Teach Pendant
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All robot functions may be controlled by the outstanding teach pendant K6 without an additional keyboard. The resistant plastic housing makes for an extremely light weight of 1.3 kg; The lightweight teach pendant includes a 8.4” touch screen, an USB plug on the back is provided for memory sticks. The pushbuttons may be easily used and operated even when wearing protective gloves; the pushbuttons as well as the optional joystick are designed for heavy use.
igm robot console
The teach pendant may be used by right and left handed persons and may also be operated in awkward positions.
Following operating languages are currently available by default and can be changed anytime at runtime:
English, German, French, Spanish, Italian, Swedish, Dutch, Finnish, Czech, Hungarian, Chinese, Russian, Korean, Turkish, Polish
As a key element of the RCE control system, the unique teach pendant K6 assembles all the control functions of the RCE control system. No additional keyboard is necessary.
The industrial design award winning lightweight teach pendant is made out of a high resistant plastic mould and a keyboard panel at topside with an embedded LCD touch screen. The sensible buttons are palpable to enable the operator to touch and feel each button even with working gloves on, compared to a touch screen display.
The revolutionary and widely favoured shape of the teach pendant allows a right hand and left operationas well as many other holding positions.
A clear and simple display of each axis button allows the operator a distinctive movement of each axis without pushing the wrong axis button my mistake.
A courser block offers easy navigation in the RCe software menus and replaces any necessary mouse.
Joystick for teach pendant K6, type K6-JOY
This heavy-duty joystick can be optionally mounted directly to the teach pendant K6 and allows to move the robot in a quick and simple way. There are available 3 modes for the joystick selectable by push-buttons on the teach pendant:
Robot movement in world mode
Robot orientation change in world mode
Tracks movement with robot TCP keep in position
All 3 channels of the joystick are speed sensitive. This means, moving the joystick slightly, the robot will move slowly. Moving the joystick more, the robot moves faster
Software for RCE controller, type K6
igm programming method
The RCE software is designed specifically for arc welding, allowing an extremely specialized control of the welding process, while at the same time our software engineers strive for ease of use. igm takes great pride in the fact that our robotic welding systems are quite possibly the most "User-Friendly" in the industry.
igm robot programming software has been specially developed for the application arc welding. All implemented functions aim to facilitate the programming task and to accomplish the needs of the robot programmer forextreme quick and comfortable step program generation.
The welding seam parameters (such as voltage, ampere, welding speed, oscillating data, end crater) may either be programmed manually at each welding step of a work piece program, or defined in a separate welding data library. Any work piece program can call up these welding seam definitions from this welding data library.
To safe time in programming, any work piece program also can call up any kind of auxiliary program as a subroutine.
Tree-menu concept of RCE software
The RCE robot software is based on a tree-menu concept, which means that all the step program menu points are all included on only one page, but menu points may be compressed or decompressed to hide or display the submenus as required.
Different background colours and "softkey buttons" for the adapted menu features makes the operating and programming very easy.
Some screenshots of the RCE software below shall illustrate some examples how easy and convenient programming and operating is.
Diagnosis features of the RCE control system
As all the software commands, messages and help text is all clearly written in text messages, also the error and status messages are written in a text message. The message history can be easily saved on a USB stick along with a complete status of the entire RCE control system for a detailed diagnosis by igm engineers.
All the service features are available in the service menu and easy to understand due to the simplicity of the text messages.
Software features for teach-in programming
Welding Data Library
This feature enables the robot programmer to establish individual and re-usable welding seam definitions, stored in a separate welding parameter library. Each welding seam definition can contain travel speed, torch angle, wire feed speed, arc voltage, oscillation frequency and pattern, seam tracking parameters, end crater fill parameters for both single and multiple pass welds and other parameters. Once the weld seam definition is established it can be recalled and used where required in the part program.
Multilayer Welding
This feature provides maximum flexibility when multiple pass welding is required. The programmer can off-set the weld torch for each weld pass by jogging the robot to the desired location, cover pass in reverse direction and apply start and end deviations along the weld path. The torch angle and weld parameters can be changed for each cover pass. Different crater fill routines can also be added for each of the weld passes.
End Crater Filling
In addition to the weld parameters, the robot can be programmed to back-up a distance. The software also enables the weld parameters to be sloped over the distance and time programmed for.
Welding Start Ignition
Using this feature, the programmer can choose any combination of the following methods, to ensure ignition reliability at the start of a weld: Ignition Retry - repeated ignition attempts Move&Init - at the beginning of the seam or during movement Special welding parameters for the ignition phase Creeping Start - reduced initial speed Rewind - program restart, by repeating the last two steps
Mirroring of step programs
A freely definable range of steps or complete program can be mirrored over a selectable axis. Minimum two points must be taught for the definition of the mirrored plane.
Workstation Shift
A Workstation Shift (Station-Shift) is required to "transfer" a robot program from one workstation to another work station. It may be performed either by any X, Y, or Z track or also rotational peripheral axes. The work station shift may be combined with a mirror function.
Program Jumps
This feature enables conditions to be checked within a program. In the case certain conditions are not met the robot can be programmed to jump automatically to another part of the program or set an alarm (to warn of a certain condition). Typically digital I/O settings will activate or deactivate this feature.
Program Stop Recovery
In the case of a program stop (or the robot stops itself due to a process problem), such as the need to replace the contact tip, the robot will automatically create an temporarily interrupt step. Then the operator can move the robot away manually. By pressing a single button on the teach pendant, the robot will return to the interrupt step immediately.
Digital I/O Function
Functions are used to arbitrarily set or reset digital 24 Volt outputs or to check and monitor digital 24 Volt inputs. Within a function, outputs may be set and - simultaneously - individual inputs may be checked.
Sensor Program Shifting
The sensor program shifting feature works in 1D, 2D and 3D with the following sensors: GNS, TSP, TAF and ELS.
Arc Seam Tracking Sensor
The arc seams tacking sensor AST is tracking the welding seam position during welding in 3D.
Online Welding Seam Tracking
This sensor enables to track and measure the welding seam during the welding process and is utilised by sensor type: iCAM
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