CONTROLLER FEATURES MANIPULATORS … · Cutting 6. DAIHEN Inc. 60 High Quality –

29.53"

P point

60.04"

57.24"

67.32"48.94" 18.39"

52.76"

36.57"

56.50"

20.67"

29.92"

5.91"

125°

155°

45°10°

75° 7.28"

100°10°

170°

170°

R 67.32"

R 18.39"

6.50"

P point18.58"

R 13.11"

13.78"

13.78"

4.14"

117.24"

50°230°

140.55"

68.86"

71.69"

P point3.94" 41.34"

5.91"

29.92"56.50"

20.67"

64.41"

48.19"

55.43" 23.54"78.98"

115°

155° 10°

75° 7.28"

10°

100°35°

230°

170°

170°

P point

5.51"

R 78.98"

R 23.54"

13.78"

13.78"

18.58"

R 13.11"

50°

39.49"

46.77"

48.90"

55.20"

15.71"

42.56"

16.93"

22.83"

4.92"

25.6"3.94"

6.3"

125°

230°50° 45°

155°

75°

90°10°

P point

170°

170°

5.51"

P point15.94"

R 10.94"

11.81"

11.81"R 55.20"

R 15.71"

Manipulators

CAT. NO. A442

© Daihen Inc. Printed in U.S.A.

DAIHEN INC.Charlotte, NC 28269

DAIHEN INC.1400 Blauser DriveTipp City, OH 45371-2471Ph: 937-667-0800Fax: 937-667-0885

For more information on brand products from DAIHEN INC. visit ourweb site at daihen-usa.com, or send us E-mail at [email protected]

ALMEGA AX SERIESAX-V6 / AX-V6L / AX-V16

ARC WELDING AND HANDLING ROBOTS

AX SERIES ROBOTSTotal Solutions from theSingle Source Provider


Remarkable Enhancements in Motion Performance

Multi-PurposeHandling RobotHigh performance,smoothhandling ofworkpiecesup to 35 lbs.(16kg).

AX-V16

Long ArmArc WeldingRobotExtended reach up to78.98” (2006mm).The optimum solutionfor welding largeworkpieces.

AX-V6L

Our BestSellingArc WeldingRobotOffers a wide workingrange with anindependentlyarticulated arm.

AX-V6

STANDARD SPECIFICATIONSAX-C Open Architecture / PC Based Robot Controller

ITEM AX-V6 AX-V6L AX-V16

Structure Vertical Articulated Type Vertical Articulated Type Vertical Articulated TypeNumber of Axes 6 6 6Max. Allow. Load Weight 13.2 lb (6 kg) 13.2 lb (6 kg) 35.2 lb (16 kg)Positional Repeatability ± .003 in. (±0.08 mm) ± .004 in. (±0.1 mm) ± .004 in. (±0.1 mm)Drive System AC Servo Motor AC Servo Motor AC Servo MotorDrive Capacity 2750W 5200W 5600WPosition feedback Absolute Encoder Absolute Encoder Absolute Encoder

1st axis Rotation ±170° ±50° ** ±170° ±50° ** ±170° ±50° **Arm 2nd axis Lower Arm -90°~ +155° -100°~ +155° -100°~ +155°

3rd axis Upper Arm -170°~ +190° -170°~ +205° -170°~ +205°Operating Range

4th axis Swing ±180° ±180° ±180°Wrist 5th axis Bending -50°~ +230° -50°~ +230° -50°~ +230°

6th axis Twist ±360° ±360° ±360°1st axis Rotation 150°/sec 165°/sec (150°/sec**) 165°/sec (150°/sec**)

Arm 2nd axis Lower Arm 160°/sec 165°/sec 165°/sec3rd axis Upper Arm 170°/sec 175°/sec 175°/sec

Maximum Speed4th axis Swing 340°/sec 350°/sec 350°/sec

Wrist 5th axis Bending 340°/sec 340°/sec 335°/sec6th axis Twist 520°/sec 520°/sec 520°/sec

Ambient Temperature 0°~ 45°C 20 ~ 80%RH 0°~ 45°C 20 ~ 80%RH 0°~ 45°C 20 ~ 80%RHMass (weight) 341 lb (155 kg) 550 lb (250 kg) 550 lb (250 kg)Installation method Floor, Hanging, Upside down Floor, Hanging, Upside down Floor, Hanging, Upside down

AX-C Controller

ITEM SPECIFICATION ITEM SPECIFICATION

Teaching System Teaching Playback Edit Function Copy, Add, Cut & PasteControl Drive System AC Servo System

Shift FunctionParallel, Cylindrical, Symetric

System No. of Control Axes Max. 54 Axes External Axis Shift (OP)Coordinates Articulated, Cartesian Program Control Call, Jump, Condition Jump

Memory Element Compact Flash Card Arc Welding, Spot Welding,Memory Capacity 160,000 Instructions

ApplicationsCutting, Handling, Sealing

MemoryNo. of Program 9999 Door Interlock, Teach &

External Memory Compact Flash Card (OP)Safety Function

Auto Mode InterlockProgram Capacity 32K WORD Shock Sensor, Servo

Sequence Shock sensor (OPTION)Control Sequence Command

Supports 5 languages in Protective FunctionMechanical stopper

IEC11313Overrun Limit SW

Special Physical I/O Out 4 / IN 7 points Input Power 3 phase, AC200V***+10%,-15%Input / Output 22(W) x 19.8(D) x 34(H) inchSignal General Physical I/O

Relay Unit 32 Points Outside Dimensions558(W) x 503(D) x 865(H) mm

(OP: Extended Relay 64)Mass Approx. 176 lbs. (80 kg)

CONTROLLER FEATURES MANIPULATORS

MAINTENANCE & SOFTWARE FEATURES

• Open ArchitecturePC based controller provides more flexibility to adapt toCustomized Systems (Windows NT embedded)

• Compatible to Abundant ApplicationsArc Welding, Cutting, Spot Welding, Material Handling,Sealing...

• User Friendly Operation by Visual DisplayFriendly assistance and guidance by built-in tutorial func-tion

• Advanced PLC FunctionsEdit ladder diagram on the Teach Pendant. Offline editingthrough Commercial Programming tool

• Enhanced System Configuration AbilityUp to 54 axes and 9 mechanisms (up to 6 manipulators)can be controlled by one controller

• Large Memory Capacity and I/O Control SignalsStandard memory capacity is 160,000 teach points. I/Ocontrol signal can be optionally enhanced up to 64 IN/OUT.

• Incredible New Functions for Arc WeldingOptional “RS” Retract Start, Synchro MIG & TIG, FC-MIG,and more

• Network CapabilityOptional Ethernet, Device-net, and Profi-bus networkconnections

• Multilingual FeatureSelect 2 languages from 10 available languages

• Software PLC (Standard)Control peripheral deviceson the teach pendant screen

Other Optional Software• Synchro-Motion

Synchronously controlsmanipulator and peripheraldevices to improve cycletime and torch attitude

• Multi-TaskingImproves Job efficiency byperforming multiple pro-grams

• Offline ProgrammingProgram robots from yourdesktop PC for greater effi-ciency

Software PLC

On-Screen Service Guides

Further Evolution of our popular

“Easy Teach” Pendant

• Icon DisplaysAssist in quick, easy teaching

• Realistic 256 Color Screen640 X 480 VGA TFT display pro-vides clear viewing

• Increased Safety3 position teach enable switch

NOTE : The positional Repeatability shows the measured value in a status where automatic operation is repeated and the action conditions of the manipulator are stabilized.** values are for wall or inverted installations.

*** Standard transformer supplied for AC230/460V input.

On-screenillustrations

define problemareas.

Illustrated partsreplacementprocedures.

Optionaloscilloscopic

function formotion, servo

and I/O relateddata.

Instruction Manual andMulti-Screen Function

Optional TouchScreen Display

High Speed – Smooth Movement shortens production time.• Faster, yet smoother motion – reduced cycle time by new servo control system with advanced acceleration method.• Independently articulated arm – no link arm to impede articulation for a full range of motion.• Vibration restraining control – virtually eliminates vibration even when stopping at maximum speed.

29.53"

P point

60.04"

57.24"

67.32"48.94" 18.39"

52.76"

36.57"

56.50"

20.67"

29.92"

5.91"

125°

155°

45°10°

75° 7.28"

100°10°

170°

170°

R 67.32"

R 18.39"

6.50"

P point18.58"

R 13.11"

13.78"

13.78"

4.14"

117.24"

50°230°

140.55"

68.86"

71.69"

P point3.94" 41.34"

5.91"

29.92"56.50"

20.67"

64.41"

48.19"

55.43" 23.54"78.98"

115°

155° 10°

75° 7.28"

10°

100°35°

230°

170°

170°

P point

5.51"

R 78.98"

R 23.54"

13.78"

13.78"

18.58"

R 13.11"

50°

39.49"

46.77"

48.90"

55.20"

15.71"

42.56"

16.93"

22.83"

4.92"

25.6"3.94"

6.3"

125°

230°50° 45°

155°

75°

90°10°

P point

170°

170°

5.51"

P point15.94"

R 10.94"

11.81"

11.81"R 55.20"

R 15.71"

Manipulators

CAT. NO. A442











AX-V16


AX-V6L


AX-V6












AX-C Controller
































Software PLC


















29.53"

P point

60.04"

57.24"

67.32"48.94" 18.39"

52.76"

36.57"

56.50"

20.67"

29.92"

5.91"

125°

155°

45°10°

75° 7.28"

100°10°

170°

170°

R 67.32"

R 18.39"

6.50"

P point18.58"

R 13.11"

13.78"

13.78"

4.14"

117.24"

50°230°

140.55"

68.86"

71.69"

P point3.94" 41.34"

5.91"

29.92"56.50"

20.67"

64.41"

48.19"

55.43" 23.54"78.98"

115°

155° 10°

75° 7.28"

10°

100°35°

230°

170°

170°

P point

5.51"

R 78.98"

R 23.54"

13.78"

13.78"

18.58"

R 13.11"

50°

39.49"

46.77"

48.90"

55.20"

15.71"

42.56"

16.93"

22.83"

4.92"

25.6"3.94"

6.3"

125°

230°50° 45°

155°

75°

90°10°

P point

170°

170°

5.51"

P point15.94"

R 10.94"

11.81"

11.81"R 55.20"

R 15.71"

Manipulators

CAT. NO. A442











AX-V16


AX-V6L


AX-V6












AX-C Controller
































Software PLC


















TANDEM PULSED MAG WELDING

Advancing the Science of GMAW Applications Significant Developments in GTAW Applications Flexibility in Plasma Cutting Applications

HIGH QUALITY MAG / CO2 WELDING HIGH QUALITY ALUMINUM MIG WELDING ULTRA PRECISION TIG WELDING

• Virtually Spatter Free—High Speed WeldingArc voltage tolerance and arc stability are drastical-ly improved when using mixed shielding gases or100% CO2

• Optional AC Servo Wire Feed SystemBy using an AC servo pull type wire feeder / torch,wire feedability is improved during high speed weld-ing

• Optional RS (Retract Start) ControlImproves instantaneous arc start ratio, and beadprofile at the arc start point

Optional Features

• Retract Start Function–RS ControlArc start failures and spatter generation are dramaticallyreduced even when using soft aluminum wire

• Synchro MIG and FC (Feed Control) MIG FunctionsBeautiful TIG-like bead appearance is made easily andefficiently at higher travel speeds of MIG welding

• 4 Drive Roll AC Servo Pull Feeder / TorchStable wire feeding is accomplished with the highly responsivewire feed system

Standard Features

• New Digitally Controlled Power SourcesPulse wave forms are programmed with the robot teach pen-dant improving repeatability and making parameter setting easy

• Newly Designed TIG TorchCompact, rigid, and incorporates a built-in shock sensorthat stops the robot instantly in the event of an acciden-tal crash

• Compact Wire GuideSimplifies teaching in narrow or confined spaces

Optional Features

• Pulsed TIG and Synchro TIG FunctionsUltra high quality with excellent bead appearance is easilyattainable

• AC Servo Wire Feed SystemSynchronizes wire feeding with pulsed current utilizing an ACservo wire feeder

Current Waveform FunctionSine wave, square wave, or combinations of the two canbe taught directly from the teach pendant.

AC Standard Mode – wide application from thick tothin materials

AC Hard Arc Mode – focused arc for thin sheet, filletjoints and outside corner joints.

AC Soft Arc Mode – best suited for butt joint welding ofsheet metal with low vibration of molten pool.

AC/DC Hybrid Mode – AC + DCEP drastically reducesconsumption of electrode and provides deep penetration.

• High Speed Tandem Pulsed MAG WeldingVery fast travel speeds are easily attainable

• Two Independent ElectrodesEach controlled separately and synchronously tomaintain arc stability and reduce spatter

• High Deposition Rateachievable for thin and thick plate applications

• Tandem MIGAvailable for high speed aluminum applications

Quick ResponseAC Servo Wire Feeder

0 1.2 2.0 3.0 4.0 5.0 6.0 (sec) 0 1.2 2.0 3.0 4.0 5.0 6.0 (sec)

+

-

+

-

0

0

0

0

Synchronizedpulse currentVirtually eliminatesspatter and poten-tial arc blow prob-lems.

Synchro MIGBy synchronizing the welding current pulse cycle, heatinput into the base metal can be precisely controlled.Excellent for welding dissimilar thicknesses.

2 pulse cycles within 1 weave cycle.

FC MIG (feed control)Wire feed speed is synchronized with low frequencypulsed current for high quality welding of even very thinaluminum.

Ideal for aluminum applications requiring Tig-like beadappearance with higher efficiency of MIG.

Lap joint welding using Synchro MIGSynchro pulse: 2 Hz – 100A – 20V – 20 IPM.

Welding current

Wire feed speed(average current)

Weaving

HIGH QUALITY PLASMA CUTTING

TYPICAL SYSTEM CONFIGURATION

1. Manipulator

2. Controller

3. Teach Pendant

4. Operation Box

5. Welding Power Source

• High Speed and heavy Duty Capacity– Zips through thin & medium gauge material at incrediblespeeds– High quality cuts up to 2 inch thick material

• Maximum Duty CycleThe Plasma cutting torch for the D-12000 is water cooledand offers 100% duty cycle

• Long Life ConsumablesWater cooled electrodes and high durability cutting tipsreduces down time for changing consumables

• Built-In Torch Guard FunctionAlarm indicates replacement time of tip and electrode

CuttingThickness (in.) 1/2 3/4 1 1-1/2 2 2-1/2

Mild Steel

Stainless Steel

Aluminum

CLEAN CUT RANGE

D-12000 cutting chart

6. Welding Torch

7. Wire Feeder

8. Coaxial Power Cable

9. Conduit

10. Wire Reel Stand

Ask about these productsand other positionerproducts available fromDAIHEN Inc.

Synchronizingcontrol

Conventional wire feeder Servo pull wire feeder/torch

Ultra HighSpeed Lap Weld

High DepositionFillet Weld

2.3 mm plate welded to 3.2 mm with a gap.

3 mm plate welded to 4 mm plate.

3.5

3

2.5

2

1.5

1

0.5

0

Spa

tter

Rat

io (

g/m

in)

100

80

60

40

20

0

Arc

Sta

rt R

atio

(%

)

Conventional RS

RS Arc Start Function (Retract Start)With high wire feeding response of the AC servo pulltorch, the following arc start function is executed. Hereis how it works in three steps.

RS improves arc starting by 5 times on aluminum!� Instant � Short delay � Long start delay

Spatter is reduced significantly� RS � Conventional

Conventional With RS

Retract Start provides excellentpenetration and wetting action toensure high quality arc starts vir-tually every time.

Wire feeding

Arc voltage

Weld current

1. Wiretouches

part

2. Wireretractsquickly

3. Wire feedsand arc isgenerated

MAG MAG MIG15 mm 25 mm 15 mm

extension extension extension

High Quality –High Speed Welding

Spatter GenerationComparison (g/min)

Improved CO2

Welding

ReducedSpatter

350A, 27V, 79ipm, CO2 shield gas.

Present model

Previous model

AC Servo Wire Feeder• Wire feeding is always stable and

unaffected by robot movement• Synchronizing wire feed with

pulsed current improves thewelding of thin aluminum, evenwith gaps

Pulsed TIG Welding FunctionSynchronized pulsed welding current and pulsed wirefeed.

• Total control of process with incredible bead appear-ance.

• Insure high repeatability with accuracy

Synchro TIG FunctionPulsed welding current and pulsed wire feed is synchro-nized with weaving frequency.

Weldingcurrentoutput

Wire feed


Weave pattern

Timing chart of current output and weaving








Optional Features




Standard Features




Optional Features













0 1.2 2.0 3.0 4.0 5.0 6.0 (sec) 0 1.2 2.0 3.0 4.0 5.0 6.0 (sec)

+

-

+

-

0

0

0

0







Welding current


Weaving



1. Manipulator

2. Controller

3. Teach Pendant

4. Operation Box







Mild Steel

Stainless Steel

Aluminum

CLEAN CUT RANGE


6. Welding Torch

7. Wire Feeder


9. Conduit

10. Wire Reel Stand








3.5

3

2.5

2

1.5

1

0.5

0

Spa

tter

Rat

io (

g/m

in)

100

80

60

40

20

0

Arc

Sta

rt R

atio

(%

)

Conventional RS






Wire feeding

Arc voltage

Weld current

1. Wiretouches

part







Improved CO2

Welding

ReducedSpatter


Present model

Previous model









Wire feed


Weave pattern









Optional Features




Standard Features




Optional Features













0 1.2 2.0 3.0 4.0 5.0 6.0 (sec) 0 1.2 2.0 3.0 4.0 5.0 6.0 (sec)

+

-

+

-

0

0

0

0







Welding current


Weaving



1. Manipulator

2. Controller

3. Teach Pendant

4. Operation Box







Mild Steel

Stainless Steel

Aluminum

CLEAN CUT RANGE


6. Welding Torch

7. Wire Feeder


9. Conduit

10. Wire Reel Stand








3.5

3

2.5

2

1.5

1

0.5

0

Spa

tter

Rat

io (

g/m

in)

100

80

60

40

20

0

Arc

Sta

rt R

atio

(%

)

Conventional RS






Wire feeding

Arc voltage

Weld current

1. Wiretouches

part







Improved CO2

Welding

ReducedSpatter


Present model

Previous model









Wire feed


Weave pattern









Optional Features




Standard Features




Optional Features













0 1.2 2.0 3.0 4.0 5.0 6.0 (sec) 0 1.2 2.0 3.0 4.0 5.0 6.0 (sec)

+

-

+

-

0

0

0

0







Welding current


Weaving



1. Manipulator

2. Controller

3. Teach Pendant

4. Operation Box







Mild Steel

Stainless Steel

Aluminum

CLEAN CUT RANGE


6. Welding Torch

7. Wire Feeder


9. Conduit

10. Wire Reel Stand








3.5

3

2.5

2

1.5

1

0.5

0

Spa

tter

Rat

io (

g/m

in)

100

80

60

40

20

0

Arc

Sta

rt R

atio

(%

)

Conventional RS






Wire feeding

Arc voltage

Weld current

1. Wiretouches

part







Improved CO2

Welding

ReducedSpatter


Present model

Previous model









Wire feed


Weave pattern



29.53"

P point

60.04"

57.24"

67.32"48.94" 18.39"

52.76"

36.57"

56.50"

20.67"

29.92"

5.91"

125°

155°

45°10°

75° 7.28"

100°10°

170°

170°

R 67.32"

R 18.39"

6.50"

P point18.58"

R 13.11"

13.78"

13.78"

4.14"

117.24"

50°230°

140.55"

68.86"

71.69"

P point3.94" 41.34"

5.91"

29.92"56.50"

20.67"

64.41"

48.19"

55.43" 23.54"78.98"

115°

155° 10°

75° 7.28"

10°

100°35°

230°

170°

170°

P point

5.51"

R 78.98"

R 23.54"

13.78"

13.78"

18.58"

R 13.11"

50°

39.49"

46.77"

48.90"

55.20"

15.71"

42.56"

16.93"

22.83"

4.92"

25.6"3.94"

6.3"

125°

230°50° 45°

155°

75°

90°10°

P point

170°

170°

5.51"

P point15.94"

R 10.94"

11.81"

11.81"R 55.20"

R 15.71"

Manipulators

CAT. NO. A442











AX-V16


AX-V6L


AX-V6












AX-C Controller
































Software PLC


















Documents

CONTROLLER FEATURES MANIPULATORS … · Cutting 6. DAIHEN Inc. 60 High Quality –