Denso Robot Training
Position Teaching
Learning Objectives
► Getting familiar with Deadman SW and Teach Pendant
► Change type of movement
► Finding Robot Points
► Point structure
► Modifying A Point
Safety & Enclosure Space
• Identify Robot type and ensure it is installed in
the proper environment.
• Ensure the robot has proper space to operate
and execute motions without damaging other
equipment.
• Ensure the pendant and control panel are
installed outside of the robot’s restricted
operating space.
• All gauges should be installed in easy to check
locations.
• Protect any equipment that can be damaged by
properly covering them, (electrical, hydraulic,
pneumatic, piping, etc…).
• Know where to locate your proper emergency
stop switches.
Inspections to Perform Prior to Work
Before starting work such as teaching, inspect the following items, carry out any
repairs immediately upon detection of a malfunction and perform any other necessary
measures.
► Check for any damage to the sheath or cover of the external wiring or to the
external devices.
► Check that the robot is functioning normally or not (any unusual noise or
vibration during operation).
► Check the functioning of the emergency stop device.
► Check there is no leakage of air or oil from any pipes.
► Check there are no obstructive objects in or near the robot’s restricted space.
Teaching Pendant & Deadman Switch
Teach Pendant
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1
7
Getting Started
Types of movements
Change type of movement
1. Ensure key is set to manual mode.
2. Press “M-Mod” button on top row
3. ModeMove menu will shows up
4. On the upper left corner Mode Move
menu select the one that you need.
Note: At this menu you can also select work coordinates and Tooling
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2
3
Finding Robot Points
1. At main screen press Variable or F3 button
2. On the upper menu select “P”
3. Point list will shows up
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3
Point structure
1. Point number
2. X axis coordinate
3. Rotation X axis coordinate
4. Y axis coordinate
5. Rotation Y axis coordinate
6. Z axis coordinate
7. Rotation Z axis coordinate
8. Work coordinate and Tool coordinate
9. Point name
1 2 4 6 8
3 5 7 9
Modifying a point
► There are 2 different ways to modify a point:
► Jogging mode (Multiple coordinate at time)
► Manual mode (One coordinate at time)
*Don’t change the Z-Point for the actuator drop off at the pallet
for the 2101 Four Axis Denso*
*Always take pictures before change any parameter*
Jogging mode
1. Change selector to manual mode
2. Go to the points menu(Refer to Finding points section)
3. Scroll down until you get into the point you want to modify
Jogging mode
4. Before you move the robot make sure that the working and
tooling coordinates selected on the robot are the same that the
point ones
If they are different
have to change them from the
type of movement menu 4
(Refer to
Change type of movement sec.)
Jogging mode
5. Press “Move to” or “F4 button the next menu will shows up
5
Jogging mode
6. Press & hold “OK” the robot will move to position selected.
(Robot will move at the speed selected on the top right corner,
you can change it by click in “SPEED” button)
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Jogging mode
► Note: DevH menu can add an offset for preventing the robot to
crash. This is just one time offset and will be reset as soon the
robot reach the final position
Jogging mode
7. Once the robot is at the position then you can jog it manually
by using the arm traverse key buttons and holding the
Deadman switch(Refer to Teach pendant & Deadman switch
section) to the new position.
8. For recording the new position press the “Get position”.
Note: It is very important verify that you are on the right point
and the Working and Tooling coordinates are the same before hit
the “Get Position”. If you save the new point with wrong
coordinates can cause a robot collision.
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Jogging mode
9. The next menu will shows up press ok and the new point will be
record
Manual mode
1. Change selector to manual mode
2. Go to the points menu(Refer to Finding points section)
3. Scroll down until you get into the point you want to modify
Manual mode
4. Select the coordinate that want to modify and press “Edit”
button
4
Manual mode
5. The next menu will shows up, enter the new coordinate
manually and press OK
Manual mode
6. You can also jog the robot manually and by pressing “Robot”
button will open the actual coordinates for every axis, so you
can modify one by one every coordinate that is modify.
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Questions???
