and base, for JIG to tilt
Manipulator and rotate.

Control groups are set for each group unit.

In the above composition are set groups of “G1” and “G3”.

●Concerted movement

G3 Specify the positional relation such as center,

distance, height, etc. between G1 and G3
(calibration), to make a coordinated movement
(synchro).

G1

Rotating the table, enable to trace the track of

straight line and circular arc, etc.

５３
●Manual operation

Select a group To select the active axis for robot, traveling

carriage and rotating table.

Press the button of “GROUP” to switch the group to

use.

G1 G1 S G3

Grouping is done as follows.

G1 Robot (6 axes)
G1 S Traveling carriage (1 axis)
G3 Rotating table (2 axes)

Every time to press the “GROUP” button, the part

shown in the right photo is switched. (Upper right
in the display of teaching hand box)

How to operate For manual operation on the directions for rotation

and tilt.
In the same way as usual robot manual operation,
grip the Deadman SW and press “ｰX” “+X” “-Y”
“+Y” to operate.

Axes are categorized as follows.

X axis(J1) Tilt axis
Y axis(J2) Rotation axis

５４
●Interpolation method
To select an instruction is the same as normal interpolation method.
・In the programming screen, select the
interpolation methods set to the function keys.
(2 kinds)

・POINT
・CIRC

The Point stands for the order of straight line

interpolation.

Straight line interpolation

Select “POINT” of F1.

F1

Displays the Default Motion 1.

Select instructions to use with “cursor” and press

“ENTER”. (Select the parts described with
COORDINATED in the instruction text.)

ENTER

●Circular arc interpolation

Select “CIRC” of F2.

F2

Displays CIRC 1

Select instructions to use with “cursor” and press

“ENTER”. (Select the parts described with
COORDINATED in the instruction text.)

ENTER

５５
Attachment
Attachment::Standard
Standardworking
workingprocess
processchart
chart

５６
Check items before starting operation

Items

NG
Safety glass

OK
Cleaning

Condensed NG
lens

OK
Cleaning

NG
Centering
adj.
OK
Camera adj.

Centering NG
adjustment

OK

TAS NG
calibration

OK
Re-adjustment

Finish

５７
 New product processing flow

To create a program using a teaching hand box

New product

Assembly/tack
welding

Examine a product
position

Set a product

Create a new
program ････Operation Ref P7

Teaching ････Operation Ref P5,6,10,11

Welding condition setting (M102)・・・・Operation Ref P13

Processing condition number setting (E No) ・・・・Operation Ref P14
Start welding (LASER ON)・・・・Operation Ref P15
Finish Welding (LASER OFF)・・・・Operation Ref P15
Add a line・・・・Operation Ref P17
Delete a line ・・・・Operation Ref P18
Order change・・・・Operation Ref P19,20

Check movement ・・・・Operation Ref P12

forward/backward

・・・・Teaching hand box SW “OFF”

Prepare to run
・・・・Partition door “CLOSE”
・・・・Robot mode “AUTO”
・・・・Safety fence “RESET”
・・・・Alarm “RESET”

Prepare a program ①List Processing program “CALL”

②List “TRANSFER SCHEDULES”
③Schedule Program “TRANSFER”

Prepare to start ①Fast feed rate setting “F1-F4”

②Laser emission enable “ON”
Processing

５８
 Repeated product processing flow

To select a program using a teaching hand box

(without using TAS)
Repeated
product

Assembly/tack
welding

Examine a product
position

Set a product

Call a program ････Operation Ref P8

Check movement ・・・・Operation Ref P12

forward/backward

Prepare to run

・・・・Teaching hand box “OFF”

・・・・Partition door “CLOSE”
・・・・Robot mode “AUTO”
・・・・Safety fence “RESET”
・・・・Alarm “RESET”

Prepare to start ①Fast feed rate setting “F1-F4”

②Laser emission enable “ON”

Processing

５９
 Repeated product processing flow

To select a program using a teaching hand box

Repeated
product

Assembly/tack
welding

Examine a product ････Operation Ref P8

position

Set a product

Call a program List Processing program “CALL”

Schedule register List “SCHEDULE REGISTRATION”

Select TAS usage Schedule “NO” or “MANUAL”

Program transfer Schedule “PROGRAM TRANSFER”

Prepare to run

・・・・Teaching hand box SW “OFF”

・・・・Partition door “CLOSE”
・・・・Robot mode “AUTO”
・・・・Safety fence “RESET”
・・・・Alarm “RESET”

Prepare to start ①Fast feed rate setting “F1-F4”

②Laser emission enable “ON”

Processing

６０