YASKAWA DX200 Feature Pack Complete Guide

3.2 Coordinated Motion (163904)

Coordinated motion is divided into two modes:

Workstation coordination: The workstation (positioner) holds the workpiece, and the robot holds the tool. The two move in coordination to maintain the ideal posture of the tool relative to the workpiece.

Jigless system: The first robot holds the workpiece, and the second robot holds the welding gun, coordinating the two. The essence is the same as workstation coordination.

Coordinated Jobs require specialized teaching and support for coordinated interpolation (master-slave relative interpolation) and individual interpolation (independent operation).

Debugging suggestion: When enabling coordinated motion for the first time, it is necessary to manually verify whether the "master-slave tracking" direction is correct at low speed. Wrong coordination direction may result in collision between the workpiece and the welding gun. The "Master Tool User Frame" (163932) function can be used to define a user coordinate system based on the main tool, simplifying offset calculations.

Precise Motion and Path Correction: From Search to Servo Float

4.1 Search Function (163905&163927)

Standard search function: The robot moves in a straight line while monitoring sensor input signals. Stop immediately when the signal arrives and record the current position. Suitable for aligning the edges of workpieces, detecting in place, etc.

Continuous motion search (163927): Without stopping the robot, up to 50 sensor trigger positions can be detected in one motion (such as detecting the spacing between a row of workpieces on a conveyor belt). The NSRCHON instruction is used in the program to greatly simplify programming and shorten the pace.

Typical application: On a conveyor belt, the spacing between workpieces is inconsistent. The robot moves along the direction of the conveyor belt once, sequentially records the position of each workpiece and stores it in a position variable, and then processes them one by one.

4.2 Servo Float (163911/163912/167527/163913)

Under conventional position control, the robot will strive to maintain its position unchanged when external force is applied. The servo floating function allows the robot to adapt to external forces and achieve force control.

Link Servo Float: Independently control each axis of the robot. Suitable for situations where external force acts on a specific axis or the direction of the external force cannot be determined.

Linear Servo Float: Control in the direction of the coordinate axis of the coordinate system (base, user, tool). Suitable for known external force directions (such as pushing along the X direction).

Multi robot version: can be independently enabled for each robot.

Typical applications: precision assembly (bearing pressing), polishing (maintaining constant contact force), deburring.

Safety warning: When servo floating is enabled, the robot may move accidentally due to external forces. Be sure to set safety zone restrictions in the program and keep emergency stops available.

4.3 Real time path correction of sensors (Sensor Function, 163991/163992)

Real time correction of robot path and speed during playback operation using analog displacement sensors, torque sensors, etc. Up to 3 directions can be corrected.

Path correction: Sensors detect deformation or positional deviation of the workpiece, and the robot adjusts the trajectory in real time.

Speed correction: Automatically adjust the operating speed based on the processing progress (such as the amount of weld filling).

Offset value generation: calculates the distance to the target workpiece, which is used by subsequent instructions in the job.

Wiring reminder: In a multi robot system, sensor functions cannot be used for all robots simultaneously; It is necessary to determine in advance which robots will use sensors and configure universal files during the debugging phase.

Welding specific function package: from arc tracking to laser positioning

5.1 COMARC Arc Sensor (163982/163983)

Utilizing the constant voltage characteristics of gas metal arc welding (GMAW) - changes in welding current caused by changes in dry elongation. When the robot swings the welding gun, it compares the current difference on both sides of the swing and automatically corrects the horizontal deviation; Simultaneously correct the vertical deviation based on the preset current value.

Limitations: Only applicable for simple swing welding, does not support CMT or aluminum welding. In multi pass welding, the first weld seam can be compensated using arc sensing, and the corrected path can be recorded through "Memo Play" (163920), and subsequent weld seams can be directly reproduced.

5.2 MotoEye LT Laser Tracking (178267)

Connect the laser camera (located in front of the welding gun) via Fast Ethernet for real-time weld seam tracking and process parameter optimization. The software processes camera images and adaptively adjusts robot paths, speeds, and wire feeding speeds.

Pre configured macros make programming extremely simple.

Provide 40 files for individually adjusting tracking parameters.

Support starting point search, target point search, and adaptive welding.