XRC mrs56000
XRC mrs56000
XRC mrs56000
MOTOMAN XRC
OPERATOR’S MANUAL
ARCSYSTEM 6000
Upon receipt of the product and prior to initial operation, read these instructions thoroughly,
and retain for future reference.
Reference list
Revision
000209
First release of this manual
011212
Revised text
MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 3
Production unit comprises Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm
ARCSYSTEM 6000
Operator’s manual
1. About this manual
This manual shall always be available at operator’s panel.
This operator’s manual comprises information about:
✔ Personnel safety
✔ Machine safety
✔ Normal use (daily)
This manual may be copied for internal use without our written permission but not
be imparted to a third party.
Together with this manual, please find enclosed mechanical and electrical docu-
mentation. These documents may not be copied without our written permission
and the contents thereof must not be imparted to a third party nor be used for any
unauthorized purpose.
2. Machine description
2.1 Production unit comprises
Standard equipment:
✔ One or two industrial robot(s), MOTOMAN UP-series
✔ One controller, MOTOMAN XRC
✔ One positioner, RM2-series
✔ Safety equipment
Options
✔ Arc welding equipment (air- or water-cooled)
✔ One torch cleaning station, type TCS-B
✔ Wire feed controller, type WFC-ULTRAMATIC
✔ Welding power source
✔ Pneumatic traverse track, type TRD
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Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm Identification
2.2 Identification
Safety guarding
Traverse Track
(option)
Robot
Water-cooler
(option)
Power source
(option)
Positioner
XRC
Fig.1 Identification
Programming pendant
3. Safety
This machine including welding equipment shall be used for welding of workpiece.
The machine is meant to be used together with a sort of fixtures.
The Motoman Robotics Europe AB machine may not be used until the
complete production unit correspond to the laws of the Member Sta-
tes relating to machinery (98/37/EEC).
It is not allowed for any person to stay inside the safety fence when
the machine is in operation.
MOTOMAN ROBOTICS EUROPE
Operator’s manual MOTOMAN XRC Page: 7
3.1 Manufacturer
Address: Motoman Robotics Europe AB
P.O. Box 504
SE-385 25 Torsås
Sweden
Telephone: +46 486 48800
Telefax: +46 486 41410
■ The operator
You must be in good physical condition and mental health and not under the influ-
ence of any substance (drugs, alcohol) which might impair vision, dexterity or jud-
gement.
Do not operate the indexing equipment and the welding robot when you are fati-
gued, if you do you may lose control of your machines. Please be alert at all
times.
MOTOMAN ROBOTICS EUROPE
Page: 8 Operator’s manual MOTOMAN XRC
Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm Arc safety
Working with any machine can be strenuous. If you have any condition that might
be aggravated by strenuous work, check with your doctor before operating our
system.
■ Glare
The light created by the arc contains UV-radiation. Exposure to UV-radiation
damages eyes and skin. The effect of the UV-radiation increases with shortened
distance to the arc. Use protection shields and curtains. When studing the arc
always use a welding shield of sufficient strength and protect naked skin.
■ Machine Safety
The machine is as a separate unit tested by Motoman Robotics Europe AB’s per-
sonnel in accordance to the Essential Health and Safety requirements relating to
the design and constuction of machinery.
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Operator’s manual MOTOMAN XRC Page: 9
■ Signs
The following signs are applied to the machine:
High voltage
■ Emission of gases
No emission of gases from the machine.
Gases are due to the welding operation (protecting gas, wire and material).
It is customers obligation to evacuate possible gases.
3.4 Maintenance
Never modify a Motoman Robotics Europe AB’s equipment in any way. Only
attachments and parts supplied by Motoman Robotics Europe AB or expressly
approved by Motoman Robotics Europe AB for use with the specific MOTOMAN
models are authorized. Although certain unauthorized attachments are useable
with the MOTOMAN equipment, their use may, in fact be dangerous.
Important!
Never attempt to clean the machine, grease it or adjust it when it is still running.
Turn of main power first! And never forget:
Keep your eyes open - that is the best protection!
Help to avoid accidents!
MOTOMAN ROBOTICS EUROPE
Page: 10 Operator’s manual MOTOMAN XRC
Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm Guarantee
3.5 Guarantee
Don’t put aside these operating instructions without having read them carefully,
and insist that the operator of this machine also study these instructions. They are
for your own advantage!
This information contains all operating and safety instructions for this Motoman
Robotics Europe AB machine.
In order to achieve optimal efficiency, and thus full satisfaction with your Motoman
Robotics Europe AB equipment, it is most important for you to read and to
understand these maintenance and safety regulations before you operate your
machine.
These machine is meant for high production, there fore, strict safety regulations
must be observed in order to reduce the risk of accidents and physical damage.
Carelessness or inappropriate use of the machine may cause severe or even fatal
accidents, there fore, you must avoid unnecessary disturbances by using the gui-
delines and safety precautions given in the operating instructions. Careful and
regular attention is the basis for highest efficiency.
Any system will only work correctly if it is operated correctly. In addition to safety
and operating instructions, this manual includes spare parts and maintenance pro-
cedures. Fore the machine, Motoman Robotics Europe AB honours a guarantee
of normally one year, beginning with the day of installation. All working parts, such
as chains, belts and chain wheels are not included in this guarantee. Title for gua-
rantee is valid only when using original Motoman Robotics Europe AB spare parts
exclusively.
When ordering spare parts, please always state the machine type, machine num-
ber, exact spare part number and all technical data. Only then can we execute
your order correctly and promptly.
3.6 Installation
Refer to the service manual for UP-series, XRC and RM2 resp.
After the installation a complete function control of safety functions should be
done.
■ Pneumatic system
Be careful when connecting the pneumatic system to the main system, valves,
cylinders and tools may do unexpected movements.
If the robot is in a physical position differing from the cursor position in the robot
job it will go shortest way at high speed to meet this position when PLAY - START
mode is selected!
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Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm Measure before start
4. Function description
4.1 Measure before start
a) Set the main switches in position ”ON”. (XRC-controller, rectifier etc.).
b) If the system has been stop by emergency stop, reset according to separate
instruction.
c) Check that the robot program relates to the product.
d) Check that the welding torch is set in right position.
e) Check that the robot is in start-position.
f) Close the service gate
g) Press RESET GATE.
h) Set the system in AUTO / PLAY.
i) Activate the servo power via SERVO ON.
j) Push START on XRC-panel.
START
REMOTE ALARM / ERROR HOLD
4.2 Start
a) Mount the workpiece in the fixture.
b) Press OUT PASSAGE inside loading area.
c) Press RESET LIGHT BEAM on operator’s panel.
d) Push START on operator’s panel.
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Operator’s manual MOTOMAN XRC Page: 13
Normal stop (end of shift) Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm
Out passage
Start panel
Reset gate
XRC-controller Service Fig.3 Placing of safety
Programming pendant gate components
When entering the working area of the robot the safety circuit is opened and all
motions within the area is stopped.
Leave the area and reset the safety circuit .
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Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm Start panel
RESET GATE
■ Light beam
If the light beam is cut it is safe to enter the loading area during operation, only the
positioner is stopped from changing stations. The robot continues its cycle.
OUT PASSAGE
Emergency stop
Reset / Start
MOTOMAN
Go to top menu
Emergency stop
Cursor
Dead-man’s switch
SELECT key
at the back
TEACH LOCK
Axis keys
® Emergency
MOTOMAN
Stop
XRC
Playback panel
MOTOMAN
Main switch
Programming
pendant
YASNAC XRC
Fig.7 XRC-controller
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Operator’s manual MOTOMAN XRC Page: 17
Changing robot job XRC Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm
■ Stopping
-Masterjob (endless cycle)
a) Robot is normally set in mode PLAY / AUTO.
b) Put the XRC in mode PLAY / 1CYCLE. The program will now stop after finis-
hed cycle and return to home position without starting a new.
■ Setting
j) Exchange tool in robot (if necessary).
k) Check for and remove products that not belong to this operation.
5. Machine description
5.1 General
This robot includes welding equipment and shall be used for welding of workpiece.
The machine is meant to be used together with a sort of ifixtures or jigs for the
workpiece.
5.3 Positioner
One positioner is connected to the machine. The positioner is totally controlled by
the robot controller. The positioner is designed for two workpieces, for manual
changing of position see program manual.
Max. load depending on typ.
RM2-250 2 x 250 kg incl. fixture
RM2-500 2 x 500 kg incl. fixture
RM2-750 2 x 750 kg incl. fixture
For more information, see separate instruction.
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Operator’s manual MOTOMAN XRC Page: 19
Torch service station Created: 00-03-22 Revised: 01-12-12 Doc. name: MRS56000-ch1.fm
6. Options
Options are not included automatically, they are added according to customer
request.
Power indicator
ON/OFF
A B C D E
A = Indicates which kind of information that is shown on the display and selected
by means of the SELECT-arrows.
B = Manual blowing of protective gas through nozzle.
C = Manual feed of the wire (jog).
D = Stops welding power, protective gas and air (not robot or positioner).
E = Manual blowing of air through nozzle.
F = Indicates stop in welding power, protective gas or air.
G = Increases the jog speed of the wire (only effect on the C-button).
6.7 TRD-track
Pneumatic track, type TRD-1200 is a two position track. TRD-1200 is designed for
the purpoose to carry one industrial robot.
The pneumatic track is controlled by the robot controller.
See separate instruction.
7. Trouble shooting
On the display of the teachbox, messages from the XRC will be shown. The mes-
sages can via a table be translated to remedy - measure. This table is found in a
separate service document called: MOTOMAN XRC - ALARM / ERROR LIST.
Notes
Headquarters:
Sweden MOTOMAN Robotics Europe AB
Box 504, SE-385 25 Torsås, Sweden
Tel: +46-486-48800, +46-486-41410
Group companies:
France MOTOMAN Robotics SARL
Rue Nungesser et Coli, D2A Nantes-Atlantique, F-44860 Saint-Aignan-de-Grand-Lieu, France
Tel: +33-2-40131919, Fax: +33-40754147
Germany MOTOMAN Robotec GmbH
Kammerfeldstraße 1, DE-85391 Allershausen, Germany
Tel: +49-8166-90-0, Fax: +49-8166-90-103
Germany MOTOMAN Robotec GmbH
Im Katzenforst 2, DE-61476 Kronberg/Taunus, Germany
Tel: +49-6173-60-77-30, Fax: +49-6173-60-77-39
Great Britain MOTOMAN Robotics UK (Ltd)
Johnson Park, Wildmere Road, Banbury, Oxon OX16 3JU, Great Britain
Tel: +44-1295-272755, Fax: +44-1295-267127
Italy MOTOMAN Robotics Italia SRL
Via Emilia 1420/16, IT-41100 Modena, Italy
Tel: +39-059-280496, Fax: +39-059-280602
Netherlands MOTOMAN benelux B.V
Zinkstraat 70, NL-4823 AC Breda, Netherlands
Tel: +31-76-5424278, Fax: +31-76-5429246
Portugal MOTOMAN Robotics Iberica S.L.
Z. Ind. Aveiro Sul, Lote 21, N. S. Fátima, PT-3810 Aveiro, Portugal
Tel: +351-?, Fax: +351-?
Slovenia RISTRO d.o.o.
Lepovce 23, SI-1310 Ribnica, Slovenia
Tel: +386-61-861113, Fax: +386-61-861227
Spain MOTOMAN Robotics Iberica S.L.
Avenida Marina 56, Parcela 90, ES-08830 St. Boi de Llobregat (Barcelona), Spain
Tel: +34-93-6303478, Fax: +34-93-6543459
Sweden MOTOMAN Mecatron Robotic Systems AB
Box 4004, SE-390 04 Kalmar, Sweden
Tel: +46-480-444600, Fax: +46-444699
Distributors:
Czech Republic MGM Spol s.r.o.
Trebízského 1870, CZ-39002 Tábor, Czech Republic
Tel: +420-361-254571, Fax: +420-361-256038
Denmark Robia A/S
Hjulmagervej 4, DK-7100 Vejle, Denmark
Tel: +45-79428000, Fax: +45-79428001
Finland Robia Suomi OY
Messinkikatu 2, FI-20380 Turku, Finland
Tel: +358-22145600, Fax: +358-22145660
Greece Kouvalias Industrial Robots
25, El. Venizelou Ave., GR-17671 Kallithea, Greece
Tel: +30-1-9589243-6, Fax: +30-1-9567289
Hungary REHM Hegesztéstechnika Kft.
Tápiószele, Jászberényi út 4., H-2766, Hungary
Tel: +36-30-9510065, Fax: +36-1-2562012
Israel KNT Engineering Ltd.
9 Hapalmach Street, IL-Kfar Azar 55905, Israel
Tel: +972-923 1944, Fax: +972-3 9231933
Norway ROBIA ASA
Industriveien 1, NO-3300 Hokksund, Norway
Tel: +47-32252820, Fax: +47-32252840
South Africa Robotic Systems S.A. PTY Ltd
P.O Box 90741, ZA-Bertsham 2013, South Africa
Tel: +27-11-4943604, Fax: +27-11-4942320
Switzerland Messer SAG
Langweisenstrasse 12, CH-8108 Dällikon, Switzerland
Tel: +41-18471717, Fax: +41-18442432