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Hwashi Robot Manual

广东华士科技股份有限公司
江西华士科技股份有限公司
 Contents

Cover·······································································1
Contents·······································································2
1. Power On ······················································3-5
2. Programming ···············································6-16
3. Running ································································17
4. Power Off ·······················································18
5. Robot Zero Point Setting ······························19
6. Service Phone Number ·······························20
 1. Power On

1. Turn on the robot control 2. Loosen the control box 3. Loosen the emergency button
box power as picture 1-1. emergency button (rotate the in teaching box(rotate the red
red button in right direction) button in right direction)

Picture Picture Picture

1-1 1-2 1-3
 1. Power On
4.The button on the teaching box rotate to “TEACH”(as picture 1-4), press F1 button (as picture 1-
5), it will display picture 1-6. Press “TAB” button (picture 1-7) and cursor key (as picture 1-8)
to choose “SYSTEM”. Press “SELECT” button (as picture 1-9), it will show picture 1-10.

Picture Picture Picture

1-4 1-5 1-6 Picture
1-7

Picture Picture Picture

1-10 1-9 1-8
 1. Power On
Click the cursor keys to make the cursor on the "SYSTEM", "SELECT" button (as shown in picture1-11) image
appears, press the cursor keys to make the cursor in the required mode, press the "SELECT" key (as shown in
picture 1-12) image appears, enter the password, then press the "TAB" key, the cursor on the "DONE", press
"SELECT" button again.

cursor Picture Picture

key 1-11 1-12

5. Factory password：
 EDIT mode{888888}
 MANAGEMENT mode{666666}
 High level enter into low level does not need password.
 2. Programming
1. Rotate the button to TEACH as picture 1-4.

2. Set new program:

Press "F1" button appears (picture 1-6), press the "TAB" key and "cursor" keys make the cursor on the "JOB", press
"SELECT" button again to appear picture 2-1, the cursor on the "NEW JOB" by "SELECT" button (as shown in picture 2-2)
screen, press the "SELECT" key (as shown in picture 2-3), press "cursor" + "SELECT" key or "digital" button (picture. 2-4)
enter the program name, after the completion of the INPUT according to the "INPUT" button (picture 2-5),If the
"abc123" appears (picture 2-6), press "TAB" to make the cursor on "NEW" and press the "SELECT" button to appear
(picture 2-7).

Picture TAB Picture Picture

1-6 button 2-1 2-2
 2.Programming
（Connected to previous page）Press “SELECT” to
enter picture 2-3.Press “Cursor”button+
“SELECT ”button or “number”button(Picture 2-4)
to input program name and then press
“INPUT”button (Picture 2-5) .For example,
input “abc123” and picture 2-6 will come out，
press “TAB” to make cursor on “NEW” ， 2-3 2-4
press“SELECT”and picture 2-7 will come out。

2-5

2-7 2-6
 2.Programming
3.Order input
Press “F3”to enter editing page，press “ADD”（picture 2-8）and picture 2-9 will come out. Move cursor to the order you need and press
“SELECT”button.【For example ,input “DOUT”orders：firstly choose “2.IN/OUT”，and press “select”，and then move cursor to “DOUT”，and
press “SELECT”again, picture 2-10 will come out. For example , select “DOUT OT” to make cursor on the “DOUT OT”, press “SELECT”and Picture 2-
11 will come out .Afterwards, move cursor to “OT1” and input number like “2”，and press “INPUT”.Therefore “OT1”will be changed into “OT2”like
picture 2-12 . Afterwards, move curser to “ON”. If you need to exchange , please press “SHIFT” （picture 2-13）to swift into “OFF” like（picture2-
14），press again to swift into “ON”】。

图2-8 图2-9 图2-10

图2-11
图2-14 图2-13 图2-12
 2. Programming
4.Moving Order Input
（1）Press “MANUAL SPEED”（picture 2-
15）choose the suitable speed ( lever from low
to high I-L-M-H-S).The screen top status bar will
display (Picture 2-16）.
（2）Press “COORDINATE
图2-15 图2-16
SETTING”( Picture 2-17）to select suitable
coordinate system. If every time you press it
once, the coordinate system will change
circularly like the follow sequence {Joint（J）- 图2-17
right angle（B）-tool（T）-User（U）}.The
status bar will display the present coordinate
system（Picture 2-16）。
（The next page will continue）

图2-16
 2. Programming
（connected to the previous page）
a. Joint coordinate system （J）：Separately operate robot every joint axis( Picture 2-18 )
b. Rectangular coordinate system （B）：Robot is parallel to X/Y/Z Axis movement of body axis (picture 2-19）
C. Tool coordinate system (T) ：robot is parallel to the X/Y/Z axis movement of tool front ( please refer to operating manual 4.4 and 4.5 section for
more details).
d. User coordinate system （U）：set coordinate system according to work piece ( please refer to operating manual 4.6 and 4.7 section for more
details）
Remark：Simultaneously press several axis operating buttons and robot will execute aggregate motion.
（3）Press lightly “ enable switch” at the back of teaching box(Picture 2-20) . If you hear one sound of “DA”, the servo has connected and the
“SERVO READY” （Picture 2-22）light will turn on ，which means the servo has been connected .Press axis operating button to reach the
position you need (remark: “enable ”should be pressed lightly. If you press it with too power , servo connection will cut off ）。

2-18 2-19 2-20 2-21

 二、 Programming

（4）Press“F3”to enter
editing page. Press“ADD”
（picture 2-8）and
picture2-9 will come out. 图2-8
Move cursor to “1.MOTION”，
and select the moving order
图2-9
you need and keep pressing
“Enable switch” ，and press
“select”again. Input
moving order to program
like picture 2-22 图2-22
（Next page will continue）
 二、 Programming
12.Note: movj--joint interpolation, the axes are not subject to the trajectory constraints, fast moving to the target position, movl--line interpolation, the
line trajectory to reach the target position, movc--arc interpolation, it takes three points to confirm the arc motion trajectory. The cursor increases the
external axis motion by pressing the "SHIFT" key On "MOVJ" (Figure 2-23), each time the order of the key instructions will be cyclical changes: (external
axis does not move-external Axis 1 action-External Axis 2 action-External axis 1.2 linkage), the cursor in the p* position, input number keys such as
"1", The image shown (Figure 2-24) appears. If you enter a number used by the current program, the system appears (Figure 2-25). If you choose Yes, the
previous P1 position value is modified to the current robot position, such as select No to call the location value of the previously stored P1, the cursor
moves at the "V20" to enter the desired speed of movement, press "input" key input.
Note: MOVJ v unit is a percentage, such as "100" is the most high-speed 100%,MOVL and MOVC units for mm/s, such as "100" for the 100mm/s, the
cursor moved to "ZO", input the desired positioning accuracy, the current only 0~4 five levels, ZO said accurate in place, Z1-4 represents a joint
transition. E1 and E2 respectively represent the use of the external axis 1 and the external axis 2, can be used alone, can also be combined to use; EV
represents the external axis speed, if 0, the robot and the external axis linkage; If not 0, the external axis speed

图2-23 图2-24 图2-25

 二、 Programming

5. Spot Welding command input

Press the "F3" key to enter the editing page, press the
"ADD" key (Figure 2-8) appears (Figure 2-9) shown in
图2-8
the screen, move the cursor to "7.WELDING" Select
the required welding instructions. Commonly used for
Arcon AC, AV and arcof ac, AV, press "select" key will 图2-9
appear such as (Fig 2-26), which AC for welding
current, AV for welding voltage, V for welding speed,
T for timer time.

图2-26
 二、 Programming
6.Modify position
When you want to move robot to the desired location, press the "F3" key to enter the editing page, move the cursor to the motion
command to be modified , pressing the "ALTER" key (Figure 2-27), the cursor become short from long, then move cursor to the
"POSITION" key and "Get Teaching point" key (Figure 2-28), Then the original position is modified to the current position (note:
Repeated to use a number of P points, such as P1 Point, the current program, all P1 points are modified to the current location, the
number of p* points are not entered as a non repetition point), modify successfully system will remind "access to teaching point success.

图2-27 图2-28
 二、 Programming

Press "F3" to enter the editing page, move the cursor to the segment of the
program to be deleted, press the "CANCEL" key (Figure 2-29) to make the yellow cursor cover the entire line of the program
segment, press the "delete" key (Figure 2-30), and then move the cursor to the end of the desired deletion when the program
segment you want to remove becomes yellow (figure 2-31), and then press the DELETE key, the system will indicate whether to
delete the created program segment and select “Yes” to delete it. (Note: A maximum of 10 lines can be deleted at a time)

图2-29 图2-30 图2-31

 2. Programming

8. Copying and Cutting

Press “F1” button enter into the editing surface, move the cursor to the program segment that need to be copy or cut. Press“CANCEL”
button make the yellow cursor cover the entire line of programs. Press“COPY” button （picture 2-32）or“CUT” button
（picture 3-33）， move the cursor again to the end of the deleted segment, and the segment to be copied or cut will become yellow as
the picture（2-34). Press“COPY”button or“CUT” button and then move the cursor to the program segment that need to be copy,
And then press“COPY”or“CUT” button, the selected program segment is copied or cut to the current program row (Copy or cut
up to ten rows at a time）

Picture Picture2
Picture 2-33 -34
2-32
 3. Running
（1）Press“SHIFT” button ，and then press“APPLICATION”button（as the picture 3-1），will appear（picture3-2）APPLY ON， APPLY ON can
control the welder.
（2） The teaching box rotates to “REPLAY”（as the picture 3-3).
（3） Connect the power supply, gas source and water source to the welding machine, and adjust the wire feeding wheel compaction to ensure the welding
ground wire is well connected. If no welding, operate the “APPLY OFF”.
（4）Press“SERVO READY”button（picture 2-21）（ servo turn on, indicator light on ），Press“MANUAL SPEED”button and choose the suitable
speed.
（5）Press“START”（ green button ）（picture3-4），robot start to working.（ Please confirm that there is no one and interference near the robot before
starting ）
（6）If need to stop during the working , press“PAUSE”button（picture 3-5).（white button）
（7） If an exception occurs while running, press the stop button .（ Red mushroom head ）

Picture 3-3
Picture Picture
3-1 3-2

Picture 3-5 Picture 3- Picture 2-

4 21
 4. Power Off

（1）Press“PAUSE”button while running（white button），rotate the button to the “TEACH”model.

（2） Move each axes to the right position.

（3） Shut off gas and water sources.
（4） Turn off the power switch on the control cabinet of the robot and welding machine.
（5） Turn off the external power switch.
 5.Robot Zero Point Setting

5. Robot Zero Point Setting

 The robot needs to set zero when it collides with the
machine or changes the control cabinet. Picture
（1）The teaching box rotate to “TEACH”，enter into 5-1
“MANAGEMENT” above authority.
（2） Hold down the “enable switch key”“ to move the Picture 5-2
robot to its origin （picture 5-1） make the robot pose in
shape （picture 5-2).
（3）Press“F1”button inter “SYSTEM”，
press“SELECT”button will appear（picture 5-3)， Cursor
moves to “HOME POSITION”，and
press“SELECT”button will appear（picture 5-4）. To Picture
modify the zero position of the axis corresponding to the 5-3
“MODIFYY?” In the column “no” should become “YES“.
Press“TAB” button , shift cursor into “GET POS”， Picture 5-4
Press“SELECT”button and modify axis“HOME
POSITION VALUE” change , the cursor jumps to SET .
Press“SELECT”button again，will appear the pictures5-5
shows，choose“YES” the selected axis zero is modified to
the current position.
Picture
5-5
National free service hotline ：
400-811-0125
Technical support hotline ： 18179583291
Http://www.hwashi.com

Guangdong Hwashi Technology Inc.

Jiangxi Hwashi Technology Inc.