Robot Training

GEDIK WELDING 1
What is robot ?

It is a programmable machine
that imitates the movement and
appearance of an intelligent
creature (usually human).

GEDIK WELDING 2
 ROBOTIC SYSTEM BASIC COMPONENTS

1. MANIPULATOR (AII B4 - AII B4L - AII V6 - AII

V6L …)
2. CONTROL UNIT
3. TEACH PENDANT
4. OPERATION BOX

GEDIK WELDING 3
MANIPULATOR

AII B4 AII B4L

GEDIK WELDING 4
MANIPULATOR
AII V6 AII V6L

GEDIK WELDING 5
MANIPULATOR

AII V20 AII V50

GEDIK WELDING 6
MANIPULATOR

AX V133/V166/V200

GEDIK WELDING 7
CONTROLLER

AX 21 CONTROLLER

GEDIK WELDING 8
TEACH PENDANT

TEACH PENDANT

GEDIK WELDING 9
OPERATION BOX

GEDIK WELDING 10
TEACHING PROCESS SEQUENCE
To start the teaching process, the
following procedures are applied in
order.
1. The robot is turned to the "ON"
position.
2. The user level is changed.An
empty program opens.
3. The motors are energized.
4. The teaching mode is selected.
5. Operation positions are saved.
6. Necessary function commands
are added.
7. The program is terminated with
the “Program Ending” END
instruction.
GEDIK WELDING 11
 TURNING ON THE ROBOT

In order to turn on the robot, we need to turn the switch to the ON

position on the controller.

GEDIK WELDING 12
USER LEVEL ENTRY

There are user levels in the robot.

In other words, not everyone
working with the robot can use it.
That's why we need to get to the
Specalist level to be able to
program the robot. The user
level of the system opened at the
USER level; It is brought to the
SPECALIST level by entering the
***** password in the window
opened with the Reset 314 code.

GEDIK WELDING 13
OPENING A NEW PROGRAM
As the first step to open a
new program, press the
ENABLE and PROG keys
simultaneously on the
teach pendant
terminal.Then, the
“Program Selection”
window appears below.

GEDIK WELDING 14
OPENING A NEW PROGRAM
After the Program Selection
window is opened, by
pressing the ENABLE and
DOWN ARROW keys at the
same time, the pointer is
moved to the Directory line
and the ENTER key is pressed,
and the “Program List Display”
window, which we will see on
the next slide, opens.

GEDIK WELDING 15
OPENING A NEW PROGRAM
• A new program is
opened when an
empty program is
written and pressed
in the section
marked below.
• To open a recorded
program; It will be
sufficient to navigate
to the desired
program with the
direction and press
to enter.

GEDIK WELDING 16
MOVE THE ROBOT

After the motors are energized;

To move the robot, first of all, the
black button (dead man switch)
on the back of the teach pendant
is pressed.

Dead Man
Switch

GEDIK WELDING 17
MOVE THE ROBOT

• With this button (dead man), the

axis of the bass-centered switch
axis moves, as seen in the picture
on the side.
• X- , X+ = 1. axis
• Y- , Y+ = 2. axis
• Z- , Z+ = 3. axis
• RX- , RX+ = 4. axis
• RY- , RY+ = 5. axis
• RZ- , RZ+ = 6. axis

GEDIK WELDING 18
ROBOT AXES 5. AXIS

6. AXIS
4. AXIS

3. AXIS

2. AXIS
1. AXIS

GEDIK WELDING 19
ROBOT AXIS MOVEMENTS
• The first thing to consider during robot programming is; is the process of
choosing the robot's motion coordinate system correctly.
• In OTC robots; There are basically 3 Coordinate Systems: joint, robot
(machine, world) and tool.
• Coordinate selection is made by pressing the COORD key.

GEDIK WELDING 20
TEACHING MOVEMENT SPEED

• It is the speed level that we will work while taking the robot to the target
point. (1-5)
• The speed range is changed from 1 to 5 by pressing the TEACH SPEED
button.

GEDIK WELDING 21
AXIS MOVEMENTS
5. EKSEN 6. EKSEN

JOINT
• It can be called independent axis
operation.
4. EKSEN

• The operation of the axes

separately is done in this
coordinate system.
• As can be seen in the adjacent 3. EKSEN

picture, each axis can be moved

independently.
• By moving the 4th, 5th and 6th 2. EKSEN
axes, the end set is brought to the
desired angle. 1. EKSEN

GEDIK WELDING 22
 Y-

Y+
X+ X-
2nd axis; The lower arm moves back
1. Axis; The body of the robot rotates. and forth.

Z-
RX-
Z+
3rd Axis; The upper arm moves up 4th Axis; The upper arm rotates.
and down.

RY- RZ+

RY+
RZ- 6th Axis; The wrist
5th Axis; The wrist moves up and rotates.
down. GEDIK WELDING 23
AXIS MOVEMENTS
ROBOT : Moving the robot using the machine coordinate system.

ROBOT
Z+
• It can be called coordinated
robot movement.
• It is used when taking the robot Y- X-
to the desired point.
• X+ / X- = Robot, X-axis moves Y+
along. X+
• Y+ / Y- = Robot, Y-axis moves
along. Z-
• Z+ / Z- = Robot, Z-axis moves
along.
24
GEDIK WELDING
AXIS MOVEMENTS
ROBOT : Moving the robot using the machine coordinate system.

• RX+ / RX- = With

the tool tip fixed in
the center; the
robot rotates on
the X axis.

RX-

X-
X+
RX+
25
GEDIK WELDING
AXIS MOVEMENTS
ROBOT : Moving the robot using the machine coordinate system.

• RY+ / RY- = With

the tool tip fixed in
the center; the
robot rotates on
the Y axis.
Y+
RY-

RY+
Y-

26
GEDIK WELDING
AXIS MOVEMENTS
ROBOT : Moving the robot using the machine coordinate system.

• RZ+ / RZ- = With

tool tip fixed in the
Z+ center; the robot
rotates on the Z
axis.

RZ+ RZ-

Z-
27
GEDIK WELDING
AXIS MOVEMENTS
TOOL
• Robot; is the coordinate system
in which the tool tip is taken as
a reference.
• The direction of movement of
the axes; changes according to
the position of the tool tip of
the robot.
• The use of this coordinate
system while the robot end set X+ Z+ Y+
is approached to the part X-
provides convenience during
the teaching process.
Y- Z-
• The robot end assembly
approaches and moves away
from the part along the Z axis.
GEDIK WELDING 28
HAND TERMINAL SCREENSHOT
1. Mode viewport
1 3 5
2. Program number 2 4 6

3. Step number 7

4. Date/time
5. Mechanism
6. Coordinate system
7. Speed
8. Program content
9. F-keys

F-keys
GEDIK WELDING 29
ROBOT PROGRAMMING SCREEN
Interpolation (Motion)
Type

coordinate
system

Takım
numarası

Sensitivity
Movement setting Point line to save
speed
GEDIK WELDING 30
SELECTION OF MOTION TYPE (INTERPOLATION)
• The interpolation type is set by pressing the ENABLE key and the
INTERP key on the handheld terminal.
• There are 3 types of movement: JOINT, LINEAR and CIRCULAR.

GEDIK WELDING 31
SELECTION OF MOTION TYPE (INTERPOLATION)

• Interpolation type can also be set by pressing the ENABLE key and
the P (JOINT), L (LINEAR), C (CIRCULAR) key on the handheld
terminal.

GEDIK WELDING 32
SENSITIVITY ADJUSTMENT

Defines the degree of deviation of the robot tip body from the registered point
and creating an arc within these points. The sensitivity level to the saved point
can be set from A1 to A8.
A1 Yüksek Hassasiyet
-

A8
Düşük Hassasiyet

GEDIK WELDING 33
SENSITIVITY ADJUSTMENT

• Sensitivity setting ; It is done by

pressing the ACC button on the
hand terminal.

• As the ACC button is pressed, the sensitivity level will change from A1 to A8.

GEDIK WELDING 34
SELECTION OF MOTION TYPE (INTERPOLATION)
JOINT MOTION:(Point to Point Interpolation)
It is the movement where the robot reaches the target point in an
irregular trajectory by following the shortest path from its current point
to the next point. Joint motion; Point to Point (Point to Point) can be
called idle movement. This type of movement is not used during
precision approach or welding to the part.
The interpolation type can be set by pressing the ENABLE key and the
INTERP key on the handheld terminal or by pressing the P, L, C keys
together with the ENABLE key.

GEDIK WELDING 35
SELECTION OF MOTION TYPE (INTERPOLATION)
LINEAR MOVEMENT:(Linear Interpolation)
It is the form of movement in which the robot reaches the target point
by following a linear trajectory from its current point to the next point.
This type of movement is used during precision approach or welding
to the part.
The interpolation type can be set by pressing the ENABLE key and the
INTERL key on the handheld terminal or by pressing the P, L, C keys
together with the ENABLE key.

GEDIK WELDING 36
SELECTION OF MOTION TYPE (INTERPOLATION)
CIRCLE MOTION:(Circular Interpolation)
It is the form of movement in which the robot reaches the target point
by following a circular trajectory from its current point to the next
point.
The interpolation type can be set by pressing the ENABLE key and the
INTERC key on the handheld terminal or by pressing the P, L, C keys
together with the ENABLE key.

JOINT

CIR 2 CIR 2

CIR 1 CIR 2

GEDIK WELDING 37
SAVING OPERATION LOCATIONS

The process of saving the point; type of movement (interpolation type) is

JOINT.
It is the starting position of the robot. (safe position)
The robot is moved until it reaches the location to be saved.
When the point is reached, the REC key is pressed on the hand terminal
and the point saving process is completed.

38
GEDIK WELDING
SAVING OPERATION LOCATIONS

The process of saving the point; type of movement (interpolation

type) is JOINT.
It is the 2nd safe point to approach the workpiece.
The robot is moved until it reaches the location to be saved.
When the point is reached, the REC key is pressed on the hand
terminal and the point saving process is completed.

39
GEDIK WELDING
SAVING OPERATION LOCATIONS
The process of saving the point; the mode of motion (interpolation type) is LINEAR.
It is a precision approach point. It is the starting point. According to the application, the
necessary function commands are used at this point.
If the application is the SOURCE; The “Arc Start” line is added after this point.
If the application is CUT; The operation of operating the cutting attachment is done in
this step.
If the application is TRANSPORT, positioning and clamping operations are done in this
line.
The robot is moved until it reaches the location to be saved.When the point is reached,
the REC key is pressed on the hand terminal and the point saving process is completed.

40
GEDIK WELDING
SAVING OPERATION LOCATIONS

The process of saving the point; the mode of motion (interpolation type) is LINEAR.
It is the part where the work is done and the work is the end point. According to
the application, the necessary function commands are used at this point.
If the application is the SOURCE; The “Arc End” line is added after this point.
If the application is CUT; Stopping the cutting tool is done in this step.
If the application is TRANSPORT, opening the holder and leaving the workpiece
are done in this line.
The robot is moved until it reaches the location to be saved.
When the point is reached, the REC key is pressed on the hand terminal and the
point saving process is completed.

41
GEDIK WELDING
SAVING OPERATION LOCATIONS

The process of saving the point; the mode of motion (interpolation type) is
LINEAR.
It is a sensitive point of departure. It is the first safe point after job completion.
The robot is moved until it reaches the location to be saved.
When the point is reached, the REC key is pressed on the hand terminal and
the point saving process is completed.

GEDIK WELDING 42
SAVING OPERATION LOCATIONS

The process of saving the point; type of movement (interpolation type) is

JOINT.
It is the end point of the transaction. It is at the same coordinate as point 1.
The robot is moved until it reaches the location to be saved.
When the point is reached, the REC key is pressed on the hand terminal and
the point saving process is completed.

GEDIK WELDING 43
SAVING OPERATION LOCATIONS

By pressing the REC key, changes can be made in 2 ways at a

saved point.
1. METHOD : With ENABLE, MOD POS (MODIFY POSITION) key is
pressed and “Change the selected point? After pressing OK to the
" question, the point is changed.

GEDIK WELDING 44
SAVING OPERATION LOCATIONS

2. METHOD : Press the O.WRITE (OVERWRITE) key together with

ENABLE and say “Change the selected point? After pressing OK
to the " question, the point is changed.

GEDIK WELDING 45
ADDING POINTS INTERMEDIARY

To save another point between two recorded points, press the

ENABLE button together with the INS button and ask "Do you
want to save a new point?" OK is pressed after the warning. The
new point is saved.

GEDIK WELDING 46
DELETING POINTS

To delete a saved point, press the DEL key together with the
ENABLE key and ask "Do you want to delete the point?" OK is
pressed after the warning.

GEDIK WELDING 47
FINISHING PROGRAM

The END line is added to the end of the program with the ENABLE
+ END keys.

GEDIK WELDING 48
PROGRAM EDIT MENU

When the EDIT button shown below is pressed on the hand terminal, the
program editing page becomes active.

GEDIK WELDING 49
PROGRAM EDIT MENU

The program editing page view is as follows.

GEDIK WELDING 50
PROGRAM CONTROL

The control of the program we have written is done by using the

CHECK GO / CHECK BACK keys.
CHECK GO / CHECK BACK keys are active when Dead man switch
is pressed.
CHECK GO ; advances the robot to the next step.
CHECKBACK ; takes the robot to the previous step.

51
GEDIK WELDING
PROGRAM CONTROL

If the CONT key is pressed while controlling the written program,

the robot will operate automatically, without waiting at points as if
it were running.

GEDIK WELDING 52
GEDIK WELDING Inc
R&D ROBOT
Thanks for listening carefully

GEDIK WELDING 53