The usage of cooperative motion function for Arc welding

Robot Engineering Section2

Robot Engineering Department
Automotive Group
Robot Division, KHI
(some points are translated by KRG)

[１]INTRODUCTION
This document describes the setting method and usage of cooperative motion for arc welding.

[２]THE WORKFLOW OF SETTING OF THIS FUNCTION

Please set as follows.
① Set the communication cooperative motion
② Set Common external axis ( Quasi control axis )
③ Set the cooperative motion for positioners
④ Teaching of Master robot
⑤ Teaching of Slave robot
⑥ Motion check

[３] SET THE COMMUNICATION COOPERATIVE MOTION

Set the communication method referring to the manual “90210-1263DEA E Cooperative Motion
Control”
Notes:
Please set the robot with positioner axis as the master robot ( Robot network no 1 ), and set the
robot without positioner axis as the slave robot ( Robot network no 2 )

[４] SET QUASI CONTROL AXIS ( ONLY SET IN SLAVE ROBOT )

（１）Set the number of the axis of the slave robot
※Please change operation level to 3.
Set the number of the axis of the slave robot. The total number of axis is the number of the
slave robot axes and the number of the positioner axis with master robot.

（２）Set Quasi control Function

First, select “Aux. 2003 External Axis setting”
Next , select “7.Quasi control function”
After that, enable Quasi control function.
The outside axis shared with a master robot," Enable", please change and register it.
 Please push the next page.

Please set the cooperative axis of master robot.

（３）Set the parameters of Common external axis of the slave robot

Set the parameters of common external axis of the slave robot by AUX. 2002.
Regarding motion limit, resolution, motion direction, max speed, acceleration time and
Coupling Factor, Equivalent Radius, must be set as the same value of master robot positioner
axis.

But Below parameters need special setting for Quasi Control axis.
・Channel No is ”-1”
・Servo Parameter is “Internal data”

After setting, please restart the controller.

[５] TO OPERATE COOPERATIVE AXIS FROM SLAVE ROBOT
（１）How to operate cooperative axis from slave robot

Please push button in the function button area.

After the push this button, the dialog is displayed. When choose “Yes”, you can operate the
cooperative axis of master robot.

!!Notes!!
Master robot must be “Teach mode” and “Motor Power ON” and “Teach lock ON”.

When slave robot can operation cooperative axis, this image is displayed in the

status area.

!!Notes!!
・Please keep the trigger of the master robot ON when operate the cooperative axis from slave
robot.
・When the slave robot can operative cooperative axis, master robot cannot operate all axis.
[６] SET THE POSITIONER COOPERATIVE MOTION
（１）Set the positioner cooperative motion of the master robot.
Set the function of master robot in the same way as the standard positioner
cooperative motion.
（２）Set the positioner cooperative motion of the slave robot.
The method of setting the slave robot is almost same as the master robot.
But it is necessary to operate the positioner axes of the master robot from
the slave robot. Operate the positioner axes in the way as below.
1) Change the operation mode in both the master and the slave robot as below.
Mode: Teach , Teach Lock: ON, Motor Power: ON
2) Change the operation permission from the master robot to the slave robot.

Push the button with icon “ ” in teach screen.

3) Make the TP trigger of both robots ON, and the positioner axes of the slave
robot can be operated by TP of the slave robot.

After that, set the positioner cooperative function of the slave robot in the same way
as the standard positioner cooperative motion.

[7] THE FLOW OF TEACHING

At first make the program of the master robot. And next make the program of the slave robot.
The way for check operation of master robot from slave robot is refer to “[9] Make the program of
slave robot”.

[８]MAKE THE PROGRAM OF MASTER ROBOT

（１）Regarding Master robot, please make the program as usual.
[９]MAKE THE PROGRAM OF SLAVE ROBOT
Please make the program of slave robot by using check operation of the master robot
from Slave robot to move the positioner.
（１） To set the state to operate cooperative axis from slave robot

Please push button in the function button area.

After the push this button, the dialog is displayed. When choose “Yes”, you can operate
the cooperative axis of master robot.

（２）Please push「Chk.Move Slave」in the function area.

If slave robot can operate the check motion of the master robot, the display of function
button changes to「Chk.Move Master」.
 （３）Then we push the [Check GO] , the master robot will move by check motion. When robot
reach the teaching position ( axis correspond to position ), it will be displayed in
「Chk.Move Master」
（４）Please make a slave robot program by changing the positioner position from slave robot.
!!Notes!!
If positioner movement is too big and the position or posture of the robot will change big,
slave robot cannot follow. Please consider to make the position as the length and timing
should be the same as master robot.

[１０] EXAMPLE
Example of the teaching by using Quasi Control axis.
STEP Master Robot Slave Robot（JT7 is Quasi control axis）

No. Ins. OX/WX Speed JT7 angle Ins. OX/WX Speed JT7 angle

1 AC 0° AC 0°

2 AC 30° AC 30°

3 ARCCOOP_MASTER ARCCOOP_SLAVE

4 WS 60° WS 60°

5 WC 40cm/min 70° WC 40cm/min 70°

6 WC 40cm/min 75° WC 40cm/min 75°

7 WE 40cm/min 80° WE 40cm/min 80°

8 ARCCOOP_ALONE ARCOOP_ALONE

9 AC 80° AC 80°

10 AC 0° AC 0°
 Step No. 3:
・To set the start of cooperative motion. Please insert ARCCOOP_MASTER、ARCCOOP_SLAVE
when starting cooperative motion.
→Both robot execute this instruction, step will proceed.

Step No. 4-7：

・Please consider the number of teaching point must be the same of the slave robot.
・Please consider the angle of the Quasi Control axis of Slave Robot must be the same of the
JT7ofthe master robot.
・Please consider the speed of the welding of slave robot must be the same of the master robot.

Step No.8 :
・To set the end of cooperative motion. Please insert ARCCOOP_ALONE in the both robot.
After this step, each robot move individually.

[１１] THE EXAMPLE ONLY FOR THE SLAVE ROBOT

This example is used when check the motion only by slave robot
STEP Master Robot Slave Robot（JT7 is Quasi control axis）

No. Ins. OX/WX Speed JT7 angle Ins. OX/WX Speed JT7 angle

1 AC 0° AC 0°

2 AC 30° AC 30°

3 COMAXIS_ENABLE COMAXIS_OPEREQ

4 COMAXIS_EXTOPE WS 60°

5 AC 80° WC 40cm/min 70°

6 AC 0° WC 40cm/min 75°

7 WE 40cm/min 80°

8 COMAXIS_OPEEND

9 AC 80°

10 AC 0°

Step 3:
・Master Robot
Please insert the COMAXIS_ENABLR which is permit to operate cooperative axis from the
slave robot.
・Slave Robot
 Please insert the COMAXIS_OPEREQ which is request to operate cooperative axis from the
slave robot.

Step 4 - 7：
・It is possible to operate the cooperative axis from the slave robot.
・It is better to make CALL function and make the welding program as another program.

Step 8 :（Step 4 for Master Robot）

・Master Robot
Please insert COMAXIS_EXTOPE to wait until Slave robot finish the operation of
cooperative axis.
・Slave Robot
Please insert COMAXIS_OPEEND to finish the operation of cooperative axis from slave
robot.

[１２] FOR THE SWITCH SETTING OF THIS FUNCTION

（１）Switch Name：ARCCOOP_WCR_START
This switch selects the timing to change the mode for welding motion.
ON：To change the mode for welding motion when Both robot WCR Signal are ON
. OFF：To change the mode for welding motion when each robot WCR signal is ON
→Please set ON

（２）Switch Name：ARCCOOP_WCR_STOP
This switch selects the motion when WCR signal become OFF.
ON： Only Slave robot will be stop but Master robot continue welding.
OFF：Both robot will be stop.