MotoSim EG-VRC Ver2018SP2 OPTIONS

INSTRUCTIONS
FOR CAM FUNCTION (FOR ARC WELDING, GENERAL PURPOSE,
LASER WELDING, AND LASER CUTTING)

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.

MANUAL NO.

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 DANGER
• This manual explains the MotoSim EG-VRC OPTIONS INSTRUCTIONS.
Read this manual carefully and be sure to understand its contents
before operation.

• General items related to safety are listed in the Chapter 1: Safety of

Controller Instructions. To ensure correct and safe operation, carefully
read Controller Instructions before reading this manual.

CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.

• The drawings and photos in this manual are representative examples

and differences may exist between them and the delivered product.

• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your prod-
uct’s warranty.

• Software described in this manual is supplied against licensee only,

with permission to use or copy under the conditions stated in the
license. No part of this manual may be copied or reproduced in any
form without written consent of YASKAWA.

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Notes for Safe Operation
Before using this product, read this manual and all the other related documents carefully to
ensure knowledge about the product and safety, including all the cautions.
In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAU-
TION”, or ”NOTICE”.

Indicates an imminently hazardous situation which, if not avoided,

DANGER will result in death or serious injury. Safety Signs identified by the
signal word DANGER should be used sparingly and only for those
situations presenting the most serious hazards.

Indicates a potentially hazardous situation which, if not avoided, will

WARNING result in death or serious injury. Hazards identified by the signal
word WARNING present a lesser degree of risk of injury or death
than those identified by the signal word DANGER.

Indicates a hazardous situation, which if not avoided, could result in

CAUTION minor or moderate injury. It may also be used without the safety
alert symbol as an alternative to “NOTICE”.

NOTICE is the preferred signal word to address practices not

NOTICE related to personal injury. The safety alert symbol should not be
used with this signal word. As an alternative to “NOTICE”, the word
“CAUTION” without the safety alert symbol may be used to indicate
a message not related to personal injury.

Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.

NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “DANGER”, “WARNING” and “CAUTION”.

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Notation for Menus and Buttons
Descriptions of the programming pendant, buttons, and displays are shown as follows:

Item Manual Designation

The menus displayed on screen are denoted with { }.

Menu
ex. {TOOL}.

The buttons, check boxes, radio buttons displayed on

Button screen are denoted with [ ].
ex. [Close]; [Sync] check box; [Fast] radio button.

Description of the Operation Procedure

In the explanation of the operation procedure, the expression "Select • • • " means the follow-
ing operations:
• To move the cursor to the object item and left-click on it with the mouse.
• To pick out the object item by the tab key and press the Enter key.
(In case of selecting a menu, use arrow keys instead of the tab key to pick out the object
item, then press the Enter key.)

Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered
trademarks, or brand names for each company or corporation. The indications of (R) and TM
are omitted.

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1 Introduction
1.1 CAM Function Considerations. . . . . . . . . . . . . . . . . . 8

2 Tutorial
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Cell Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.3 CAM Job Registration . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 Target Points Creation . . . . . . . . . . . . . . . . . . . . . . 13
2.5 Job Creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.6 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Torch angle settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.7 Robot with One Traveling Axis (R1 + B1) . . . . . . . . 18
2.8 Robot with a Positioner (R1 + S1) . . . . . . . . . . . . . . 19
Constant Attitude Teaching Function. . . . . . . . . . . . . . . . . . 19

3 Job Creation Flow

4 Job Created by the CAM Function

4.1 Arc Welding use . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 General purpose use. . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 General purpose use using the tool with the external
axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.4 Laser welding use . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.5 Laser cutting use . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5 Preparation
5.1 CAM Default Settings . . . . . . . . . . . . . . . . . . . . . . . 27
5.2 StartingPoint Detection Setting (only arc-welding use)
28
5.3 Tool with the external axis Settings (only general
purpose use using the tool with the external axis). . 29

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6 Path Creation
6.1 CAM Job Management . . . . . . . . . . . . . . . . . . . . . . 33
Add a new CAM job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Edit an existing CAM job . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.2 Edge Line Selection . . . . . . . . . . . . . . . . . . . . . . . . 35
6.3 Reference position registration (only general purpose
use using the tool with the external axis). . . . . . . . . 37
6.4 Path Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

7 Job Creation
7.1 Initial Position Registration . . . . . . . . . . . . . . . . . . . 40
7.2 Tool Number Selection . . . . . . . . . . . . . . . . . . . . . . 42
7.3 Path Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Display in MotoSimEG-VRC . . . . . . . . . . . . . . . . . . . . . . . . 44
7.4 Target Points Adjustment . . . . . . . . . . . . . . . . . . . . 45
7.5 Job Creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8 Motion Verification

9 CAM Default and Path Settings

9.1 COMMON TO ALL APPLICATIONS . . . . . . . . . . . . 55
9.1.1 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.1.2 Approach/Retract . . . . . . . . . . . . . . . . . . . . 58
9.1.3 Special . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.1.4 External Axis. . . . . . . . . . . . . . . . . . . . . . 65
9.1.5 Environment (Default Settings Only) . . . . . . . . . . . 68
Target Point Frame References. . . . . . . . . . . . . . . . . . . . . . 69
9.2 Arc Welding Use . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.2.1 Torch Position . . . . . . . . . . . . . . . . . . . . . 70
9.2.2 Start/End Conditions . . . . . . . . . . . . . . . . . . 72
9.2.3 Weaving/Sensing . . . . . . . . . . . . . . . . . . . . 74
9.2.4 Weld Environment (Default Settings Only) . . . . . . . . . 77
9.3 General Purpose Use . . . . . . . . . . . . . . . . . . . . . . . 78
9.3.1 Tool Position . . . . . . . . . . . . . . . . . . . . . . 78
9.4 General Purpose Use Using the Tool with the External
Axis . . . . . . . . . . . . . . . . . . . . 80
9.5 Laser Welding Use . . . . . . . . . . . . . . . . . . . . . . . . . 82

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 9.5.1 Laser Welding . . . . . . . . . . . . . . . . . . . . . 82
9.6 Laser Cutting Use . . . . . . . . . . . . . . . . . . . . . . . . . . 85
9.6.1 Laser Cutting 1 . . . . . . . . . . . . . . . . . . . . . 85
9.6.2 Laser Cutting 2 . . . . . . . . . . . . . . . . . . . . . 88
9.6.3 Laser Cutting 3 . . . . . . . . . . . . . . . . . . . . . 91

10 Create Job Dialog Advance Operation

10.1 Alternative Edge Button . . . . . . . . . . . . . . . . . . . . 93
10.2 Process as One Edge Option . . . . . . . . . . . . . . . . 94
10.3 Right Click Menu. . . . . . . . . . . . . . . . . . . . . . . . . . 95
10.3.1 Path List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
10.3.2 Path Content List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
10.4 Positioner Adjustment . . . . . . . . . . . . . . . . . . . . . 100

11 Other Settings
11.1 Job Creation Using External Reference Point Control
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
11.1.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Setting to Enable External Reference Point Control Function .
105
 Setting User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . 105
Registration Work Model at Robot Tip . . . . . . . . . . . . . . . . 106
11.1.2 Setting of External Reference Point Control . . . . . . . . . . . . . 106

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 1.1 CAM Function Considerations

1 Introduction

Step by step instructions to generate a job by specifying the weld path from the CAD data of
the work piece.This manual explains the operation method of a CAM function for Arc-welding
use, General-purpose use, Laser-welding use, and Laser-cutting use. Please refer to a
"OPTIONS INSTRUCTIONS FOR CAM FUNCTION (FOR PAINTING)".

• This function is available MotoSim EG-VRC ver4.00 or later.

NOTE • To use this function (CadPack option), the MotoSim EG-VRC-CadPack is required. (The
MotoSim EG-VRC-CadPack is separate product from MotoSim EG-VRC.)
• For Laser-welding use and Laser-cutting use, the additional options sold separately are
needed.

1.1 CAM Function Considerations

• When using intermediate format such as IGES, STEP, etc. to import data, there may be
cases where edges cannot be detected. Please use native 3D CAD format (CATIA V5,
PRO / E, Inventor, SolidWorks, etc.) when possible. However, Importing 3D CAD format
data (CATIA V5, PRO / E, Inventor SolidWorks, etc.) is needed extra-cost options.
• Compatible system configuration:

R1, R2, R3, R4 One robot

R1+S1, R1+S2, R1+S3 One robot plus one positioner

R2+S1, R2+S2, R2+S3
R3+S1, R3+S2, R3+S3
R4+S1, R4+S2, R4+S3

R1+B1 One robot plus traveling axis

R2+B2
R3+B3
R4+B4

R1+B1+S1, R1+B1+S2, R1+B1+S3 One robot plus traveling axes and one
R2+B2+S1, R2+B2+S2, R2+B2+S3 positioner
R3+B3+S1, R3+B3+S2, R3+B3+S3
R4+B4+S1, R4+B4+S2, R4+B4+S3

NOTE CAM function supports the traveling axes with 1, 2, or 3 axes. In the case of traveling axes
with 2 axes or 3 axes, all target points of the traveling axes are created by current position.

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 1.1 CAM Function Considerations

• Compatible positioner:

Supported Positioner Name Number of axis

S250B-A00 1 (Rotation axis only)

S500B-A00 1 (Rotation axis only)

S500B-B00 1 (Rotation axis only)

D250B-A00 2 (Tilt axis + rotation axis)

D250B-B00 2 (Tilt axis + rotation axis)

D500B-A00 2 (Tilt axis + rotation axis)

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 2.1 Introduction

2 Tutorial

2.1 Introduction

This chapter will explain the steps from the construction of the cell to the creation of a job.
Here, it takes Arc-welding use as an example.
More specifically, the creation of a cell from a template, the selection of edges from the CAD
data and the creation of a job. The figure below gives an overview of the cell.

In section 2.2 to 2.6,only R1 is used in the description. Please refer respectively to section 2.7
and section 2.8 for the system configuration of type R1 + B1 and R1 + S1.

Below is a flow chart of the job creation.

Cell Construction

CAM Job Registration

Target Points Creation

Job Creation

Playback

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 2.2 Cell Construction

2.2 Cell Construction

Create a new cell from a template.

Procedure

1. Click the MotoSim EG-VRC button ( ), and select the [New] - [Template] menu.
2. Select "Arc_R1" from the "Template List".
3. Select the "Create cell from template" group and enter a name for the new cell.
4. Press the [Create Cell] button. The new cell will be created. If the "Open the created
cell" checkbox is checked when the button is pressed, the newly created cell automati-
cally opens.

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 2.3 CAM Job Registration

2.3 CAM Job Registration

In MotoSim EG-VRC, the data (path, target points, weld settings…) registered to generate a
job through the CAM function is called "CAM Job". So the registration of "CAM Job" is
required to create the job that will actually run on the robot.

Procedure
1. On the [Home] tab, in the [Teaching] group, click the [CAM Function ] button to display
the "CAM Job Management" dialog.

2. Enter the "Job Name" and "Comment".

The maximum number of characters for each is 32 characters. The "JobName" field is
required, but the comment is an optional item. Job name must be in the proper syntax.
And, please do not change the"Application".
3. Press the [Add/Edit] button to display the "Create Job" dialog.

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 2.4 Target Points Creation

2.4 Target Points Creation

Create target points in the "Job Creation" dialog.

Procedure
1. To select the weldpath(processed line), check the "Pick Edge"box and then move the
mouse cursor over the CAD model of the work piece. The selectable edges will be dis-
played in blue.

Edges

By moving the mouse on one of the blue lines, that line will become yellow. Click on
the yellow line to select it. The reference plane surface displays in blue and is used as
a reference to specify the angles of the torch(tool).

Selected Edge

Reference Plane

2. Once the desired edge is selected, press the [Create Path] button in the "Create Job"
dialog. The "Path Settings" dialog will display. The initial values are pre-configured in
the template cell; press the [OK] button to accept this configuration as it is and return to

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 2.4 Target Points Creation

the "Create Job" dialog.

3. Select "PATH_01" from the "Path List". The content on the "PATH_01" will appear in
the "Path Content" list.

Path Contents List

Path List

4. Check the "Robot" box in the "Sync" section and then click on the lines in the "Path
Content" list to move the robot in the MotoSimEG-VRC window to the corresponding
position. Select the first line of the list and click the [Register] button in the "Initial Pos"
section to register the robot starting position.Make sure to move the robot through all
the move instructionsby clicking on them in the "Path Content" list or by using the key-
board up/down arrows and verify robot position of each step.

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 2.5 Job Creation

2.5 Job Creation

Create a job from the target points.

Procedure
1. Select the "PATH_01" in the path list and then press the [↓] button to move the
"PATH_01" to the "Job Path Sequence" list.

2. Press the [Create Job] button. The dialog below will display to indicate that the job cre-
ation was successful and the job was loaded into the virtual pendant.

3. Press the [Close] button to close the "Create Job" dialog. The "CAM Job Manage-
ment" dialog will display, press the [Close] button, to close it. The job creation is com-
plete.

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 2.6 Playback

2.6 Playback

Procedure
1. Select the job in the virtual pendant. The job name is the same as the one entered in
step 2 of section 2.3 "CAM Job Registration".

2. In MotoSimEG-VRC window, press the play button on the toolbar and the job will

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 2.6 Playback

 Torch angle settings

To change the torch angle, in step 3 of section " 2.4 Target Points Creation ", open the "Torch
Position" tab, set the value enclosed with the red frame of the following figure.

Sets the angle of the torch from the 0 deg. reference plane (as defined by the Joint Shape).

Reference Plane

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 2.7 Robot with One Traveling Axis (R1 + B1)

2.7 Robot with One Traveling Axis (R1 + B1)

For system with a robot and one traveling axis, the same function can be used. In step 2 of
section " 2.2 Cell Construction ", select "Arc_R1 + B1" from the "Template List". For the other
steps, follow the same operation as for a "R1" system.

The cell will look like the following.

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 2.8 Robot with a Positioner (R1 + S1)

2.8 Robot with a Positioner (R1 + S1)

For system with a robot and positioner, the same function can be used. In step 2 of section "
2.2 Cell Construction ", select "Arc_R1+S1(2-Axis)" from the "Template List". For the other
steps, follow the same operation as for a "R1" system.

 Constant Attitude Teaching Function

This template enables the constant attitude teaching function.

In a cell created from this template, if you select an edge line as shown in the figure below, the
robot will move to a fixed position and the processing is done by moving only the positioner.

For more detail about the constant attitude teaching function, please refer to section " 10 Cre-
ate Job Dialog Advance Operation ".

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3 Job Creation Flow

The flow outlining the job creation process is presented below. Please refer to the relevant
sections for more information.

Preparation (Chapter 5)

CAM default settings

Start point detection settings

(only arc-welding use)

Preparation (Chapter 6)
CAM job selection

Edge line selection

Path settings

Preparation (Chapter 7)
Initial position registration

Path verification

Target points adjustment

Path Selection

Job Creation

Preparation (Chapter 8)
Job Playback

Trace function verification

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 4.1 Arc Welding use

4 Job Created by the CAM Function

4.1 Arc Welding use

When creating the target points as shown in the figure below, the job is generated as follows.
Move to a standby point by calling the work origin job (CALL JOB RETURN_WORK_ORG).

Standby Point

STEP5

STEP1
STEP4

STEP3

STEP2

NOP
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
MOVL V=250.0 STEP1
MOVL V=800.0 STEP2
ARCON ASF#(1) Start welding
MOVL STEP3
MOVL STEP4
ARCOF AEF#(1) Stop welding
MOVL V=250.0 STEP5
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
END

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 4.1 Arc Welding use

If the starting edge detection function is enabled, the job will look as follows. For information
on reference points setting, refer to section " 9.2 Arc Welding Use ". For starting edge detec-
tion settings, refer to section " 9.2 Arc Welding Use ".

NOP
CALL JOB:RETURN_WORK_ORG
MOVL V=250.0
REFP 3
REFP 4 Edge detection reference
points
REFP 5
CALL JOB:SITAN Edge detection job
SFTON P006 Apply calculated shift
MOVL V=800.0
Inserted ARCON ASF#(1)
MOVL
MOVL Shifted section

ARCOF AEF#(1)
SFTOF
MOVL V=250.0
CALL JOB:RETURN_WORK_ORG
END

If the weaving function is enabled, the job will look as follows. For information about setting
reference points for weaving, refer to the section " 9.2 Arc Welding Use ".

NOP
CALL JOB:RETURN_WORK_ORG
MOVL V=250.0
MOVL V=800.0
ARCON ASF#(1)
REFP 1
Weaving reference points
REFP 2
WVON WEV#(1) Weaving start
Inserted MOVL
MOVL Weaving section
WVOF
ARCOF AEF#(1)
MOVL V=250.0
CALL JOB:RETURN_WORK_ORG
END

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 4.2 General purpose use

4.2 General purpose use

When creating the target points as shown in the figure below, the job is generated as follows.
Move to a standby point by calling the work origin job (CALL JOB RETURN_WORK_ORG).

Standby Point STEP５

STEP４

STEP１
STEP３

STEP２

NOP
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
MOVJ VJ=25.00 STEP1
MOVL V=800.0 STEP2
MOVL V=250.0 STEP3
MOVL V=250.0 STEP4
MOVL V=800.0 STEP5
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
END

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 4.3 General purpose use using the tool with the external axis

4.3 General purpose use using the tool with the exter-
nal axis

When creating the target points as shown in the figure below, the job is generated as follows.
Move to a standby point by calling the work origin job (CALL JOB:RETURN_WORK_ORG).
In the work section from STEP 2 to STEP 4, the robot moves so that the tool with the external
axis follows the edge line.

NOP
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
MOVJ VJ=25.00 STEP1
MOVC V=800.0 STEP2
MOVC V=400.0 STEP3
MOVC V=400.0 STEP4
MOVL V=800.0 STEP5
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
END

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 4.4 Laser welding use

4.4 Laser welding use

When creating the target points as shown in the figure below, the job is generated as follows.
Move to a standby point by calling the work origin job (CALL JOB RETURN_WORK_ORG).

Standby Point STEP７

STEP６

STEP５

STEP１
STEP４

STEP３

STEP２

NOP
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
MOVJ VJ=25.00 STEP1
MOVL V=800.0 STEP2 (Accelerating point）
MOVL V=400.0 STEP3
MOVL V=400.0 STEP4
MOVL V=400.0 STEP5
MOVL V=400.0 STEP6
MOVL V=800.0 STEP7
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
END

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 4.5 Laser cutting use

4.5 Laser cutting use

When creating the target points as shown in the figure below, the job is generated as follows.
Move to a standby point by calling the work origin job (CALL JOB RETURN_WORK_ORG).

Standby Point
STEP７

STEP６

STEP１
STEP５

STEP４

STEP３
STEP２

NOP
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
MOVJ VJ=25.00 STEP1
MOVL V=800.0 PL=0 STEP2 (Accelerating point）
DOUT OT#(1) ON Gas ON
TIMER T=0.50 Timer to stabilize the gas
MOVL V=400.0 STEP3 (Start shift point)
DOUT OT#(2) ON Laser ON
MOVL V=400.0 STEP4
MOVL V=400.0 STEP5
MOVL V=400.0 STEP6
DOUT OT#(3) ON Laser OFF
DOUT OT#(4) ON Gas OFF
MOVL V=800.0 STEP6
CALL JOB:RETURN_WORK_ORG Standby Point (Call Job)
END

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 5.1 CAM Default Settings

5 Preparation

The preparation steps are outlined below. Please refer to each corresponding section for
details.

START

CAM default settings (5.1)

Start point detection settings (5.2)

END

5.1 CAM Default Settings

Setup the default settingsfor path generation of CAM Jobs. These settings will be used to set
the initial values in section " 6.4 Path Settings ".Set the path default settings for the current
cell when you start using the CAM function. This will prevent having to always modify the
same values to your preference every time a new path is created.

Procedure
1. On the [Home] tab, in the [Teaching] group, click the [CAM Function ] button to display
the "CAM Job Management" dialog.

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 5.2 StartingPoint Detection Setting (only arc-welding use)

2. Press the [Default Settings] button to display the "CAMDefault Settings" dialog.

3. Set the preferred values for the path settings. These values will be used as the initial
values when a new path is created. Existing path(s) will not be affected by these
changes. For details about the various settings please refer to section " 9 CAM
Default and Path Settings ".
4. Once the preferred settings have been set, press the [OK] button to return to the "CAM
Job Management" dialog.

5.2 StartingPoint Detection Setting (only arc-welding

use)

The starting point detection function is optional. To use this function, please refer to section
8.9 "Sensing Option Settings" of the MotoSim EG-VRC operation manual. For more informa-
tion on the starting detection function, please refer to the "Instructions for basic operation of
starting point detection function" manual for the appropriate controller.

NOTE This function is not available for the FS100 controller.

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5.3 Tool with the external axis Settings (only general purpose use using the tool with the external axis)

5.3 Tool with the external axis Settings (only general

purpose use using the tool with the external axis)

In general purpose use using the tool with the external axis, use the tool with external axis is
used as shown below.

Tool model (Fixed part)

Tool model (Movable part)

[NOTE]
The tool is created so that the blade
is parallel to the tool Y axis.

This section explains how to set the tool with external axis.

Procedure
1. On the [Home] tab, in the [Model] group, click the [CadTree] button to display the
"CadTree" dialog.
2. Select the external axis model in the [CadTree] dialog.

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5.3 Tool with the external axis Settings (only general purpose use using the tool with the external axis)

3. Right-click the external axis model and select the [Model Attribute] - [Move Parent]
menu in the pop-up menu.

4. Select the TCP model in the [Select Object] dialog and press the [OK] button, the par-
ent of the external axis model becomes the TCP model.

5. Add the tool model (fixed part) under the Flange model.

Tool model
(Fixed part)

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5.3 Tool with the external axis Settings (only general purpose use using the tool with the external axis)

6. Add the tool model (movable part) under the external axis model.

Tool model
(Movable model)

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6 Path Creation

The path (target points) creation flow is outlined below. Please refer to each corresponding
section for details.

START

CAM job selection (6.1)

Edge line selection (6.2)

Reference position registration (6.3)

Path settings (6.4)

END

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 6.1 CAM Job Management

6.1 CAM Job Management

Use the "CAM Job Management" dialog to create, edit, copy or delete CAM jobs.
Select [CAM] - [Create Job from CAM] to display the "CAM Job Management" dialog.

 Add a new CAM job

1. In the "CAM Job Management" dialog, select the "Application" type from the drop down
list and enter a "Job Name" and "Comment". Application is selected to suit the robot
application.

Application Note

Arc Weld

General Purpose

General purpose
use using the tool with the external axis

Laser Welding needed extra-cost options

Laser Cutting needed extra-cost options

Job name field is required and must be in the proper syntax (alphanumeric characters
and a limited set of symbols only, no space allowed). The comment is optional item
and can include spaces. The allowable number of characters depends on the control-

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 6.1 CAM Job Management

ler and is defined in the following table.

Controller Job Name Comment

YRC1000 32 characters 32 characters

YRC1000micro 32 characters 32 characters

DX200 32 characters 32 characters

DX100 32 characters 32 characters

FS100 32 characters 32 characters

NX100 8 characters 32 characters

2. Press the [Add/Edit] button to add the new CAM job to the list and display the "Create
Job" dialog (refer to section 6.2 and following sections for details).

 Edit an existing CAM job

②
③

1. Double click anexisting CAM job from the list or select itand press the [Add/Edit] button
to display the "Create Job" dialog for that item (refer to section 6.2 and following sec-
tions for details).
2. Select an existing CAM job from the list and press the [Copy] button to copy it.
3. Select an existing CAM job from the list and press the [Delete] button to delete it.
4. Select "Show Current" button, the path of current CAM job is displayed only. Select
"Show All" button, the paths of all CAM job are displayed.

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 6.2 Edge Line Selection

6.2 Edge Line Selection

In the "Job Create" dialog select the "Pick Edge" tool and then choose the edges of a model to
be processed.

Procedure
1. Check the "Pick Edge" box and then move the mouse cursor over the CAD model of
the work piece. The selectable edges will be displayed in blue. By moving the mouse
on one of the blue lines, that line will become yellow. Click on the yellow line to select
it.

Edges

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 6.2 Edge Line Selection

2. The selected edge becomes a yellow arrow. The processing will follow the same direc-
tion as the arrow from the start to the end of the arrow. Furthermore, one of the sur-
faces in contact with the edge that will be used as the reference plane is displayed in
blue. This reference surface can be changed by pressing the [Alternate Face] but-
ton.Note that in some cases, the blue reference plane may be hidden from sight by
other surfaces.By using the [<] and [>] buttons, the selected edge can be extended to
adjacent edges. If multiple edges are possible, the [Alternate Edge] button can be
used to iterate through the possible options.

Reference Plane

Selected Edge

Travel Direction

3. To continue selecting edges automatically, press the [|<] button or the [>|] button after
selecting the first edge.

Please use the [|<] button or [>|] button when doing circular processing etc. However, it
NOTE depends on the work CAD data whether to select ridge line suitable for processing. If it is
not possible to select a ridge line suitable for processing, select the processed line using
the [<] button or the [>] button.

4. For systems with a robot and a positioner, the positioner's posture at the time the [Cre-
ate Path] button is pressed will be used in the job. The positioner horizontal function
can be enabled to automatically move the positioner to maintain the weld line horizon-
tal to the ground. For details about the positioner horizontal function, please refer to
section " 10.4 Positioner Adjustment ".
5. When the [<<] and [>>] buttonsare used to extend the path to adjacent edges, if the
"Process as One Edge" box is checked, only one page will be created for the Path Set-
tings (only arc-welding use and general purpose use). If left unchecked, a page will be
created for each edge selected.
6. Press the [Create Path] button.

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 6.3 Reference position registration (only general purpose use using the tool with the external axis)

6.3 Reference position registration (only general pur-

pose use using the tool with the external axis)

Procedure
1. When [Define a reference position] dialog is displayed, Move the robot using the OLP,
position panel or jog operation etc.

NOTE The posture of the robot when the [OK] button is clicked is the working posture of the cre-
ated path.

2. Click the [OK] button.

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 6.4 Path Settings

6.4 Path Settings

The path settings define how the weld path will be generated in relation with the selected
edge. The "Path Setting" dialog is displayed automatically after clicking [Create Path] in the
"Create Job" dialog or by double clicking an existing path in the path list.

Procedure
1. When the "Path Settings" dialog is displayed for a new path, its values will be set to the
CAM default settings previously defined in section 5.2 "CAM Default Settings". For the
detail of each setting, please refer to section " 9 CAM Default and Path Settings ".

2. If more than one edge is selected and the "Process as One Edge" checkbox was not
checked on the "Path Settings" dialog, the settings can be defined for each edge by
using the [<<Prev.Page] and [Next Page >>] buttons to navigate through the pages
corresponding to each edge. Setting modifications made for one edge can be copied
to all the other pages by clicking the [Apply same settings to all pages] button.

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 6.4 Path Settings

3. After completing the settings, press the [OK] button to apply the settings and return to
the "Path Settings" dialog. The path will be created in the path list. For example in the
following figure "PATH_01" was created.

Path List

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 7.1 Initial Position Registration

7 Job Creation

The job creation flow is outlined below. Please refer to each corresponding section for details.

START

Initial position registration (7.1)

Tool number selection (7.2)

Path verification (7.3)

Target points adjustment (7.4)

Job creation (7.5)

END

7.1 Initial Position Registration

The initial position registration is required as a reference to select the posture of the first step
of the job. The solution with the posture closest to the initial position will be used for the first
step. For the following steps, the solution closest to the previous step is used. For the initial
position select a suitable posture that takes into consideration each robot axis pulse limits, the
cables not getting caught up, etc.

For general purpose use using the tool with the external axis, the position registered in "
SUPPLE
-MENT Fig. 6.3) Reference position registration (only general purpose use using the tool with the
external axis) " is the initial value.

Procedure
1. In MotoSimEG-VRC, move the robot to a position with the desired posture.

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 7.1 Initial Position Registration

2. In the "Create Job" dialog, in the "Initial Pos" section, click the [Register] button. The
display will be changed from "None" to "Set".

By pressing the [Turn T-axis 360-deg] button, the T-axis position of the currently
recorded initial position can be turned by 360-deg. This is useful in the procedure from
section " 7.3 Path Verification " to fix cases where the T-axis reaches its motion limit
and the motion cannot be completed properly.
By pressing the [Configuration Setting] button, the configuration list is displayed. To
change the robot configuration, select the configuration of the list.

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 7.2 Tool Number Selection

7.2 Tool Number Selection

If want to change the tool number, execute the following procedure.

NOTE Multiple Tools parameter must be set to be able to use this function

Procedure
1. Select a path from the Path List and right click on it to display the pop-up menu for that
path. From the menu select [Select Tool].

2. In the "Select Tool" dialog, select the desired tool number from the list and press the
[OK] button.

3. Verify that the selected tool number was changed.

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 7.3 Path Verification

7.3 Path Verification

Procedure
1. Select a path from the "Path List"to display its contents in the "Path Content" box to the
right.

Path Content List

2. In the "Sync" section, put a check next to each device (robot, base, station) that is to be
synchronized with the path content.If the system consists of a Robot and Station or
Robot and Base, the checkbox for the Station or Base will automatically be checked
when the Robot box is checked.Put a check next to each device and click the "Attain"
button, all steps in the "Path Content" list are checked if the target point can reached or
not. (Progress bar is displayed between checking.)

3. When all steps can be reached, the cursor reaches at the final step in the "Path Con-
tent" list. If the step cannot be reached, that step in the "Path Content" list is displayed
red. (when the Robot box in the "Sync" section is checked.)
Click the steps in the "Path Content" list to move the device to that step's correspond-
ing target point.

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 7.3 Path Verification

4. If the device doesn't move to the selected target point, this means that the target point
cannot be reached. Adjust the position of the work piece, the positioner, robot posture,
target point, etc. Selection of different surface for the edgemay be required see select-
ing an "Alternate Face" in Section 6.2.

 Display in MotoSimEG-VRC
In MotoSimEG-VRC, the tool orientation (Z-axis) for each target points is displayed by a black
arrow. The tip of the arrow corresponds to the target point position. The TCP (Tool Control
Point) X and Y axes are displayed in blue and green respectively.

Target Point

Z axis

X axis

Y axis

The small number next to the black arrows indicates the target point order in the motion
sequence. The red dotted line (guideline) passes through the target points to give an indica-
tion of the trajectory of the TCP. However, the robot true trajectory may not follow this line
exactly due to rounding and path smoothing. For the actual robot path verification, please
refer to section 8 "Motion Verification".
The numbers and guideline can be made visible by changing the settings on the "Show Teach
Point" tab in "Option Settings" dialog that can be displayed by selecting [Tool] - [Options] from
the MotoSimEG-VRC menu. The number, if displayed do not directly relate to the line number
displayed in the Path Content list.

Motion Order

Guideline

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 7.4 Target Points Adjustment

7.4 Target Points Adjustment

In the case where some target points need adjustment, the following procedure can be used.

Procedure
1. In the "Create Job" dialog, select from the "Path List" the path that needs adjustment.
The selected path detailsare displayed in the "Path Content"list.

Path List

Path Content List

2. In the "Targets" section, put a check in the "Pick" box. The target point's display will
change from black arrow to yellow line as in the following pictures.

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 7.4 Target Points Adjustment

3. While holding the [Ctrl] key, click on a yellow line target to select the target for modifica-
tion. The selected target changes to a light blue line target.

Multiple targets can be selected by holding down the [Ctrl] button and clicking the
desired additional targets.Target selection can be cleared by unchecking the "Pick"
box or by [Ctrl] clicking on the target
4. To select multiple targets, hold the [Ctrl] key then click and hold the left mouse button
and drag the mouse cursor over the targets to be selected. A green line is drawn to
indicate the mouse selection path. Release the mouse button and all the targets
touching the green line will be selected.

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 7.4 Target Points Adjustment

In the same manner, a closed shape can be drawn with the green line and when the
mouse button is released all the targets inside the closed shape are selected.

5. Once the target selection is completed, press the [Modify] button in the [Create Job]
dialog to display the "Modify Position" dialog.

Select the between the targetor robot coordinate system. For the arc-welding use,

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 7.4 Target Points Adjustment

welding coordinate system can be selected.

Z
X

Y Y

X
Z
Target Coordinates Robot Coordinates

Welding Coordinates (only arc-welding use)

Enter the desired shift amount in that coordinate system. The target point position will
dynamically update.
6. Press the [Modify] button to accept the targets points modified position. Press the
[Cancel] button to discard any modifications made.

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 7.4 Target Points Adjustment

7. The selection of target points to be modified can also be done from the "Create Job"
dialog by click on lines in the "Path Content" list. To select multiple lines/target points,
hold the [Ctrl] while clicking on the desired lines. For range selection, click the first
desired line, then while holding the [Shift] key clickon the last line of the desired range.
Once the selection is complete, press the [Modify] button of the "Target" section of the
dialog and proceed as per step 5 and 6 above to modify the target position.

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 7.5 Job Creation

7.5 Job Creation

Create a job from selected path.

Procedure
1. In the "Create Job" dialog, select paths from the "Path List" and press the [↓] button to
move the paths to the "Job Path Sequence" list. Only the paths in the "Job Path
Sequence" will be included in the created job. If there are multiple paths, they will be
combined into a single job. The order of the paths can be reorganized by selecting a
path in the list and moving it up or down in the sequence using the [↑] and [↓] buttons
on the right side of the "Job Path Sequence" list.

2. In the "Default Settings" dialog, if jobs have been registered under the "Environment"
tab, calls to those jobs can be added to the job path sequence by pressing the [Add
Call Job]. The "Call Job" dialog displays. Select from the drop down list the desired
job name and then press the [OK] button to add an instruction line in the sequence to
this sub-job.

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 7.5 Job Creation

3. Paths in the "Job Path Sequence" can be removed by selecting a path in that list and
pressing the [↑] button to move the path back to the "Path List".

4. Once the desired paths have been selected and ordered in the "Job Path Sequence",
press the [Create Job] button. The dialog below will display to indicate that the job cre-
ation was successful and the job was loaded into the virtual pendant.

If instead the following dialog displays then the job creation failed.

In such case, using the robot synchronizing function check that all steps can be
reached. If some point cannot be reached, consider the following solutions:
• Adjust the path content (work and travel angles, approach and retract points,
etc.) (Refer to section " 6.4 Path Settings ")
• Adjust the initial position posture reference (Refer to section " 7.1 Initial Position
Registration ")
• Adjust position and orientation of modified target point.
• Adjust the robot and work piece layout.

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 7.5 Job Creation

5. Once the job creation is done, press the [Close] button to close the "Create Job" dia-
log. The "CAM Job Management" dialog will display.

6. If the no other job need to be created at this time, close the "CAM Job Management"
dialog by clicking the [Close] button.

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8 Motion Verification

Procedure
1. From the virtual pendant main menu, select [JOB] - [SELECT JOB]. From the job list,
select the created job.
2. Playback the job to verify the motion.
3. If the trace function is used, the tool trace is displayed. The relation between the trace,
speed and I/O signal can be viewed by using the speed graph function. For details
about the speed graph, please refer to section 8.13 "Speed Graph Function" of the
MotoSim EG-VRC operation manual.

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9 CAM Default and Path Settings

For the CAM Default Settings, in the "CAM Job Management" dialog press the "Default Set-
tings" button to display the "CAM Default Settings" dialog and adjust the various default val-
ues. These settings are used as the initial values for settings of a new path. The "Path
Settings" dialog is displayed when a new path is created or by double-clicking on an existing
path in the "Path List" of the "Create Job" dialog. This chapter will explain the settings on
each tab of those dialogs.

The modification of settings in the "CAM Default Settings" only affects paths created after
NOTE the modifications. Existing paths will not be affected. To reflect the change on an existing
path, the path would need to be deleted and recreated.

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 9.1 COMMON TO ALL APPLICATIONS

9.1 COMMON TO ALL APPLICATIONS

9.1.1 Teaching

(9)
(1) (10)
(2) (11)
(3) (12)
(4) (13)
(14)
(5) (15)
(6) (16)
(17)

(7)
(8)

Teaching

Start Point

(1)Motion Type Sets the interpolation method of the motion instruction.

Can not be set for laser cutting use.

(2)Speed Sets the speed for motion to the Start Point. The speed units can be
set under the "Environment" tab.
Can not be set for laser cutting use.

(3)PL Sets the position accuracy level. The "CONT" tag means continuous
motion through the point which is the default behavior when no PL tag
is defined.
Can not be set for laser cutting use.

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 9.1 COMMON TO ALL APPLICATIONS

Teaching

(4)Offset Sets the offset of the start point from the beginning of the edge. (Units:
mm)
Can be set for arc-welding use and general purpose use only.

Offset

Start Point

Beginning of Edge

End Point

(5)PL Sets the position accuracy level. The "CONT" tag means continuous
motion through the point which is the default behavior when no PL tag
is defined.

(6)Offset Sets the offset of the end point from the ending of the edge. Enter a
negative value to stop before the end of the edge. (Units: mm)
Can be set for arc-welding use and general purpose use only.

Offset

Ending of Edge
End Point

Tool Setting

(7)Tool No Sets the tool number.

(8)Reverse Path When this box is checked the direction of the generated path is
reversed.

Intermediate Point(s)

Generation Mode

(9)Automatic Sets the automatic generation of intermediate points based on the crite-
ria defined on the "Special" tab.
When using the Automatic mode, the offsets for the start and end
points cannot be set.

(10)Manual Sets the generation of intermediate points based on the values entered
by the user in the fields below.

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 9.1 COMMON TO ALL APPLICATIONS

Teaching

(11)Motion Type Sets the interpolation method of the motion instruction. It is possible to
select the external reference point instruction (EIMOV) when external
reference point control is available. (Please refer to the section " 11.1
Job Creation Using External Reference Point Control Function ")

(12)UF When EIMOV is selected by Motion Type, Sets the number of the user
coordinates to be used as the external reference point.

(13)Step Pitch Specifies the interval between the intermediate points.(Units: mm)

(14)Equal Inter- When checked, the pitch is adjusted to be even when the edges cannot
vals be evenly divided.
And, he split pitch after adjustment will be displayed. When "Process as
one edge" is checked, this is not available.

(15)Number of Set the number of segment in the path.

Steps

(16)Speed Sets the speed to be used for the weld path. The speed units can be
set under the "Environment" tab. The speed can be overridden by the
selection on the Start/End Conditions tab.

(17)PL Sets the position accuracy level. The "CONT" tag means continuous
motion through the point which is the default behavior when no PL tag
is defined.

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 9.1 COMMON TO ALL APPLICATIONS

9.1.2 Approach/Retract

(11)
(1) (12)
(2) (13)
(14)
(3)
(4)
(5)
(15)
(6) (16)
(7) (17)
(8) (18)
(9) (19)
(10) (20)

Approach/Retract

(1)Approach When the [Add] check box below is checked, this box becomes effec-
tive. If the escape point is needed, Selects Escape point (Approach
side) and Sets the parameter.

(2)Add When this box is checked, an approach point is added to the path.

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 9.1 COMMON TO ALL APPLICATIONS

Approach/Retract

(3)Position Sets the relative position of the approach point from the beginning of
the weld in the selected coordinated system.
The following figure shows the directions of the X-Y-Z axes when the
"Robot" coordinate system is selected.

X
The following figure shows the directions of the X-Y-Z axes when the
"Target" (Tool) coordinate system is selected.

Z
In the user coordinates, sets the shift amount in the user coordinates
specified on the teaching tab.
The user coordinates can be selected only when the external reference
point command (EIMOV) is set at midpoint interpolation of the teaching
tab.

The user coordinates specified

on the teaching tab

(4)X The relative distance along the X-axis of the approach point from the
beginning of the weld.

(5)Y The relative distance along the Y-axis of the approach point from the
beginning of the weld.

(6)Z The relative distance along the Z-axis of the approach point from the
beginning of the weld.

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 9.1 COMMON TO ALL APPLICATIONS

Approach/Retract

(7)Motion Type Sets the interpolation method of the motion instruction.

(8)Speed Sets the speed. The speed units can be set under the "Environment"
tab.

(9)PL Sets the position accuracy level. The "CONT" tag means continuous
motion through the point which is the default behavior when no PL tag
is defined.

(10)Call job before When this box is checked, a call instruction for the specified job name
moving is added before the path motion instructions.

(11)Retract point When the [Add] check box below is checked, this box becomes effec-
tive. If the escape point is needed, Selects Escape point (Release side)
and Sets the parameter.

(12)Add When this box is checked, a retract point is added to the path.

(13)Position Sets the relative position of the Retract point from the ending of the
weld in the selected coordinated system.
The following figure shows the directions of the X-Y-Z axes when the
"Robot" coordinate system is selected.

X
The following figure shows the directions of the X-Y-Z axes when the
"Target" (Tool) coordinate system is selected.

(14)X The relative distance along the X-axis of the retract point from the end-
ing of the weld.

(15)Y The relative distance along the Y-axis of the retract point from the end-
ing of the weld.

(16)Z The relative distance along the Z-axis of the retract point from the end-
ing of the weld.

(17)Motion Type Sets the interpolation method of the motion instruction.

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 9.1 COMMON TO ALL APPLICATIONS

Approach/Retract

(18)Speed Sets the speed. The speed units can be set under the "Environment"
tab.

(19)PL Sets the position accuracy level. The "CONT" tag means continuous
motion through the point which is the default behavior when no PL tag
is defined.

(20)Call job after mov- When this box is checked, a call instruction for the specified job name
ing is added after the path motion instructions.

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 9.1 COMMON TO ALL APPLICATIONS

9.1.3 Special

(1)
(2)
(3)
(4)

(5)
(6)

(7)
(8)

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 9.1 COMMON TO ALL APPLICATIONS

Special

Intermediate Points(s)
Automatic Division

(1) Tolerance Sets the path deviation toler-

ance from the edge. Suffi-
cient intermediate points are
generated to keep the dis- Tolerance
tance between the each path
segment and the edge below
the tolerance. Maximum Distance
(Units: mm)

(2) Maximum Dis- Sets the maximum distance For example, if the Tolerance = 5mm
tance between two intermediate and the Maximum Distance = 20mm,
points. the intermediate point in the figure
Sufficient intermediate points below is generated by following the
are generated to keep the most restrictive condition, the Toler-
maximum distance between ance.
points below the maximum
distance. Intermediate Point

(Units: mm)

If the condition are changed to Toler-

ance = 5mm and Maximum Distance =
10 mm. The Maximum distance
becomes more restrictive and the fol-
lowing intermediate points are gener-
ated instead.

Intermediate Point Intermediate Point

(3) Threshold of Sets the threshold angle to When the angle between tangents of
MOVC decide when MOVC instruc- two points is larger than the threshold
tions are used. angle, MOVC (circular move) instruc-
(Units: deg.) tions are used instead of MOVL (linear
move) instructions.
(4) Without MOVC When checked, MOVC
instructions are not used.
Threshold Angle
The path is generated using
only linear segments
(MOVL).

MOVL setting

(5)Speed Set the speed of MOVL instruction created by intermediate point(s)

automatic.

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 9.1 COMMON TO ALL APPLICATIONS

Special

(6)PL Set the PL of MOVL instruction created by intermediate point(s) auto-

matic.

MOVC setting

(7)Speed Set the speed of MOVC instruction created by intermediate point(s)

automatic.

(8)PL Set the PL of MOVC instruction created by intermediate point(s) auto-

matic.

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 9.1 COMMON TO ALL APPLICATIONS

9.1.4 External Axis

(1)
(2)
(3)

(4)

(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)

External Axis

Base Settings

(1) MIN Sets the minimum and maxi-

mum values of the base axis.
(2) MAX Please set the same or more
restrictive values than the
ones set in the virtual pen-
dant.

The position of the base axis is created

in front of the target point as long as
the target point is within the range of
base motion limits. If the target point is
outside the base limits, the base is
moved to its limit and robot s-axis turns
to reach the target.

(3) No Motion When checked the base axis does not moved automatically. The posi-
tion of the base at the time that the path is created will be used.

(4) Station Coordina- When checked the station motion is coordinated with the robot motion.
tion

(5) No Motion When processing the edges, set not to move the station.

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 9.1 COMMON TO ALL APPLICATIONS

External Axis

(6) Horizontal weld Select this option to automat-

auto-adjustment ically adjust the positioner to
maintain the weld edge in the
horizontal plane.

(7) Rotation Sets the rotation angle

around the processed edge
(Y-axis)to adjust the position
walls forming the edge.
(Units: deg.)

(8) Inclination Sets the inclination angle of the edge (rotation around the X-axis) to
change the slope of the processing.(Units: deg.)

(9) Offset Sets a distance to offset the

processing position in pro-
portion to the inclination (7). Tool
When a value is set, the incli-
nation angle is automatically
adjusted.
Note: The calculation is an
approximation based on the
Offset
radius between the position
of the torch and the center of
rotation of the station.
Work

(10) No Horizontal Selects this option not to use the horizontal function. How to teach is
weld au-to-adjust- determined by Keep constant robot posture check box.
ment

(11) Turn Axis Identifies which axis of a multiple axes station will turn when using the
"Keep constant robot posture" option.

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 9.1 COMMON TO ALL APPLICATIONS

External Axis

(12) Keep constant Select if using the Keep con- Keep constant robot posture is
robot posture stant robot posture function. checked
When checked, while the
positioner is operating, the
robot processes while main-
taining a certain posture.
When not checked, while the
positioner operates, the robot
processes while changing
the posture according to the
shape of the CAD.

Keep constant robot posture is not

checked

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 9.1 COMMON TO ALL APPLICATIONS

9.1.5 Environment (Default Settings Only)

①
②

③
④

Environment (Default Settings Only)

Environment Settings

(1)Speed Units Selects the type of units used to define motion speed in various dialogs.

(2)Registered Job Registers jobs that can then be inserted in path sequence when using
the [Add Call Job] button of the "Create Job" dialog.
To add jobs to the list, type the name of the job (without the .jbi exten-
sion) in the textbox and press the [Add] button. The name will be trans-
ferred to the list below.
To remove a registered job from the list, select the job name in the list
and click the [Delete] button.

Target Point Frame

References

(3)X Sets the reference used to determine the direction of the X-axis of the
target point frame. (Default: Reference face (+))

(4)Z Sets the reference used to determine the direction of the Z-axis of the
target point frame. (Default: Reference face's normal (-))

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 9.1 COMMON TO ALL APPLICATIONS

 Target Point Frame References

The posture of the target point to be created is changed depending on the "Target Point
Frame Basic Posture" setting on the Environment tab.

Selected Edge

Reference Plane

Target point frame basic position

X:Reference face(+) X:Reference face(-)

Z:Reference face's normal(+) Z:Reference face's normal(+)

Work Angle
Work Angle 90 deg. 90 deg.

Work Angle 0 deg. Work Angle 0 deg.

X:Reference face(+) X:Reference face(-)

Z:Reference face's normal(-) Z:Reference face's normal(-)

Work Angle
Work Angle 90 deg. 90 deg.

Work Angle 0 deg.

Work Angle 0 deg.

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 9.2 Arc Welding Use

9.2 Arc Welding Use

9.2.1 Torch Position

(8)
(1)
(9)
(2) (10)
(3)
(4)
(5)
(6)
(7)

Torch Position

Torch Position

(1)JointOrientation Specifies the shape of the

joint to be welded.
Depending on the selec-
tion between the V-Shape
or L-Shape, the 0 deg. Reference
Plance
reference changes.

(2)Work Angle Sets the angle of the torch

Normal
from the 0 deg. reference Normal
Median
Reference
Plance
plane (as defined by the V Shape L Shape
Joint Shape).
(Units: deg.)

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 9.2 Arc Welding Use

Torch Position

(3)Travel Angle Sets the angle of the torch

from the plane perpendic-
ular to the travel direction.
(Units: deg.)

(4)Rotation Angle Sets the angle of the torch

rotation.
(Units: deg.)
Travel Direction
(5)Vertical Sets the vertical shift
amount of the target
points.
(Units: mm)

(6)Horizontal Sets the horizontal shift Front View

amount of the target
points.
(Units: mm)

(7)Without When this box is checked,

ARCON/ARCOFF the ARCON/ARCOFF
instruction instructions will not be
included in the path.

Side View

(8)Corner Processing When this box is checked,

the corner processing is
enabled.
When welding multiple
edges continuously
around a corner, the pos-
ture of the robot has to
change drastically to
move from one side of a
corner to the other side.
In order to smooth the
transition, the corner pro-
cessing function allows
changing the torch angles
gradually when within a
defined distance of the
corner.

(9)Before Corner Sets the distance before a

corner where the torch is Corner Processing
allowed to transition from
one orientation to another.

(10)After Corner Sets the distance after a

corner where the torch is
allowed to transition from
one orientation to another.

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 9.2 Arc Welding Use

9.2.2 Start/End Conditions

(1) (9)
(2) (10)
(3) (11)
(4) (12)
(5) (13)
(6) (14)
(7)
(8)

Start/End Conditions

Arc Start Condition

(1) Arc Start File Select to specify the use of the condi- For example, if you select the
tions defined in an Arc Start File. Enter condition file 1, the following
the number of the file to be used. instruction will be added to
the path:
ARCON ASF#(1)

(2) Welding Condi- Select to specify the arc start welding conditions.
tions

(3) Current Sets the welding current. (Units: A) For example, is you enter the
following values:
(4) Voltage Sets the welding voltage. (Units: %) 3) 1
(Units: % or V) 4) 50.0
The Voltage units can be set under the 5) 100.0
"Weld Environment" tab. 6) 0.50
7) ON
(5) Speed When checked, the travel speed while The following instruction will
welding is specified. be added to the path:
Speed units can be set in the "Environ- ARCON AC=1 AVP=50
ment" tab. T=0.50 V=100.0 RETRY
(6) Timer When checked, the timer value to
delay beginning of the motion is speci-
fied. (Units: sec.)

(7) Retry When checked, the function to retry

establishing an arc after a failure is
enabled.

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 9.2 Arc Welding Use

Start/End Conditions

(8) Use the speed When checked, the speed value specified on the "Teaching" tab under
of the "Teaching" the "Intermediate Points" sections will be used. This speed will be
tab specified on the appropriate move instructions and supersedes the
speed specified in the "Arc Start Condition".

Arc End Condition

(9) Arc End File Select to specify the use of the condi- For example, if you select the
tions defined in an Arc End File. Enter condition file 1, the following
the number of the file to be used. instruction will be added to
the path:
ARCOF AEF#(1)

(10) Welding Con- Select to specify the arc end welding For example, is you enter the
ditions conditions. following values:
11) 1
(11) Current Sets the welding current. (Units: A) 12) 50.0
13) 100.0
(12) Voltage Sets the welding voltage. 14) ON
(Units: % or V) The following instruction will
The Voltage units can be set under the be added to the path:
"Weld Environment" tab. ARCOF AC=1 AVP=50
T=0.50 ANTSTK
(13) Timer When checked, the timer value to
maintain the arc after the end point is
reached is specified. (Units: sec.)

(14) Anti-stick- When checked, the function to prevent

ing the wire from sticking to the weld is
enabled.

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 9.2 Arc Welding Use

9.2.3 Weaving/Sensing

(1) (14)
(2) (15)
(3) (16)
(4)
(17)
(5) (18)
(6) (19)
(7)
(20)
(8) (21)
(9)
(22)
(10) (23)
(24)
(11)
(12) (25)
(13) (26)

Weaving/Sensing

(1) Weaving

(2) Condition File Select to specify the use of the condi- For example, if you select the
tions defined in aWeaving Condition condition file 1, the following
File. Enter the number of the file to be instruction will be added to
used. the path:
WVONWEV#(1)

(3) Weaving Condi- Select to specify the weaving conditions for single amplitude weave.
tions For triangle or L-shaped weave, use condition file (2).

(4) Amplitude Sets the amplitude of the weave.

(Units: mm)
(4)

(5) Frequency Sets the frequency of the weave.

(Units: Hz) (6)

(6) Angle Sets the angle of the weaving plane. Side view
(Units: deg.)
(5)

Main View

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 9.2 Arc Welding Use

Weaving/Sensing

(7) Direction Sets the direction of the weave.

Forward Reverse

(8) Ref.Point Regis- When checked, weaving reference

tration points (REFP1, REFP2) are registered
with the weave.

(9) Ref.Point Sets the distance of the reference

Distance points from the weld. REFP1
(Units: mm) (10)

(9)
(10) Offset from Sets the distance of the reference REFP2
Start Position points from the beginning of the weld in (10)
(9)
the travel direction. Weaving Reference Points
(Units: mm)

(11) Start Point Detec- When checked, detection reference

tion points (REFP3, REFP4, REFP5) are
registered and search instructions are
added to the path.

(12) Ref.Point Dis- Sets the distance of the reference REFP5

tance points from the weld. REFP3
(13)
(Units: mm)
(12)
REFP4
(13) Offset from Sets the distance of the reference (13)
(12)
Start Position points from the beginning of the weld in
the travel direction. Search Reference Points
(Units: mm)

(14) COMARC When checked, COMARC instructions are added.

(15) Weaving Con- Select to specify the use of the condi- For example, if you select the
dition No. tions defined in aWeaving Condition condition file 1, the following
File. Enter the number of the file to be instruction will be added to
used. the path:
WVONWEV#(1)

(16) Weaving Con- Select to specify the weaving conditions for single amplitude weave.
dition For triangle or L-shaped weave, use condition file (15).

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 9.2 Arc Welding Use

Weaving/Sensing

(17) Amplitude Sets the amplitude of the weave.

(Units: mm)
(17)

(19)
(18) Frequency Sets the frequency of the weave.
(Units: Hz)
Side view

(19) Angle Sets the angle of the weaving plane.

(18)
(Units: deg.)

Main View

(20) Direction Sets the direction of the weave.

Forward Reverse

(21) Up/Down Sets up and down profiling conditions.

(Units: A)

(22) Left/Right Sets left and right profiling conditions.

(Units: A)

(23) COMARC Select to specify the use of the conditions defined in a COMARC condi-
Condition No. tion file. Enter the number of the file to be used.

(24) Ref.Point When checked, weaving reference

points (REFP1, REFP2) are registered
with the weave.

(25) Ref.Point Sets the distance of the reference

Distance points from the weld. REFP1
(Units: mm) (26)

(25)
(26) Offset from Sets the distance of the reference REFP2
(26)
Start Position points from the beginning of the weld in (25)
the travel direction. Weaving Reference Points
(Units: mm)

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 9.2 Arc Welding Use

9.2.4 Weld Environment (Default Settings Only)

(1)

(2)

Weld Environment

Welding Power Source

(1) Power Supply Sets the power supply condition of welding power source.
Configuration Make this setting match the setting of the power supply on the virtual
pendant.

Starting Point Detec-

tion

(2) Job Name Sets the starting point detection job name that is used when this func-
tion is used. Please set this job to match the system configura-
tion.

R1 HR1T1.JBI

R1 + B1 HR1B1T1.JBI

R1 + S1 HR1S1T1.JBI

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 9.3 General Purpose Use

9.3 General Purpose Use

9.3.1 Tool Position

(1)
(2)
(3)
(4)
(5)
(6)
(7)

Tool Position

(1) Joint Specifies the shape of the

joint to be welded.
0.0deg
Depending on the selec-
Normal Normal
tion between the V-Shape ②
or L-Shape, the 0 deg.
Reference
reference changes. Plane
②
0.0deg
(2) Target Angle Sets the angle of the torch Reference
from the 0 deg. reference Media Plane
plane (as defined by the
V-Shape L-Shape
Joint Shape).
(Units: deg.)

(3) Lead Angle Sets the angle of the torch

from the plane perpendic-
ular to the travel direction.
(Units: deg.)

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 9.3 General Purpose Use

(4) Torch Angle Sets the angle of the torch

rotation.
(Units: deg.)

(5)Joint Offset Sets the vertical shift

vertical amount of the target
points.
(Units: mm)

(6)Joint Offset Sets the horizontal shift

Horizontal amount of the target
points.
(Units: mm)

(7)Fix the robot When this box is checked, No checked

pose the robot moves maintain-
ing the starting posture.

Checked

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 9.4 General Purpose Use Using the Tool with the External Axis

9.4 General Purpose Use Using the Tool with the

External Axis

(1)
(2)
(3)
(4)
(5)
(6)
(7)

General Purpose (Tool with a external axis)

Tool Position

(1) Joint Specifies the shape of the

joint to be processed. 0.0deg
Depending on the selec- Normal Normal
tion between the V-Shape ②
or L-Shape, the 0 deg. Reference
reference changes. Plane
②
0.0deg

(2) Target Angle Sets the angle of the tool Media

Reference
Plane
from the 0 deg. reference
plane (as defined by the V-Shape L-Shape
Joint Shape). (Units: deg.)

(3) Lead Angle Sets the angle of the tool

from the plane perpendic-
ular to the travel direction.
(Units: deg.)

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 9.4 General Purpose Use Using the Tool with the External Axis

General Purpose (Tool with a external axis)

(4) Torch Angle Sets the angle of the tool

rotation. (Units: deg.)

(5) Joint Offset Sets the vertical shift

Vertical amount of the target
points. (Units: mm)

(6) Joint Offset Sets the horizontal shift

Horizontal amount of the target
points. (Units: mm)

(7) Fix the robot When this box is checked, No checked

pose the robot moves maintain-
ing the starting posture.

Checked

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 9.5 Laser Welding Use

9.5 Laser Welding Use

9.5.1 Laser Welding

(8)
(9)
(1) (10)
(2) (11)
(3) (12)
(4) (13)
(5) (14)
(15)
(6) (16)
(7) (17)

Welding Position

(1) Laser welded Specifies the method to

joint appoint the target angle.
0.0deg
Depending on the selec-
Normal
tion between the L-Shape Normal
②
or L-Shape, the 0 deg.
Reference
reference changes. Plane
②
0.0deg
(2) Target angle Sets the angle of the torch Reference
from the 0 deg. reference Median
Plane
plane (as defined by the V-Shape L-Shape
Joint Shape).
(Units: deg.)

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 9.5 Laser Welding Use

(3) Lead angle Sets the angle of the torch

from the plane perpendic- ③
ular to the travel direction.
(Units: deg.) ⑥
Travel Direction
(4) Torch angle Sets the angle of the torch
rotation.
(Units: deg.) Front View

(5) Defocus Specifies the tip height

from the work at the weld-
④
ing points.
(Units: mm) ⑦

Target point
Side View
(6) Vertical Sets the vertical shift
amount of the target
points.
(Units: mm)

(7) Horizontal Sets the horizontal shift ⑤

amount of the target
points.
(Units: mm)

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 9.5 Laser Welding Use

Accelerating
point
Accelerating point
Start shift point
(8) motion type Sets the interpolation
method of the motion
(9) instruction of accelerating
point. Welding
(10)
⑯ Direction
(11) pos Sets the offset of the
accelerating point.
(Units: mm)
⑪
Slow down point

(12) motion type Sets the interpolation

method of the motion
(13) instruction of decelerat-
End shift point Decelerating point
ing point.
(14)

(15) pos Sets the offset of the

decelerating point. Welding
(Units: mm) Direction
⑰
Shift

(16)Start shift Sets the offset of the start

shift point. ⑮
(Units: mm)

(17)End shift Sets the offset of the end

shift point.
(Units: mm)

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 9.6 Laser Cutting Use

9.6 Laser Cutting Use

9.6.1 Laser Cutting 1

(1)
(2)
(3)
(9)
(4)

(10)
(5) (11)
(6)
(7)
(8)

Setting of the laser

cutting

(1) Clipping When this button is

checked, the processed
path is created to clip the
work.

(2) Trimming When this button is

checked, the processed
path is created to trim the
work.

(3) Piercing When this box is checked,

the pierced hole is made
first, and trimming is
started from the inner side
of the work.

Cutting Direction Pierced Hole

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 9.6 Laser Cutting Use

Setting of the
approach to the
starting point of cut-
ting.

(4) MOVL+MOVC When this button is

selected, the robot
approaches the cutting
start point by MOVL and
MOVC. Specifies the lin-
ear length, the radius, and
angle.

(5) MOVL When this button is

selected, the robot
approaches the cutting
start point by MOVL only.
Specifies the linear
length.

Adjustment of the
tool height.

(6) Piercing Specifies the height direc-

point tion offset of the tool at
the piercing point.(Units: Piercing Point
mm)
Cutting
(7) Initial point of Specifies the height direc-
Direction
the arc tion offset of the tool at
the initial point of the arc. Initial point
Midway point
(Units: mm) of the arc of the arc

(8) Midway point Specifies the height direc-

of the arc tion offset of the tool at
the midway point of the
arc. (Units: mm)

Approach direction

(9) X+ When the approach is

"MOVL+MOVC", and this
button is selected, the
robot approaches from X+
direction of the cutting
start point frame.
When the approach is
"MOVL", this is not avail-
able.

(10) X- When the approach is

"MOVL+MOVC", and this
button is selected, the
robot approaches from X-
direction of the cutting
start point frame.
When the approach is
"MOVL", this is not avail-
able.

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 9.6 Laser Cutting Use

(11) Preview When the approach is

"MOVL+MOVC", the
approach is displayed
according to the setup of
the "Approach direction",
the "Linear length", the
"Radius", and the "Angle."
When the approach is
"MOVL", this is not avail-
able.

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 9.6 Laser Cutting Use

9.6.2 Laser Cutting 2

(6)
(1) (7)

(2)
(3)
(4)
(5) (8)
(9)
(10) (15)
(11) (16)

(12)
(13)
(14) (17)

Torch position

(1) Method to Specifies the method to L-Shape

appoint the tar- appoint the target angle.
get angle. Depending on the selec-
tion between the L-Shape
or I-Shape, the 0 deg. ref-
erence changes.

(2) Target angle Sets the angle of the torch 0deg

from the 0 deg. reference
plane (as defined by the
I-Shape
Joint Shape).
(Units: deg.) 0deg

(3) Lead angle Sets the angle of the torch

from the plane perpendic-
ular to the travel direction.
(Units: deg.)

(4) Torch angle Sets the angle of the torch

rotation.
(Units: deg.)

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 9.6 Laser Cutting Use

(5) Keeping an When this is checked, the When this is not checked:
angle "Tz" target points are created
so that they may not
rotate about the tool Z.

When this is checked:

(6) Piercing Specifies the tip height

from the work at the pierc- Laser Torch
ing point.
(Units: mm)

(7) Cutting Specifies the tip height Tip Height

from the work at the cut-
ting points.
(Units: mm)

(8) Vertical Sets the vertical shift

amount of the target Laser Torch
points.
(Units: mm)

(9) Horizontal Sets the horizontal shift ⑧

amount of the target
points.
⑨
(Units: mm)

Accelerating
point

(10) motion type Sets the interpolation

method of the motion
instruction of accelerating
point.

(11) pos Sets the offset of the

accelerating point from
the beginning of the edge.
(Units: mm)

Start Shift

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 9.6 Laser Cutting Use

(12) motion type Sets the interpolation When piercing is not executed:
method of the motion
instruction of start shift
point.

(13) pos Sets the offset of the start When piercing is executed:
shift point.
(Units: mm)

(14) Piercing Sets the interpolation

point method of the motion
instruction of piercing
points.

Adjustment of cut-
ting pos.

(15) Cutting Sets the offset of the cut-

Starting ting start position.
(Units: mm)
When this is set 0mm, the Cutting Start Position
starting point of the first
selected edges is the cut- Cutting
ting start position.

(16) Overlap Sets the overlapped

Overlap
amount.
(Units: mm)
Cutting Start Position
When this is set, even
after going around to the Cutting
cutting start position,
robot continues moving a
specified amount.

(17) End shift Sets the offset of the start

shift point.
(Units: mm)
Add the end shift point at
the specified position.

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 9.6 Laser Cutting Use

9.6.3 Laser Cutting 3

(1)
(2)
(3)

(4)
(5)
(6)

Laser signal control

(1) On control

(2) Call job When this box is checked, a

call instruction for the speci- When piercing is not executed:
fied job name is added to
turn Laser signal "ON".

Accelerating point
CALL JOB:??.JBI

Start shift point

When piercing is executed:

Start shift point

Piercing point
CALL JOB:??.JBI

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 9.6 Laser Cutting Use

(3) Instruc- Selects to specify the Laser

When piercing is not executed:
tion signal settings.
Sets the Out signal to turn
gas ON and the timer value
for gas. Accelerating point
And, set the Out signal to DOUT OT#(1) ON … Gas ON
turn laser ON. When the TIMER T=1.00 …Timer for
piercing is executed, set the gas
timer value for laser.
Start shift point
DOUT OT#(2) ON …Laser ON

When piercing is executed:

Start shift point

Piercing point
DOUT OT#(1) ON … Gas ON
TIMER T=1.00 …Timer for
gas
DOUT OT#(2) ON … Laser ON
TIMER T=1.00 …Timer for
laser

(4) Off control

(5) Call job When this box is checked, a

call instruction for the speci-
fied job name is added to
Cutting end point
turn Laser signal "OFF".
CALL JOB:??.JBI

(6) Instruction Selects to specify the Laser

signal settings.
Sets the Out signal to turn Cutting end point
gas OFF and laser OFF. DOUT OT#(3) ON …Laser OFF
DOUT OT#(4) ON …Gas OFF

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 10.1 Alternative Edge Button

10 Create Job Dialog Advance Operation

10.1 Alternative Edge Button

When selecting consecutive edges, depending on the CAD model, there may be multiple
edges continuing from the end of the currently selected edge. In such case, when pressing
the continuation buttons [<] or [>], one of the possible edges will be arbitrarily selected. If the
selected continuing edge is not the desired one, repeatedly press the [Alternative Edge] but-
ton to iterate through all the possible edges until the desired edge become the selected one.

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 10.2 Process as One Edge Option

10.2 Process as One Edge Option

There may be cases where the edge on the CAD model looks like a straight line but it is not
actually composed of a single edge. In such case, if desired, the multiple edges can be pro-
cessed as a single edge by checking the "Process as one edge" box. However, when pro-
cessing multiple edges as one line, offset values for the start and end point cannot be set.

NOTE This function is enable for "arc-welding use" and "general purpose use" only.

Process these edges as one

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 10.3 Right Click Menu

10.3 Right Click Menu

10.3.1 Path List

When an item from the "Path List" is selected and the right mouse button is clicked, the asso-
ciated pop-up menu displays with the following items.

Path List

(1)
(2)
(3)
(4)

Select Tool Displays the "Select Tool" dialog to select the tool to be used with this
path. For details, refer to section " 7.2 Tool Number Selection "

Add Comment Sets a comment to help identify the path.

Select this item to display the following dialog.

Enter a comment and then press the [OK] button. The comment dis-
plays next to the path in the "Path List".

The comment is limited to 10 characters.

Copy The path chosen by the path list is copied.

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 10.3 Right Click Menu

Delete Deletes the selected path from the list

10.3.2 Path Content List

When an item from the "Path Content" list is selected and the right mouse button is clicked,
the associated pop-up menu displays with the following items.

(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
(15)
(16)
(17)
(18)

(1)Add Above... Adds instructions for moving Clicking (1) or (2) will display the follow-
to the position of the robot ing dialog box.
(base/station) displayed in
MotoSim EG-VRC. Instruc-
tions are added above the
item selected in the Path
Work List.

(2)Add Below... Adds instructions for moving

to the position of the robot
(base/station) displayed in
MotoSim EG-VRC.
Instructions are added below
the item selected in the Path If there is a station, the Motion Type
Work List. item will display SMOV*.
The speed unit is the same as that set
in the Environment tab.
For example, with Motion Type: MOVJ
and a speed of 100.0 set, if Unused is
not selected, MOVJ VJ=100.0.
If Unused is selected, MOVJ is set.
PL determines the positioning accuracy.

(3) Insert Instruc- Inserts instructions registered by instruction registration in the {Default
tions Setting} - {Environment} tab above the item selected in the Path Work
List

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 10.3 Right Click Menu

(4) Add Instruc- Adds instructions registered by instruction registration in the {Default
tions Setting} - {Environment} tab below the item selected in the Path Work
List.

(5) Delete Deletes the selected items from the Path Work list.

(6) Copy Copies the posture of the robot axis of the item selected in the Path
Work List.
When multiple items are selected, copying cannot be performed.

(7) Cut Copies the posture at the current value of the robot axis.

(8) Paste Replaces the posture of the robot axis of the item currently selected in
the Path Work List with the copied posture.

(9) Reverse Paste Inserts the reverse of the row copied in the operation of (7) or (8).

(10) Copy selected Copies the posture of the current robot.

step pose

(11) Copy robot Copies the posture of the robot of the row currently selected in the Path
current pose Work List.

(12) Paste Pose Replaces the currently selected row with the posture copied using (10)
or (11).
Replaces everything of the row selected in the Path Work List.

(13) Set Starting Disabled

Point of Work

(14) Adjust All of Use the automatic adjust- When selected, the following dialog will
the Unreachable ment function. be displayed.
Points Automati- Unreachable target points in
cally all steps are subject to pro-
cessing.

(15) Adjust Use the automatic adjust-

Selected Unreach- ment function.
able Points Auto- Unreachable target points in
matically selected steps are subject to Priority
processing. Set the axis of the target point frame to
be modified. Select from the angle
around the X axis (Tx), the angle
around the Y axis (Ty), and the angle
around the Z axis (Tz).
Search angle
When determining the correction value,
set the minimum value, the maximum
value, and the search pitch of the
correction amount of each axis.
[NOTE]
The automatic adjustment function per-
forms only one axis of the target point
frame. Multiple axes are not adjusted.

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 10.3 Right Click Menu

(16) Torch Angle Torch angle automatic When this is selected, the below dialog
Automatic Adjust- adjustment function is used. is displayed.
ment When two arbitrary lines are
selected, the torch angle is
gradually adjusted from the
position of the minimum line
of a selection line to the posi-
tion of the maximum line.

Rotation Angle (Tz) Adjustment

Adjusts rotation about the tool Z.
The rotation about the tool Z can be
set in a shortcut rotation or a detour
rotation.

Before

Shortcut rotation

After

Torch Position (Tx,Ty,Tz) Adjustment

Adjusts rotation about the tool X, Y and
Z.
If this function is used, it becomes
impossible to maintain the perpendic-
ular to the work surface of target
points.
But, the robot can move smoothly
between targets.

Before

After

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 10.3 Right Click Menu

(17) Update Base Overwrites the travel axis position of the item selected in the Path Work
Position with Cur- List with the travel axis position displayed in MotoSim EG-VRC.
rent One

(18) Update Sta- Overwrites the station axis position of the item selected in the Path Work
tion Position with List with the station axis position displayed in MotoSim EG-VRC.
Current One

To modify the position of the external axis of the robot tip in "General Purpose Use Using
SUPPLE
-MENT the Tool with the External Axis", modify it using the "Update Station Position with Current
One" menu as shown below.

Procedure
1. Check the "Robot" of the Sync ON and select the line to modify in the path contents list.

2. Check the "Robot" of the Sync OFF.

3. In the position panel etc., change the position of the external axis to the axis value to
modify.

4. Right click on the path contents list and select "Update Station Position with Current

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 10.4 Positioner Adjustment

One".

5. Check the "Robot" of the Sync ON and check the robot and external axis posture.

10.4 Positioner Adjustment

For a system with a robot and a positioner, the position of the positioner must be determined
so a path can be generated from the detected edges. Using the positioner adjustment func-
tion, the positioner can be set to automatically adjust its position to maintain certain criteria
such as keeping orientation of the selected edges in a plane horizontal with the ground.
When selecting multiple edges together, the positioner adjustment is based on the first
selected edge. In the case of a curved edge, the tangent of the starting point is positioned to
be horizontal with the ground.

Procedure
1. Select an edge on the work piece.
2. Click the [Adjust Positioner] button on the "Create Job" dialog to display the "Positioner

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 10.4 Positioner Adjustment

Adjustment" dialog.

3. Select the "Joint Orientation" mode between a "V" and an "L" shape.

V-Shape: Adjustment to keep the median between the normals of the two planes form-
ing the edge straight up.
L-Shape: Adjustment to keep the normal of the reference surface of an edge straight

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 10.4 Positioner Adjustment

up.

Normal

Normal
Normal
Median Reference Plane
V-Shape L-Shape

V-Shape L-Shape

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 10.4 Positioner Adjustment

4. In the case where more specific angles are required, the rotation and inclination angles
can be set. For the work orientation, the direction of the Y-axis is along the edge, the
Z-axis in the upward direction and the X-axis is perpendicular to the both the Y and Z
axes. The "Rotation Angle" turns about the Y-axis to change the position walls forming
the edge and the "Inclination Angle" turns about the X-axis to change the slope of the
weld.

Rotation
Angle

Inclination Angle

5. When multiple configurations are available, select the desired configuration from the
list.

6. Changing the selected edge on the work will cause adjustments to be madeto maintain
the selected edge horizontal to ground. To prevent the positioner from changing posi-
tion when selecting an edge, uncheck the "Enable Positioner Adjustment" box.

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 11.1 Job Creation Using External Reference Point Control Function

11 Other Settings

11.1 Job Creation Using External Reference Point Con-

trol Function

The external reference point control function is a function that allows playback by considering
one point in the space (external reference point) as the control point of the robot.
It is possible for the robot to grab work and perform operations such as machining around the
work at the position set as the external reference point.

With the CAM function, it is possible to create a job using external reference point control that
the robot grips and processes the work in general purpose.

NOP
MOVL V=800.0 STEP1

EIMOVL V=400.0 STEP2（processing）

EIMOVL V=400.0 STEP3（processing）

EIMOVL V=400.0 STEP4（processing）
MOVL V=800.0
STEP5
END

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 11.1 Job Creation Using External Reference Point Control Function

11.1.1 Preparation
In order to use the external reference point control with the CAM function, the following set-
tings are required.

 Setting to Enable External Reference Point Control Function

1. Opens the controller registered controller cell.
2. Selects [Controller] tab - [Maintenance mode], and starts maintenance mode.

3. Selects [SYSTEM] - [SETUP] - [OPTION FUNCTION] and sets [EXTERNAL REFER-

ENCE POINT] to "USED".

4. Exit maintenance mode.

 Setting User Coordinates

Creates user coordinates at the position as an external reference point.

Set user coordinates at the

position to be the external
reference point

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 11.1 Job Creation Using External Reference Point Control Function

 Registration Work Model at Robot Tip

Registers the CAM work at the tip of the robot.

Tool for robot

CAM work

11.1.2 Setting of External Reference Point Control

Jobs can be created using external reference point control when preparing for general pur-
pose (please refer to the section " 11.1.1 Preparation ").

NOTE When a station is included in the control group of the job, it is not possible to select the
external reference point control command at the time of setting the path.

On the Teaching tab, external reference point instructions can be used. (EIMOVL, EIMOVC).

External reference point instructions

can be used. (EIMOVL, EIMOVC).

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 11.1 Job Creation Using External Reference Point Control Function

On the Approach / Retract tab, user coordinates can be selected.

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MotoSim EG-VRC OPTIONS
INSTRUCTIONS

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802

YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Nordic AB
Bredbandet 1 vån. 3 varvsholmen 392 30 Kalmar, Sweden
Phone +46-480-417-800 Fax +46-480-417-999

YASKAWA Electric (China) Co., Ltd.

22/F One Corporate Avenue No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA Electric Korea Co., Ltd

9F, KyoboSecuritiesBldg., 26-4, Yeouido-dong,Yeongdeungpo-gu, Seoul 150-737, Korea
Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199

PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741

Specifications are subject to change without notice

for ongoing product modifications and improvements.

C Printed in Japan November 2018 14-08

MANUAL NO.

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