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YASKAWA ELECTRIC CORPORATION
MotoSim EG Ver4.01
OPERATION MANUAL
FOR WINDOWS
Upon receipt of the product and prior to initial operation, read this manual thoroughly, and retain for
future reference.
1/297
• This manual explains teaching, playback, editing operations of jobs and
files, operation management of MotoSim EG. Read this manual carefully
and be sure to understand its contents before operation.
• General items related to safety are listed in instruction manuals sup-
plied with the manipulator. To ensure correct and safe operation, care-
fully read the instructions on safety before reading this manual.
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA rep-
resentative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your prod-
uct’s warranty.
• Software described in this manual is supplied against licensee only,
with permission to use or copy under the conditions stated in the
license. No part of this manual may be copied or reproduced in any
form without written consent of YASKAWA.
MANDATORY
CAUTION
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Notes for Safe Operation
Before using this product, read this manual and all the other related documents carefully to
ensure knowledge about the product and safety, including all the cautions.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”, or ”PROHIBITED”.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,
could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this
heading.
Must never be performed.
To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
WARNING
CAUTION
MANDATORY
PROHIBITED
NOTE
3/297
Notation for Menus and Buttons
Descriptions of the programming pendant, buttons, and displays are shown as follows:
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means the follow-
ing operations:
• To move the cursor to the object item and left-click on it with the mouse.
• To pick out the object item by the tab key and press the Enter key.
(In case of selecting a menu, use arrow keys instead of the tab key to pick out the object
item, then press the Enter key.)
Registered Trademark
In this manual, names of companies, corporations, or products are trademarks, registered
trademarks, or bland names for each company or corporation. The indications of (R) and TM
are omitted.
Item Manual Designation
Menu
The menus displayed on screen are denoted with { }.
ex. {TOOL}.
Button
The buttons, check boxes, radio buttons displayed on
screen are denoted with [ ].
ex. [Close]; [Sync] check box; [Fast] radio button.
4/297
1 Introduction
1.1 Overview of MotoSim EG . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.2 Notice and Restriction about MotoSim EG . . . . . . . . . . 14
1.2.1 Optional Function of controller. . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.2.2 Using the job created with MotoSim EG on a real controller. . . 14
1.2.3 Restriction of Function of Controller . . . . . . . . . . . . . . . . . . . . . 14
1.2.4 Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14A
1.2.5 Hardware Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14A
1.3 Environment Required for MotoSim EG . . . . . . . . . . . . . 15
1.4 Hardware Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.5 Installing MotoSim EG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.6 Definition of Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.7 Folder Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17A
! Folder Configuration of Windows 7 . . . . . . . . . . . . . . . . . . . 17A
! Folder Configuration of Windows 2000/XP . . . . . . . . . . . . . 17B
2 MotoSim EG Quick Tour
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2 Cell Construction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 Creation of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.3.1 Creating a Workpiece and a Workpiece Stand . . . . . . . . . . . . . 23
2.3.2 Editing Tool Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.3.3 Adding a Tool Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
! Creating and Adding a Tool Model with the CAD Function . . 31
! Reading the HSF Format Model . . . . . . . . . . . . . . . . . . . . . . 35
2.4 Setting of Target Points (AXIS6 Model) . . . . . . . . . . . . . 37
2.5 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.5.1 Selecting a Job . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.5.2 Teaching the Standby Position . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.5.3 Determining the Welding Approach Posture . . . . . . . . . . . . . . . 43
2.5.4 Teaching the Welding Start Position . . . . . . . . . . . . . . . . . . . . . 44
2.5.5 Teaching the Welding End Position. . . . . . . . . . . . . . . . . . . . . . 45
2.5.6 Teaching the Torch Retraction . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.5.7 Returning to the Standby Position . . . . . . . . . . . . . . . . . . . . . . . 47
2.5.8 Verifying Each Step. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.5.9 Editing a JOB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
! Modifying Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
! Modifying or Adding Instructions . . . . . . . . . . . . . . . . . . . . . . 49
! Deleting Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.6 Playback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
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