RA Series-Installation & Connection Manual Arc Welding
RA Series-Installation & Connection Manual Arc Welding
RA Series-Installation & Connection Manual Arc Welding
Installation and
Connection Manual
-Arc Welding Application-
90202-1177DEA
F Series Controller Preface
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Preface
This manual describes installation and connection procedures for Arc Welding Robot which is
controlled by Kawasaki Robot F series controller.
Read and understand the contents of this and safety manuals thoroughly and strictly observe all
rules for safety before proceeding with any operation. Installation and connection methods in this
manual apply only to arc welding equipment. For information about the installation and
connection of other general robot arms, read “Installation and Connection Manual” for Robot
Arm. For the installation and connection for BA series, refer to “BA Series Installation and
Connection Manual – Arc Welding Application –”.
For information about the installation and connection of the controller and cables, read
“Installation and Connection Manual” for Controller.
1. This manual does not constitute a guarantee of the systems in which the robot is utilized.
Accordingly, Kawasaki is not responsible for any accidents, damages, and/or problems
relating to industrial property rights as a result of using the system.
2. It is recommended that all personnel assigned for activation of operation, teaching,
maintenance or inspection of the robot attend the necessary education/training course(s)
prepared by Kawasaki, before assuming their responsibilities.
3. Kawasaki reserves the right to change, revise, or update this manual without prior notice.
4. This manual may not, in whole or in part, be reprinted or copied without the prior written
consent of Kawasaki.
5. Store this manual with care and keep it available for use at any time. If the robot is reinstalled
or moved to a different site or sold off to a different user, attach this manual to the robot
without fail. In the event the manual is lost or damaged severely, contact Kawasaki.
Copyright © 2017 Kawasaki Heavy Industries Ltd. All rights reserved.
i
F Series Controller Symbols
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Symbols
The items that require special attention in this manual are designated with the following symbols.
Ensure proper and safe operation of the robot and prevent physical injury or property damages by
complying with the safety matters given in the boxes with these symbols.
! DANGER
! WARNING
! CAUTION
[NOTE]
Denotes precautions regarding robot specification,
handling, teaching, operation, and maintenance.
! WARNING
ii
F Series Controller Safety
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Safety
When installing and connecting the Arc Welding Robot, carefully read the following precautions
together with the safety precautions in the “Installation and Connection Manual” for Robot Arm
and Controller.
! CAUTION
iii
F Series Controller Safety
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Cable Connection
Strictly observe the following precautions when connecting the robot arm with the robot
controller.
! WARNING
Do not connect the primary power before connection between the robot and robot
controller. Otherwise, there is a possibility of electrical shock.
! CAUTION
iv
F Series Controller Safety
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
! DANGER
Prior to connecting the primary power, confirm that the primary power supply
for the controller is cut off. To prevent primary power from being turned ON
accidentally, tag the breaker and indicate clearly that work is in progress, or
assign a supervisor to prevent accidents caused when someone accidentally turns
ON the breaker until all the connections are complete. Connecting components
while power is supplied is extremely dangerous and may cause electric shock.
! WARNING
1. Connect with ground to prevent electrical noise and shock without fail.
2. Use a dedicated ground (100 Ω or less) and connect via the ground wire
whose size is larger than that of the recommended cable size shown below (3.5
to 8 mm2).
3. Never share the ground with welder, etc. for grounding wire or minus pole
(base material).
4. When using the minus pole of the weld power supply (base material) for arc
welding, etc., connect it to a jig or directly to base metal. Do not share the
ground with the robot and the robot controller, and isolate without fail.
5. Prior to turning ON the primary power to controller, make sure the power
supply is connected and all the covers are reattached properly without fail.
Failure to do so may cause electrical shock.
v
F Series Controller Safety
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
! CAUTION
vi
F Series Controller Safety
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
vii
F Series Controller Safety
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
15. When using the I/O function of the arm ID board together with high frequency equipment,
avoid close parallel runs and overlapping runs of the coaxial power cable and the I/O cable to
keep electrical noise from affecting the wiring.
16. Use the laser sensor in accordance with the instructions from the manufacturer when using
laser welder, laser sensor and so on.
17. Incorrect usage of laser devices may result in severe injuries. Especially, take proper eye
safety precautions, since there is a risk for blindness. Laser beams may also burn skin,
clothing or ignite surrounding volatile substances such as alcohol.
viii
F Series Controller Table of Contents
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Table of Contents
Preface ··········································································································· i
Symbols ········································································································ ii
Safety ·········································································································· iii
Work Flow at Installation and Connection of Arc Welding Robot····································· xi
1 Mounting and Connection of Wire Feeding Unit ·················································1
1.1 RA06L, RA10N ·······················································································1
1.1.1 Installation ON Wall/Ceiling ········································································1
1.1.2 Installation on Floor/Shelf ···········································································1
1.2 RA05L ··································································································3
1.2.1 Installation on Wall/Ceiling ·········································································3
1.2.2 Installation on Floor/Shelf ···········································································3
2 Mounting of Welding Torch and Connection of Coaxial Power Cable ·······················4
2.1 Mounting Non-Kawasaki Shock Sensor on Wrist Flange ·······································4
2.2 RA06L, RA10N ·······················································································5
2.2.1 Mounting of Shock Sensor and Torch Mounting Bracket ·······································5
2.2.2 Mounting of Torch Gauge (Option) ································································6
2.2.3 Torch Adjustment Method ···········································································7
2.2.4 Connection of Coaxial Power Cable ·······························································8
2.2.5 Cutting the Liner ···················································································· 10
2.2.6 Liner Clamp Function ·············································································· 11
2.3 RA05L ································································································ 12
2.3.1 Mounting of Shock Sensor and Torch Mounting Bracket ····································· 12
2.3.2 Mounting of Torch Gauge (Option) ······························································ 13
2.3.3 Torch Adjustment Method ········································································· 14
2.3.4 Connection of Coaxial Power Cable ····························································· 16
2.3.5 Cutting the Liner ···················································································· 17
2.3.6 Liner Clamp Function ·············································································· 18
3 Grounding Method ·················································································· 19
4 Connection with Welding Equipment ···························································· 20
4.1 RA06L, RA10N ····················································································· 21
4.2 RA05L ································································································ 22
5 Arc Welding Interface Board (2AN) Installation Procedure ·································· 23
5.1 Installing on OP1 ···················································································· 23
5.2 Installing on OP2 ···················································································· 26
ix
F Series Controller Table of Contents
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
x
F Series Controller Work Flow at Installation and Connection of Arc Welding Robot
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Examine location and prepare for Refer to “Installation and Connection
installation of controller.
Manual” for Controller.
Transport and install robot arm. Refer to “Installation and Connection
Manual” for Robot Arm.
Transport and install controller Refer to “Installation and Connection
and connect primary power. Manual” for Controller.
Actual Work
Work complete
xi
F Series Controller 1 Mounting and Connection of Wire Feeding Unit
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
This manual describes how to mount and connect the wire feeding unit, taking a DAIHEN (OTC)
wire feeder CMRE-742 as an example. For other wire feeders, give due consideration or contact
Kawasaki.
! WARNING
1. Before starting mounting of wire feeder motor and gas valve, move the robot
arm to a place where the work can be done easily and turn OFF the motor
power and the controller power.
2. Keep isolation between the wire feeder motor and the robot arm by bakelite
board etc. without fail. Otherwise welding current might short to the robot
arm due to the isolation failure.
The wire feeding unit mounting location on a wall-mounted or ceiling-mounted robot depends on
the operation conditions. Carry out an appropriate installation procedure in consideration of the
workpiece and other obstacles.
Follow the procedures below to mount wire feeding unit on the shoulder part of arm. The fixing
brackets are separately required for mounting. Be sure to use them.
1. Referring to Fig. 1.1, mount the fixing bracket onto the shoulder part of arm.
2. Referring to Fig. 1.2, mount the wire feeding unit to the fixing bracket. For mounting, use the
hexagon head bolts and washers and nuts provided with the wire feeding unit.
3. Referring to Fig. 1.3, connect control cable (the motor cable, the encoder cable and the
voltage detection cable) connector of wire feeding unit with the specified connector.
[NOTE]
A shock sensor connector is included in the arm.
1
F Series Controller 1 Mounting and Connection of Wire Feeding Unit
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Fig. 1.1 Mounting of fixing bracket Fig. 1.2 Mounting of wire feeding unit
(Procedure 1) (Procedure 2)
Solenoid valve
(built-in)
Control cable
Fixing bracket
2
F Series Controller 1 Mounting and Connection of Wire Feeding Unit
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
1.2 RA05L
The wire feeding unit mounting location on a wall-mounted or ceiling-mounted robot depends on
the operation conditions. Carry out an appropriate installation procedure in consideration of the
workpiece and other obstacles.
For RA05L, the wire feeding unit cannot be mounted on the arm. Accordingly, mount it
separately from the arm by yourself with consideration of workpieces and other obstacles. (See
Fig. 1.2 as a reference when mounting it.)
3
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
! WARNING
Before mounting the welding torch, move the robot arm to a place where work
can be done easily and turn OFF the motor power and the controller power of the
robot controller. When replacing/mounting a welding torch that is connected to
the welder, turn OFF the power to the welder before starting the work without
fail.
1. Mount a torch holder and welding torch whose total weight is within the load capacity of the
robot, specified in separate “Installation and Connection Manual” for Robot Arm.
2. Keep isolation between wrist flange and welding torch without fail.
4
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Parallel pin
Mount
Hexagon socket
head cap screw
Hexagon socket
head cap screw
Hexagon socket
head cap screw
Tightening Torque: 7.0 N⋅m
Hexagon socket
head cap screw
Tightening Torque: 8.0 N⋅m
Welding torch
5
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Reference
point
Hexagon
socket head
cap screw
Torch gauge
Detail
ASSY
drawing
Reference (Option)
point
Tip gauge
(Option)
1. Remove the nozzle and the contact tip from the torch.
2. Mount the tip gauge to the torch firmly.
3. Mount the torch gauge ASSY using 2 hexagon socket head cap screws (M5×30) attached
with the torch gauge ASSY.
4. Make sure that the reference point of the torch gauge coincides with the tip gauge end. If not,
adjust the end position of the tip gauge so that its end coincides with the reference point of
the torch gauge. (Refer to “2.2.3 Torch Adjustment Method” for torch adjustment method.)
[NOTE]
When the tip gauge is not used, adjust the torch by wire cut to a specified length, etc.
6
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
L-bracket
Insulating
bracket
Up Mount
Down
Nozzle holder ASSY
Feeding cable
Left Right
Back Front
Reference
Hood point
Tip gauge
7
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Remove the hood. Unscrew the bolt fixing Bolt for fixing a nozzle
feeding cable. holder appears.
Hood
The coaxial power cable is used to lead the wire, shield gas and shock sensor cable from the wire
feeding unit to the torch. Refer to the Table 2.1 below to select the coaxial power cable according
to the arm.
(Cable length)
Gas hose
8
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Faston
terminal
Hexagon
socket
head Shock sensor cable
cap screw
(M5)
Connector
Faston terminal
Protect the FASTON terminal of the shock sensor cable with the silicon glass tube supplied with
the coaxial power cable, and then fix it to the coaxial power cable with the tying band.
9
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Cut the liner according to the length of each torch, referring to Fig. 2.7, Fig. 2.8, Table 2.2 and
Table 2.3. Rasp the edge of the liner’s cut section to eliminate burrs, etc. Also, take enough care
not to bend a liner or burr the hole when cutting.
Table 2.2 Cut length of liner from
coaxial power cable (rough)
DAIHEN torch L (mm)
(model)
RT3500S 291
RT3500H 360
RT3500L 331
RT5000S 274
RT5000H 343
RT5000L 314
ライナ
Liner 一線式パワーケーブル
Coaxial power cable
RTW5000S 288
Fig.2.7 Cut length of liner from coaxial power cable
RTW5000H 356
RTW5000L 338
RZ3500S 207
RZ3500H 277
RZ3500L 263
10
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
A liner clamp is equipped with the nozzle holder of each shock sensor.
During welding, weld wire may become floppy and it causes unstable wire feeding depending on
clearance between the sensor and the liner in the coaxial power cable. This problem will result in
faulty weld arc start or fluctuations in the protrusion length of weld wire.
The liner clamp unit has the effect of reducing the behavior of weld wire by binding the coil liner.
1. Loosen the lock nut, and then thoroughly pull out the clamp screw.
2. Insert the coaxial power cable.
3. Gradually turn the clamp screw until it hits against the liner, and then make it 1/4 turns.
4. Clamp the liner with the lock nut.
[NOTE]
1. Turning the clamp screw excessively will damage the liner and disables weld
wire feeding.
2. To remove the coaxial power cable or the liner, unclamp the liner clamp first.
Liner clamp
Clamp screw
Lock nut
11
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
2.3 RA05L
Parallel pin
Parallel pin
Output flange
Adaptor plate 2
Torch mounting bracket ASSY
Parallel pin
Adaptor plate 1
Insulating bracket Hexagon socket
head cap screw
Mount
Hexagon socket
head cap screw
Hexagon socket
head cap screw
Hexagon socket
head cap screw
Hexagon Tightening Torque: 7.0 N⋅m
socket head
cap screw
Tightening Torque: 8.0 N⋅m
Welding torch
12
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
7. Loosen the hexagon socket head cap screw of the shock sensor (M5×20) to insert and fix the
welding torch.
Reference
point
Hexagon socket
head cap screw
Reference
point
Tip gauge
(Option)
13
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
L-bracket
Insulating bracket
Up Mount
Down
Left Right
Back Front
Reference
Hood point
Tip gauge
14
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
(3) Loosen the hexagon socket head cap screw ③ (M5×20) fixing the nozzle holder and
rotate the holder in the proper direction (right/left direction) so that the deviation is
eliminated.
(4) After fixing the nozzle holder and the feeding cable firmly, remount the hood.
Remove the hood. Unscrew the bolt fixing Bolt for fixing a nozzle
feeding cable. holder appears.
Hood
15
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
The coaxial power cable is used to lead the wire, shield gas and shock sensor cable from the wire
feeding unit to the torch. For RA05L, the wire feeding unit cannot be mounted on the arm. To
mount it separately, determine the length of the coaxial power cable.
Faston
terminal
Hexagon
socket head
cap screw
(M5)
Gas hose
(Power
cable)
Faston terminal
Protect the Faston terminal of the shock sensor cable with the silicon glass tube supplied with the
coaxial power cable, and then fix it to the coaxial power cable with the tying band.
16
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Cut the liner according to the length of each torch, referring to Fig. 2.15, Fig. 2.16, Table 2.4 and
Table 2.5. Rasp the edge of the liner’s cut section to eliminate burrs, etc. Also, take enough care
not to bend a liner or burr the hole when cutting.
Table 2.4 Cut length of liner from
coaxial power cable
(rough)
DAIHEN torch L (mm)
(model)
RT3500S 291
RT3500H 360
RT3500L 331
RT5000S 274
RT5000H 343
ライナ
Liner 一線式パワーケーブル
Coaxial power cable
RT5000L 314
Fig.2.15 Cut length of liner from coaxial power cable RTW5000S 288
RTW5000H 356
RTW5000L 338
RZ3500S 207
RZ3500H 277
RZ3500L 263
17
F Series Controller 2 Mounting of Welding Torch and Connection of Coaxial Power Cable
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
A liner clamp is equipped with the nozzle holder of each shock sensor.
The liner clamp unit has the effect of reducing the behavior of weld wire by binding the coil liner.
1. Loosen the lock nut, and then thoroughly pull out the clamp screw.
2. Insert the coaxial power cable.
3. Gradually turn the clamp screw until it hits against the liner, and then make it 1/4 turns.
4. Clamp the liner with the lock nut.
[NOTE]
1. Turning the clamp screw excessively will damage the liner and disables weld wire
feeding.
2. To remove the coaxial power cable or the liner, unclamp the liner clamp first.
Liner clamp
Clamp screw
Lock nut
18
F Series Controller 3 Grounding Method
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
3 Grounding Method
! WARNING
1. Never share the ground among the robot controller, robot arm, welder, other
equipment and etc.
2. For the controller and robot arm, use a dedicated ground (100 Ω or less) as
the ground line shown below.
3. If grounding and insulation of the controller and the robot arm are
insufficient, malfunction caused by noise from ground lines, breakage or
electrical shock may occur. Accordingly, strictly observe below. In addition,
make sure that the controller and the robot are connected with dedicated
ground lines and check that they are isolated from other equipment and
devices via a circuit tester, etc.
Isolate the wire feeding unit and welding torch from the robot arm using Bakelite etc. (Refer to
“Safety” in this manual.)
Grounding is extremely important to prevent noise and electrical shock, etc. Connect the
grounding wire by the method shown in the Fig. 3.1.
Welding torch
Arm
Base material
Welder
Welding work table
Controller
350A model:
2
14 mm or more 2
3.5 mm or
500A model: Connect the ground directly to
2 more Connect the ground 2
3.5 mm or more the welding work table.
22 mm or more directly to the robot arm.
! WARNING
1. Before connecting the robot arm with welding equipment, move the robot
arm to a place where the work can be done easily. Then turn OFF the motor
power and the controller power.
2. Before connecting the robot arm with welding equipment, turn OFF the
welder power supply without fail.
An example of connection to an arc welder, etc. is shown below. For details of handling and
connection of power cables, etc. to the welder, refer to its instruction manual.
1. Connect the arc welding interface board in the controller (Refer to “Appendix 2 Arc Welding
Interface Board”.) to the welder via the I/F cable.
2. For CO2 welding, a heater and gas flowmeter are normally connected to the gas cylinder.
Non-heater type gas cylinder is also available. If a factory piping is used instead of cylinders,
connect a flowmeter designed for factory piping.
3. Connect welding cable (ground) on the base material with the welding work table.
4. For the wire feeding unit, a reel type machine is shown in the figure. However, when a pack
is used, connect the wire feeding unit with the pail pack.
20
F Series Controller 4 Connection with Welding Equipment
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Conduit cable
Wire reel
Shock sensor
Robot arm
Welding torch
Base material
Gas flowmeter
Heater
Separate harness
21
F Series Controller 4 Connection with Welding Equipment
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
4.2 RA05L
Wire reel
Shock sensor
Robot arm
Welding torch
Base material
Gas flowmeter
Heater
Welding cable on
base material side
(ground)
Separate harness
Gas cylinder
Controller
I/F cable
Control cable
Welding cable on torch side (+)
22
F Series Controller 5 Arc Welding Interface Board (2AN) Installation Procedure
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
This chapter explains the procedure for installing the arc welding interface board (2AN) on the
F60 controller.
1. The following table lists the parts required to install the arc welding interface board.
Check to make sure that you have the correct parts before installing them on the controller.
4. Remove the screw, and detach the fixing metal plate and the slot cover.
23
F Series Controller 5 Arc Welding Interface Board (2AN) Installation Procedure
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
5. Secure the 2AN board onto the fixing metal plate with a screw, instead of the slot cover.
6. Attach the plate to secure the optional board to the 2AN board with two screws.
Screwed on with
two screws
7. Install the 2AN board to which the fixing plate was attached in step 6 on the controller with
one countersunk screw and one screw removed in step 3.
Countersunk
screw
Screw
24
F Series Controller 5 Arc Welding Interface Board (2AN) Installation Procedure
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
25
F Series Controller 5 Arc Welding Interface Board (2AN) Installation Procedure
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
1. Check to make sure that correct parts are selected before installing them on the controller.
2. Make sure that the controller power is turned OFF.
3. Remove the countersunk screw, and remove the slot cover from OP2.
Screwed on with one countersunk screw OP2 slot cover
4. Remove the screw, and detach the fixing metal plate and the slot cover.
5. Secure the 2AN board onto the fixing metal plate with a screw, instead of the slot cover.
6. Attach the plate to secure the optional board to the 2AN board with two screws.
26
F Series Controller 5 Arc Welding Interface Board (2AN) Installation Procedure
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
7. Install the 2AN board to which the fixing plate was attached in step 6 on the controller with
one countersunk screw and one screw removed in step 3.
Countersunk
screw
Screw
27
F Series Controller 5 Arc Welding Interface Board (2AN) Installation Procedure
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
! CAUTION
Be sure to connect both ends of the optional board harness to the connector.
If one end of the optional harness is not connected, a serial communication
error may result.
28
F Series Controller Appendix 1 Connection Diagram with Welder (DM-350)
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
1. RA06L, RA10N
29
F Series Controller Appendix 1 Connection Diagram with Welder (DM-350)
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
2. RA05L
30
F Series Controller Appendix 2 Arc Welding Interface Board
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
1. Connector specifications
Set each output load capacity to 3 µF or less.
Connector
Board Pin No. Signal Name Function
No.
Analog voltage output for setting parameters (normally, for welding current)
1 A1_COMMAND
(Setting range: -15 V to +15 V)
2 A1_COM_GND GND for A1_COMMAND
Analog voltage output for setting parameters (normally, for welding current)
3 A2_COMMAND
(Setting range: -15 V to +15 V)
4 A2_COM_GND GND for A2_COMMAND
Analog voltage output for setting parameters (normally, for welding current)
5 A3_COMMAND
(Setting range: -15 V to +15 V)
6 A3_COM_GND GND for A3_COMMAND
Analog voltage output for setting parameters (normally, for welding current)
7 A4_COMMAND
(Setting range: -15 V to +15 V)
8 A4_COM_GND A4_COMMAND
9 ROBOT_READY_A Contact closed when welding is ready (Output)
10 ROBOT_READY_B
11 WELDER_ERR_24V +24 V power source for welder error detection signal
12 WELDER_ERR_GND GND for welder error detection signal
DMC 0.5/16-G1-2.54
14 FEED_ON_A Contact closed while the wire feeder motor is running (Output)
15 WIRE_FWD_A Contact closed while wire is being fed in the forward direction (Output)
16 WIRE_FWD_B FEED_ON_A common
17 WIRE_REV_A Contact closed while wire is being fed in the reverse direction (Output)
18 WIRE_REV_B
19 WELD_ON_A Contact closed when welding starts (Output)
20 WELD_ON_B
21 GAS_ON_A Contact closed when gas is supplied (Output)
22 GAS_ON_B
2AN board
31
F Series Controller Appendix 2 Arc Welding Interface Board
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
2. Appearance
LD3
LD4
LD5
LD6
LD10
LD9
LD8
LD7
LD2
LD1
32
F Series Controller Appendix 2 Arc Welding Interface Board
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
Switch
Function
Name
SW1 For the system
Button
A B
PNP NPN
33
F Series Controller Appendix 2 Arc Welding Interface Board
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
(1) Use the wires specified in the table below. If the wire end needs to be terminated, fit a
ferrule.
(2) Push in the wire with a 1.5 to 2.0 mm flat-blade screwdriver while depressing the release
button.
34
F Series Controller Appendix 3 Deformation of Welding Torch and Replacement
Kawasaki Robot Installation and Connection Manual - Arc Welding Application -
During welding by the robot, the welding torch may interfere with the workpiece due to an
unexpected trouble, and this may result in bending or damage to the torch. In this case, repair or
replace the torch and adjust it as described below.
35
F Series
Installation and Connection Manual
- Arc Welding Application -
90202-1177DEA