MotoEyeTM SF

SYSTEM MANUAL
For DX100 or DX200 Controller

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.

YASKAWA INSTRUCTIONS
DX100 OR DX200 INSTRUCTIONS
DX100 OR DX200 OPERATOR’S MANUAL
DX100 OR DX200 MAINTENANCE MANUAL
The operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.

Part Number: 161204-1CD

Revision: 6

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MotoEye™ SF

Copyright © 2018, 2016, 2014, 2013 Yaskawa America, Inc.

Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to
customers to assist in the operation of Yaskawa robots, related equipment
and software This manual is copyrighted property of Yaskawa and may
not be sold or redistributed in any way. You are welcome to copy this
document to your computer or mobile device for easy access but you may
not copy the PDF files to another website, blog, cloud storage site or any
other means of storing or distributing online content.

Printed in the United States of America

First Printing, 2013

Yaskawa America, Inc.

Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200
www.motoman.com

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MotoEye™ SF

MANDATORY
• This user guide provides an overview of the Yaskawa MotoEye™
SF system. It gives general information about the system, a
description of its major components, and the procedures for
installation, system operation, and preventive and repair
maintenance. Be sure to read and understand this manual
thoroughly before installing and operating the Yaskawa MotoEye™
SF system.
• General items related to safety are listed in Section 2 of the DX
Controller Manual. To ensure correct and safe operation, carefully
read the DX Controller Manual before reading this manual.
• It is the purchaser’s responsibility to ensure that all local, county,
state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure that all covers and shields
are replaced before operating this product.
• The drawings and photos in this manual are representative, 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 a modification is made, the manual number
will also be revised.
• If your copy of the manual is damaged or lost, contact a Yaskawa
representative 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
product's warranty.

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MotoEye™ SF

Yaskawa suggest that you obtain and review a copy of the ANSI/RIA
National Safety Standard for Industrial Robots and Robot Systems
(ANSI/RIA R15.06-1999). You can obtain this document from the Robotic
Industries Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved Yaskawa training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.

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MotoEye™ SF Notes for Safe Operation

Notes for Safe Operation

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MotoEye™ SF Notes for Safe Operation

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the MotoEye™ SF.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, “MANDATORY”, or “PROHIBITED”.

Indicates an imminent hazardous

DANGER situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous

WARNING situation which, if not avoided, could
result in death or serious injury to
personnel.

Indicates a potentially hazardous

CAUTION situation which, if not avoided, could
result in minor or moderate injury to
personnel and damage to
equipment. It may also be used to
alert against unsafe practices.

Always be sure to follow explicitly

MANDATORY the items listed under this heading.

PROHIBITED Must never be performed.

Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure to

NOTE follow all instructions, even if not designated as “DANGER”,
“CAUTION” and “WARNING”.

DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your Yaskawa representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.

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MotoEye™ SF Notes for Safe Operation

WARNING
• Before operating the manipulator, check that servo power is turned
OFF by pressing the EMERGENCY STOP buttons on the operator
station or Programming Pendant. When servo power is turned OFF,
the SERVO ON LED on the Programming Pendant is turned OFF.
Injury or damage to machinery may result if the Emergency Stop circuit
cannot stop the manipulator during an emergency. The manipulator
should not be used if the EMERGENCY STOP buttons do not function.
Fig. : EMERGENCY STOP Button

• Release the EMERGENCY STOP button. Once this button is

released, clear the cell of all items which could interfere with the
operation of the manipulator. Then turn servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of EMERGENCY STOP Button
TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the manipulator.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that there is a safe place to retreat to in case of
emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning on the power for the DX Controller.
– Moving the manipulator with the Programming Pendant.
– Running the system in the check mode.
– Performing automatic operations.
Injury may result if anyone enters the P-point maximum envelope of the
manipulator during operation. Always press an EMERGENCY STOP
button immediately if there is a problem. The EMERGENCY STOP
buttons are located on the operator station and on the Programming
Pendant.

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MotoEye™ SF Notes for Safe Operation

CAUTION
• Perform the following inspection procedures prior to conducting
manipulator teaching. If problems are found, repair them
immediately and be sure that all other necessary processing has
been performed.
– Check for problems in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the Programming Pendant to the hook on the cabinet
of the DX Controller after use.
• The Programming Pendant can be damaged if it is left in the
manipulator's work area, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the DX
Controller Manual before operating the MotoEye™ SF system.

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MotoEye™ SF Definition of Terms Used In this Manual

Definition of Terms Used In this Manual

The Motoman manipulator is a Yaskawa industrial robot product.
The manipulator usually consists of a DX Controller, the Programming
Pendant, and supply cables.
In this manual, the equipment is designated as follows:
Equipment/Job Manual Designation
DX100 or DX200 controller DX Robot Controller
DX100 or DX200 Programming Pendant Programming Pendant
Cable between the manipulator and the Manipulator cable
DX Controller
Lx-SF-INSPECT Lx-SF

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MotoEye™ SF Explanation of Warning Labels

Explanation of Warning Labels

The following warning labels are attached to the robot.
Always follow the warnings on the labels.
An identification label with important information is placed on the body of
the robot. Prior to operating the robot, confirm the contents.
Fig. : Warning Labels Location

WARNING Label A

WARNING Label B

Nameplate

Nameplate: WARNING Label A:

MOTOMAN WARNING
TYPE

PAYLOAD MASS Moving parts

ORDER NO.
kg
DATE
kg
may cause
SERIAL NO. injury
YASKAWA ELECTRIC CORPORATION JAPAN

WARNING Label B:

WARNING
Do not enter
robot
work area.

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MotoEye™ SF Safeguarding Tips

Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).

Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following
safety equipment is provided as standard:
• Safety barriers
• Door interlocks
• Emergency stop palm buttons located on operator station
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.

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MotoEye™ SF Programming, Operation, and Maintenance Safety

Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the DX Controller unit can cause severe
personal injury or death, as well as damage to the robot! Do not
make any modifications to the DX Controller unit. Making any
changes without the written permission from Yaskawa will void your
warranty.
• Some operations require standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the DX Controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.

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MotoEye™ SF Maintenance Safety

Maintenance Safety
Turn the power OFF and disconnect and lockout/tagout all electrical
circuits before making any modifications or connections.
Perform only the maintenance described in this manual. Maintenance
other than specified in this manual should be performed only by Yaskawa-
trained, qualified personnel.

Summary of Warning Information

This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notes.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by Yaskawa. Address any questions regarding the safe and proper
operation of the equipment to Yaskawa Customer Support.

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MotoEye™ SF Table of Contents

Table of Contents

1 Introduction ..................................................................................................................................... 1-1

1.1 About This Document ........................................................................................................ 1-1

1.2 System Overview ............................................................................................................... 1-1

1.3 Major Components............................................................................................................. 1-1

1.4 Reference Documentation ................................................................................................. 1-2

1.4.1 General Documentation........................................................................................ 1-2

1.4.2 DX100 Robot Controller Documentation .............................................................. 1-2

1.4.3 DX200 Robot Controller Documentation .............................................................. 1-2

1.5 Customer Support Information........................................................................................... 1-3

2 Equipment Description .................................................................................................................... 2-1

2.1 Servo-Robot Seam Finding Sensor ................................................................................... 2-1

2.2 Laser Power and Control: .................................................................................................. 2-2

2.2.1 Laser Power:......................................................................................................... 2-2

2.2.2 Laser Control: ....................................................................................................... 2-2

2.3 Robot Interface .................................................................................................................. 2-3

3 Installation ....................................................................................................................................... 3-1

3.1 System Requirements........................................................................................................ 3-1

3.2 Servo-Robot Software Setup ............................................................................................. 3-1

3.2.1 Create or Edit a Task............................................................................................ 3-3

3.3 DX Robot Controller Interface............................................................................................ 3-5

3.4 Setting Robot Data For The Seam-Finding Sensor ........................................................... 3-7

3.4.1 Setting Tool Data with Calibration Macro ............................................................. 3-7

3.4.2 Setting Tool Orientation Manually....................................................................... 3-14

4 Programming................................................................................................................................... 4-1

4.1 New Weld Joint .................................................................................................................. 4-1

4.2 Robot Programming........................................................................................................... 4-3

4.2.1 Detecting a Weld Seam ........................................................................................ 4-3

4.2.2 Programming the Sensor over the Weld Joint ...................................................... 4-4

4.2.3 Advanced Control ................................................................................................. 4-7

4.2.4 Deployment......................................................................................................... 4-10

4.2.5 Tips for Improving Cycle Time ............................................................................ 4-12

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MotoEye™ SF Table of Contents

Appendix A .......................................................................................................................................A-1

A.1 Output Messages ..............................................................................................................A-1

A.1.1 Lx-SF Macro.........................................................................................................A-1

A.1.2 SFx-ADV Macro ...................................................................................................A-2

Appendix B .......................................................................................................................................B-1

B.1 Communication Setup .......................................................................................................B-1

Appendix C .......................................................................................................................................C-1

C.1 Alarm List ..........................................................................................................................C-1

C.1.1 v2.4.0 and Above Alarm List ................................................................................C-1

C.1.2 v2.3.0 and Below Alarm List ................................................................................C-4

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MotoEye™ SF 1 Introduction
1.1 About This Document

1 Introduction

1.1 About This Document

This manual is intended for personnel who has received operator training
from Yaskawa and who are familiar with the operation of this particular
Yaskawa system. For more detailed information on any specific
component or peripheral of the Yaskawa MotoEye™ SF system, please
review the full documentation package that is included with the Yaskawa
MotoEye™ SF system (refer to section 1.4).

This manual documents a standard Yaskawa system. If

your system is custom or modified, please use this manual
in conjunction with the drawings, schematics, and parts
NOTE listing (Bill of Material) for your specific system. The
drawings, schematics, and parts listing are included in the
documentation package supplied with your Yaskawa
system.

1.2 System Overview

The Yaskawa MotoEyeTM SF (Seam Finder) function for the DX Controller
provides a solution for finding the weld seam using an Ethernet
communication interface with a Servo-Robot seam-finding sensor.

1.3 Major Components

The MotoEye™ SF system includes the following major components:
• One Servo-Robot Laser Seam-Finding sensor
• PC software for setup of the laser sensor

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MotoEye™ SF 1 Introduction
1.4 Reference Documentation

1.4 Reference Documentation

For additional information on individual components of the MotoEye™ SF
system, refer to the following documentation:

1.4.1 General Documentation

• Yaskawa Motoman Operator's Manual for General
(P/N 155507-1CD)
• Vendor manuals for system components not manufactured by
Yaskawa

1.4.2 DX100 Robot Controller Documentation

• Yaskawa Motoman DX100 Controller Manual (P/N 155494-1CD)
• Yaskawa Motoman DX100 Maintenance Manual
(P/N 155492-1CD)
• Yaskawa Motoman DX100 Macro Command Function Manual
(P/N 156439-1CD)
• Yaskawa Motoman DX100 Concurrent I/O Manual
(P/N 155491-1CD)
• Yaskawa Motoman DX100 MH-Series Positioner Manual
(P/N 156488-1CD)
• Yaskawa Motoman DX100 Independent/Coordinated Control
(P/N156431-1CD)
• Yaskawa Motoman DX100 INFORM User’s Manual
(P/N 155493-1CD)

1.4.3 DX200 Robot Controller Documentation

• Yaskawa Motoman DX200 Installation and Operations Manual
(P/N 165292-1CD)
• Yaskawa Motoman DX200 Maintenance Manual
(P/N 165293-1CD)
• Yaskawa Motoman DX200 Macro Command Function Manual
(P/N 166242-1CD)
• Yaskawa Motoman DX200 Concurrent I/O Manual
(P/N 165294-1CD)
• Yaskawa Motoman DX200 MH185, MH555, and MH1655 Positioner
Manual
(P/N 168961-1CD)
• Yaskawa Motoman DX200 Independent/Coordinated Control
(P/N165836-1CD)
• Yaskawa Motoman DX200 INFORM User’s Manual
(P/N 165301-1CD)

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MotoEye™ SF 1 Introduction
1.5 Customer Support Information

1.5 Customer Support Information

If you need assistance with any aspect of your MotoEye™ SF system,
please contact Yaskawa Customer Support at the following
24-hour telephone number:

(937) 847-3200
For routine technical inquiries, you can also contact Yaskawa Customer
Support at the following e-mail address:

techsupport@motoman.com

When using e-mail to contact Yaskawa Customer Support, please provide

a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.

Please use e-mail for routine inquiries only. If you have an

NOTE urgent or emergency need for service, replacement parts,
or information, you must contact Yaskawa Customer
Support at the telephone number shown above.

Please have the following information ready before you call:

• System MotoEye™ SF including name/

model of laser sensor

• Robots

• Positioner

• Primary Application Welding

• DX Controller DX100 or DX200

• Software Version Access this information on the

Programming Pendant’s LCD by
selecting {MAIN MENU} -
{SYSTEM INFO} - {VERSION}

• Robot Serial Number Located on the robot data plate

• Robot Sales Order Number Located on the DX Controller data

plate

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MotoEye™ SF 2 Equipment Description
2.1 Servo-Robot Seam Finding Sensor

2 Equipment Description

2.1 Servo-Robot Seam Finding Sensor

The Servo-Robot laser sensor is used to measure two dimensions
(ie. lateral and vertical) of movement in a weld seam.
A laser-sensor projects a laser line perpendicular to the weld seam and
through a CCD (charge-couple device) camera captures a reflected image
of the laser line. The image that is reflected is then processed by the laser
sensor by comparing the actual joint to a predetermined joint profile.
Software in the camera then determines a tracking point (ie: the profile of
a 2.5 mm lap joint). This tracking point is intended to be attached to a
particular user-defined feature of the joint profile (ie. between the upper
corners of a v-groove weld joint). The laser sensor’s field/depth of view
will track the weld joint if it should fluctuate and the tracking point will
adjust accordingly by the Servo Robot software.
Fig. 2-1: Servo-Robot Seam Finder Sensors

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MotoEye™ SF 2 Equipment Description

2.2 Laser Power and Control:

2.2 Laser Power and Control:

2.2.1 Laser Power:

Power for the SF laser camera is provided by the Yaskawa DX Robot
Controller. Laser safety standards dictate that a key-switch must be
supplied and implemented as a means of preventing inadvertent power-up
of the laser while within the robotic work cell. For this reason, a key-switch
has been added to the front of the Yaskawa DX Robot Controller (one for
each laser camera). These key-switches control power to the camera and
provide a means of preventing inadvertent operation while in the work cell.
See Fig. 2-2 “Laser Switches”
Fig. 2-2: Laser Switches
DX100 CONTROLLER DX200 CONTROLLER

LASER #4 LASER #3 LASER #2 LASER #1

ENABLE ENABLE ENABLE ENABLE

Laser Switches

• While regular in-cell maintenance is taking place, turn the key-switch

to the [OFF] position and remove the key.
• While teaching or production, ensure the key-switch is in the [ON]
position enabling power to the camera.

2.2.2 Laser Control:

The laser line can be “muted” and “unmuted” either using the WeldCom
PC software or directly from the robot’s teach pendant. To enable/disable
the laser line from the teach pendant while in [TEACH] mode, press the
following:
Laser#1: [INTERLOCK] + [1]
Laser#2: [INTERLOCK] + [2]
Laser#3: [INTERLOCK] + [3]
Laser#4: [INTERLOCK] + [4]

Pressing the above sequence of buttons toggles the laser

NOTE line from one state to another (muted-to-unmuted and
unmuted-to-muted).

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MotoEye™ SF 2 Equipment Description
2.3 Robot Interface

2.3 Robot Interface

In order to calculate a shift offset, the robot needs a nominal location to
base future measurements off of. The nominal location is saved during the
teaching procedure. The robot compares the nominal locations of Y and Z
to the measured position to create this offset. For instance, if the robot is
programmed with a nominal Z position value of 100 mm and a measured
value of 106 mm is sent from the sensor to the robot, the robot develops a
+6mm shift offset. (106-100=6).
The nominal positions are controlled in the L*-SF macro job by two
values: a Y and Z setting. These nominal values define a specific location
within the laser sensor’s field of view. These two values are defined in the
SETUP section of the L*-SF macro job and are global settings (This same
location is referenced every time the L*-SF macro instruction is used).
See Fig. 3-7: L*-SF Macro on page 3-3 to see the SETUP instructions.
The nominal positions are typically set in the middle of the Field of View/
Field of Depth but can be placed almost anywhere in the Field of View/
Field of Depth to suit application needs. The typical location of the
Nominal Z Position is shown in Fig. 2-3(a “Nominal Z Position using
MotoEye™ SF V200/V350”.

In current versions of MotoEyeSF (v2.4.0 and up), the

Nominal Z Position is controlled by local variable LR003 in
NOTE the L*-SF macro job.
In prior versions of MotoEyeSF (v2.3.0 and older), the
Nominal Z Position is controlled by LD013.

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MotoEye™ SF 2 Equipment Description

2.3 Robot Interface

Fig. 2-3(a): Nominal Z Position using MotoEye™ SF V200/V350

V200 Camera V350 Camera

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MotoEye™ SF 2 Equipment Description
2.3 Robot Interface

Fig. 2-3(b): Nominal Z Position using MotoEye™ SF i-CUBE 100L

Fig. 2-3(c): Nominal Z Position using MotoEye™ SF i-CUBE 350L

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MotoEye™ SF 2 Equipment Description

2.3 Robot Interface

CAUTION
Use care when increasing parameters.
Not using care when increasing the parameter can cause the robot to
crash.

The location of the Nominal Y and Z Positions can be adjusted (in the
event the application requires it) from within the L*-SF macro job.
Adjusting the value of the R003 (Nominal Z Position) parameter to a larger
value will move the laser sensor closer to the weld seam. See Fig. 2-4
“Setting Nominal Z Position too High” for an example that could cause the
robot to crash.
Fig. 2-4: Setting Nominal Z Position too High

300mm
X SET LR003 TO 280 (COLLISION)
275mm

250mm

For each instance that the L*-SF macro instruction is executed in the job,
the robot should be initially (ie. during initial teaching) moved to a location
over the weld seam such that if a measurement is made, the nominal
locations are measured by the sensor. A convenient feature of the Auto
Teach mode of the L*-SF macro instruction is that it discovers this location
for the user, and the user is asked to Re-Modify the Reference Position,
which saves the desired location to the L*-SF macro job.

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MotoEye™ SF 2 Equipment Description
2.3 Robot Interface

After the robot is programmed to each desired detection position for the
application (so that the nominal locations are measured by the sensor),
the user then programs the weld path(s). If everything was programmed
correctly, the (original taught part/“master” part) execution of the various
L*-SF macro instructions should produce close to zero shift amounts and
the weld path points (because they were programmed to the original part
and are getting close to zero shift amounts) should be in the weld joints.
The laser sensor is used to detect and adapt to weld joints that are not
located in the same location every time (relative to the robot). Placing
new, varying parts into the robot system should produce non-zero shift
amounts (this can be observed by monitoring the destination P variable
after successful execution of the L*-SF macro instruction). These shift
amounts should be shifting the weld points from the original programmed
location and into the deviated weld seams.
An example of how the robot calculates the shift offset, by comparing the
detected seam location to the nominal positions are shown in Fig. 2-5
“Shift Offset”.
Fig. 2-5: Shift Offset

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MotoEye™ SF 2 Equipment Description

2.3 Robot Interface

After processing of the weld joint profile is completed, the measured data
is available for the robot. The DX Robot Controller receives the data from
the laser sensor and calculates a shift amount for the point(s) on the weld
path.
The DX Robot Controller calculates the shift amount by using the Y and Z
values from the camera and converts them to X,Y, and Z values for the
robot.
In order for the measurements to be converted, proper tool files need to
be set up (L1-SF uses tool # 60, L2 - tool # 61, L3 - tool # 62, L4 -
Tool # 63).
After the measured data is successfully translated into a robot coordinate
system, the data is available to the robot job through the use of the
{SFTON} instruction (Shift On function).
If needing to weave when welding, use the gap measurement with the
{WVADJ} (Weave Adjust) inform command to allow for continuous varying
adaptive process control. This will change the weave amplitude and travel
speed gradually between two programmed robot positions based on
changes in the gap measurements.5

The SF*-ADV macro is intended only for applications which

require advanced control. This macro does not perform
NOTE position calculations on the sensor data. Therefore, it
should not be used for normal functionality, as described
above.

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3.1 System Requirements

3 Installation

CAUTION
The MotoEye™ SF system should be installed by qualified personnel
who are familiar with the installation and setup of a robotic system.

Always comply with all the safety instructions and precautions given
throughout this manual during the installation process.
The instructions given in this section are general guidelines for installing
the MotoEye™ SF system. Refer to the system drawings and relevant
system component manuals for specific installation information.

3.1 System Requirements

Most system components and most hardware items required for
installation of the MotoEye™ SF system to a DX Robot Controller are
included. Additional cables will need to be purchased through Yaskawa or
Servo Robot directly.

3.2 Servo-Robot Software Setup

The current Servo-Robot software platform called “Weldcom” resides on a
PC and accesses the vision system for parameter setup, tuning, etc.
1. Load the included Weldcom Software onto a PC.

NOTE A cross over Ethernet cable or standard Ethernet switch/

hub is recommended for best performance.

2. Connect an Ethernet cable from the Servo-Robot interface module to

the Ethernet port on the PC.
3. Configure the PC network connection to an IP address that will work
with the Servo-Robot SF sensor.

The IP address of the SF sensor can be changed from

Microsoft Internet Explorer browser. See Servo-Robot
NOTE documentation for full instructions.
Some sensors will require that Internet Explorer use
“Compatibility View”.

• The IP address of the PC must not be identical to the SF sensor.

• It is recommended to set the Subnet Mask to “255.255.255.0”. If this
mask is used, then the first three groups of the IP addresses must
match. Example: 192.168.1.xxx

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3.2 Servo-Robot Software Setup

• The IP address of the SF sensor is displayed on the LED panel when

the sensor is powered up. If the following is seen “IP … 192 … 168
… 1 … 71 …” this means that the sensor’s IP address is
192.168.1.71.
• It is recommended to use an IP address for the PC of 192.168.1.5 or
higher

NOTE The IP range 10.0.0.xxx is reserved on the system and may

not be used by the PC or SF sensor.

4. On the PC, manually set the IP (Network Settings >> Local Area
Connection > Properties > Internet Protocol Version 4 (TCP/IPv4)
>Properties. Use the IP address that user has just created.
5. Start the WeldCom program.
Fig. 3-1: WeldCom Program Screen

6. Click on “Link to a new server” and enter the IP address observed

during power up of the Servo-Robot sensor.
7. Enter the required port number and click the blue Check button.

Typically the port number is “10001”. See the included

NOTE Servo-Robot documentation “Quick Setup Guide” if this port
number does not work.

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3.2 Servo-Robot Software Setup

8. The main “Vision” screen appears.

Fig. 3-2: Vision Screen

9. Click on the Pencil icon to open the editing menu on the right side of
the Vision screen.

3.2.1 Create or Edit a Task

The instructions below will allow the user to create or edit a task.
Start from the Vision screen when needing to create or edit a task.
1. Press the “+” key located in the PART sub section if no part has been
created yet.
2. Press the “+” key located in the TASK sub section.
3. Select a task number and name. Specify if a new blank task if desired
or copying data from an existing task and modifying existing
parameters.
Fig. 3-3: Task Screen

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3.2 Servo-Robot Software Setup

4. If editing an existing task parameter click on the “thinking man” icon in

the TASK BAR.
5. Select the Recognition Algorithm to use.
• Select the type of weld joint that is desired to be found.

CAUTION
It is important to have a stable, consistent tracking point (the red “X” on
the screen) when the robot is not moving when adjusting the
parameters. The tracking point will be the center of the weld joint.

6. Adjust the required parameters. (Proper training from Servo Robot is

highly recommended.) See Servo Robot documentation if unsure how
to adjust parameters.
7. Complete one of the following:
• Press the blue Check button to save data.
• Press the blue Return button to undo recent changes.
• Press the blue Exit button to leave screen without saving additional
changes.

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3.3 DX Robot Controller Interface

3.3 DX Robot Controller Interface

The L1-SF-INSPECT, L2-SF-INSPECT, etc macro jobs generate bi-
directional communication with the Servo-Robot sensor. The macro job
enables the laser emission, selects a profile #, and then populates the
specified P variable with the measured shift offsets. The P variables are
then used in the job with the {SFTON} instruction. See Fig.3-4 "Robot DX
Robot Controller Interface Flowchart".
Fig. 3-4: Robot DX Robot Controller Interface Flowchart

MACRO

Offset sent to P Variable

Signal sent for the laser to turn on
SERVO ROBOT

Dimensions of the weld joint is sent to macro and offset is calculated

P VARIABLE
JOB
{SFTON} is called into the job

P Variable is called in the {SFTON} funcon

{SFTON}

1. The DX robot controller must have a number of functions enabled by

Yaskawa Customer Support prior to use.
2. Load the L*-SF, SF*-ADV, SF*-RST, and MACRO.DAT files into the DX
Robot Controller.
a) One laser system: L1-SF.
b) Two laser system: L1-SF (laser #1 for R1), L2-SF (laser #2).
c) Three laser system: L1-SF, L2-SF, and L3-SF.
d) Four laser system: L1-SF, L2-SF, L3-SF, and L4-SF.

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3.3 DX Robot Controller Interface

Robot string (S) variables are used to notify the robot

controller about the IP address of the sensor.
Version Sensor 1 Sensor 2 Sensor 3 Sensor 4
v2.5.0 and S090 S091 S092 S093
NOTE above (DX200) (DX200) (DX200) (DX200)
S070 S071 S072 S073
(DX100) (DX100) (DX100) (DX100)
v2.4.0 S090 S091 S092 S093
v2.3.0 and S096 S097 S098 S099
below

3. Open the L*-SF macro(s) and cursor to the “----------SETUP----------”

section. This is used to configure the macro for your specific
application.

When adjusting the nominal Y and Z distances, this will

affect position of the sensor relative to the part.
If the nominal positions of the laser sensor are set too close
NOTE to the face of the laser sensor, the torch may contact the
surface of the part.
The larger the value of the nominal Z distance parameter,
the closer the laser sensor will be to the surface of the part!

4. The setup section of the macro contains instructions for each of the
following items which must be configured:
• Model of laser sensor.
• Nominal Z distance for vertical standoff.
• Nominal Y distance for lateral offset.
• Output signal for shutter door.
• Robot tool file for the sensor calibration data.
• Error handling and retry attempts.
• Additional data to retrieve from the sensor.

• Once beginning to program the application, do not

change the values in the Setup Section

NOTE • Reteach the nominal positions if the weld points are

relocated.
• No setup modifications are required for SF*-ADV. This
macro is intended only for advanced functionality.

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3.4 Setting Robot Data For The Seam-Finding Sensor

3.4 Setting Robot Data For The Seam-Finding Sensor

Inside the laser sensor, measurements are based on a 2D plane and
needs to be converted to a 3D robot coordinate system to be useful to the
robot. A specific Tool (for Laser 1, Tool 60 is used) coordinate system is
used for this conversion.

3.4.1 Setting Tool Data with Calibration Macro

CAUTION
Configure the TCP of the welding torch correctly
Not configuring the TCP of the welding torch correctly can cause a
crash and/or poor calibration.

This calibration routine compares a number of laser measurements to the

position of the robot's torch tip at a known location. Based on these
comparisons, it is able to automatically detect the position and orientation
of the SF sensor.
This routine will generate a new tool file (tool 60 for laser 1) that contains a
TCP for the laser line. If desired, this tool can be used for jogging to make
part programming easier.
Proper orientation of the laser's tool file is critical for operation of the
Lx-SF-INSPECT macro job (Lx-SF).

3.4.1.1 Setup The Calibration Macro

1. Open the Lx_SF_CALIBRATE macro for editing.
2. Cursor down to the SETUP section of the macro.
3. Configure the height of where the tool TCP will be located in the laser's
field of view.
• Recommended heights for each sensor model are listed in the
macro. Set variable LI000 to the desired height value.

Once setting the LI000, do not modify the calibration macro

NOTE jobs. Please see below for the procedure to register the
calibration instruction.

4. Continue with registering the calibration instructions.

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3.4 Setting Robot Data For The Seam-Finding Sensor

Fig. 3-5: Setting the Desired Height

Fig. 3-6: Setting LI000 (Height) Screen

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3.4 Setting Robot Data For The Seam-Finding Sensor

3.4.1.2 Programming the Calibration Macro

Calibration is performed by recording a series of reference positions at a
known location. First, the welding torch is recorded at a specific location.
Then a series of positions are recorded such that the laser's tracking point
is always placed at the location of the original torch position.
It is recommended to use a workpiece with a basic lap joint. A point should
be marked on the lap joint where the laser will detect a tracking point.
The tool to which the sensor is physically mounted must already have a
properly configured TCP. See the controller instruction manual (DX100
Controller Manual part number 162536-1CD or DX200 Controller Manual
part number 165292-1CD) for information on configuring a TCP.

The calibration macro will only work properly if the sensor is

NOTE physically mounted to an EOAT connected at the T flange of
the robot arm.

Fig. 3-7: Calibrating Macro Screen

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3.4 Setting Robot Data For The Seam-Finding Sensor

Table 3-1: Argument Values

Argument Value Description

Task# 0 - 64 Task number used in the Servo Robot system to detect the
joint profile.

For calibration, it is recommended to use a Task that is

configured for a basic lap joint.

Torch tool 0 - 63 TCP number of the robot tool which the sensor is mounted to.

Tool ref pos Record robot position See below for Programming Reference Positions for
Calibration.
Sensor ref pos 1 Record robot position

Sensor ref pos 2 Record robot position

Sensor ref pos 3 Record robot position

Sensor ref pos 4 Record robot position

Escape ref pos Record robot position

Calib error amnt 0 - 127 Index of a position variable which will contain the calculated
error amount of the calibration.

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3.4 Setting Robot Data For The Seam-Finding Sensor

3.4.1.3 Programming Reference Positions for Calibration

1. Using a basic lap joint, scribe a mark on the edge of the top plate.
2. Setup a Servo Robot task to detect the tracking point on the edge of
the top plate.
3. For each argument in the macro detail-edit screen, cursor over the
word UNREGIST and press [MODIFY] then [ENTER] to capture the
position of the TCP.
• The argument value should change to REGIST to indicate that the
position has been successfully recorded.
4. Set the Tool Reference Position
• The first point should be recorded with the TCP of the tool directly on
the marked point in the joint.
Fig. 3-8: Tool Reference Position

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3.4 Setting Robot Data For The Seam-Finding Sensor

5. Set the Sensor Reference Point 1

• Ensure the Servo Robot Weldcom software visible on the PC during
this process.
• Unmute the sensor using the Weldcom software.
• Record the next point such that the Tracking Point of the joint profile
is exactly where the Tool Reference Point was recorded in step 4.
• For the first reference position, the Tracking Point should be located
near the center of the laser's field of view.
Fig. 3-9(a): Setting the Sensor Reference Point 1

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3.4 Setting Robot Data For The Seam-Finding Sensor

6. Set Sensor Reference Position 2, 3, and 4

• Record the next point such that the Tracking Point of the joint profile
is exactly where the Tool Reference Position was recorded for each
sensor reference position.
–For the second reference position, the Tracking Point should be
located near the top-center of the laser's field of view.
–For the third reference position the Tracking Point should be
located near the bottom-left of the laser's field of view
–For the fourth reference position the Tracking Point should be
located near the bottom-right of the laser's field of view.
Fig. 3-9(b): Setting the Sensor Reference Points 2 through 4

Reference Point 2 Reference Point 3

Reference Point 4

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3.4 Setting Robot Data For The Seam-Finding Sensor

7. Program the Escape Reference Position

• During the calibration routine, the robot will move to each of the
recorded reference positions. Between each point, it will travel to the
escape position. The escape position should be programmed such
that the robot can move from this position to each of the other
reference-positions without colliding into the workpiece or the table.

3.4.1.4 Executing the Calibration Macro

After recording all of the reference positions and setting the remainder of
the macro arguments, you must execute this macro routine in a robot job.
During execution, the robot will automatically enable the laser and move
to each of the recorded positions.
When the macro is done executing, it will populate the position variable
specified in the “Calib Error Amnt” argument. This will contain the
calculated residual of the calibration routine. It can be used as a gauge of
the calibration's accuracy.

This routine automatically modifies your tool data. If the

FSU is enabled on this system, you will need to reboot after
NOTE performing the calibration routine. Upon reboot, you will get
an alarm that indicates you need to perform a functional
safety flash reset.

3.4.2 Setting Tool Orientation Manually

The following procedure provides the means for defining the correct
orientation for the Tool used for the laser sensor. -

NOTE Use the calibration macro (described above) for the most
accurate tool setup.

1. Open the Tool file corresponding to the laser number ({MAIN MENU} >
{ROBOT} > {TOOL}).
2. The X, Y, and Z values are irrelevant to the calibration for the laser
sensor. However, the orientation of the tool frame is critical. Therefore,
adjust the RX, RY, and RZ data fields until the following conditions have
been obtained when jogging using Tool File.
3. Scribe a straight line on a non shiny surface to check the setup of the
laser. Move the robot so the laser is on top of the line. See
Fig. 3-10(a “Orientation of Sensor”, Fig. 3-10(b “Orientation of Sensor”,
and Fig. 3-11 “Positioning Laser on Scribed Line”.

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3.4 Setting Robot Data For The Seam-Finding Sensor

Fig. 3-10(a): Orientation of Sensor

Fig. 3-10(b): Orientation of Sensor

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3.4 Setting Robot Data For The Seam-Finding Sensor

Fig. 3-11: Positioning Laser on Scribed Line

4. Verify the tool orientation by jogging the robot with the laser ON. Select
the correct Tool number: Tool 60 for Laser 1, Tool 61 for Laser 2, Tool
62 for Laser 3, and Tool 63 for Laser 4. While jogging the robot in the Y
and Z direction in the tool/frame, the laser line should remain projected
along the scribed line.
a) While jogging the robot in the Y direction of the
corresponding tool, the laser line should move in the
direction of the scribed line and should stay projected on the
scribed line.
Assuming Fig. 3-11 “Positioning Laser on Scribed Line” as a
start position for the laser line, when jogging robot in the Y
direction, Fig. 3-12 “Tool Verify Y Direction” should occur.
Fig. 3-12: Tool Verify Y Direction

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3.4 Setting Robot Data For The Seam-Finding Sensor

b) While jogging the robot in the Z direction of the

corresponding tool, the laser line should grow shorter and
longer and stay projected on the scribed line.
Assuming Fig. 3-11 “Positioning Laser on Scribed Line” as a
start position for the laser line, when jogging robot in the Z
direction, Fig. 3-13 “Tool Verity Z Direction” should occur.
Fig. 3-13: Tool Verity Z Direction

5. Repeat step 2. if Y or Z (Tool Frame) jogging is incorrect in the tool

frame coordinate.

The default numbers are listed on the hardware drawings

NOTE included with your system.
If adjustments are needed there is a tolerance of ±1°.

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MotoEye™ SF 4 Programming
4.1 New Weld Joint

4 Programming

4.1 New Weld Joint

When programming a new weld joint, the following sequence must be
used.
1. Turn the key switch on the DX Robot Controller box to the ON position.
2. Move the sensor into a position until the laser is roughly perpendicular
over the weld joint.
3. Setup a vision system “task” or verify the task that will be used to
process the weld joint is operating with a stable tracking point
(the red X) using Servo-Robot's Weldcom PC software.
4. Insert the seam finding macro instruction (ie. L1-SF) into the robot job.
The L*-SF macro instruction(s) can be found under
[INFORM LIST] > {MACRO}.
5. Reference the vision system task number by setting the TASK#
argument of the L*-SF macro instruction to the task number.
6. Program the remaining argument fields of the seam finding macro
instruction.
a) Status Msg Bvar#: defines the B variable number to have
the status of the macro job set to. After execution of the
macro job, the L*-SF macro sets a value to B variable
Number (Status Msg Bvar#). The value of the B variable will
describe if the macro job executed successfully or if an error
condition occurred. See Appendix A: for details on Status
Message values.
b) Teach Mode: enables/disables the AutoTeach function; 0 =
AutoTeach off, 1 = AutoTeach on.
c) Shift Amnt Pvar#: defines the P variable number to have the
calculated shift amount saved to. After successful
execution of the L*-SF macro, the shift amount is saved to
P Variable Number (Shift Amnt Pvar#). This P variable
should then be used with the {SFTON} instruction to shift
the programmed weld path.
d) Max Shift Amount: before the calculated shift amount is
stored into the requested P variable number, the shift
amount is compared to the Max Shift Amount setting. If the
shift amount is greater than the maximum amount it is either
(1) stored into the P variable or (2) optionally set to a value
of 0.00mm (zero) and then stored into the P variable. The
“Status Msg Bvar#” argument is also set to a value
signifying that the Maximum Shift Amount has been
exceeded.
e) Gap Size Dvar#: defines the D variable number that will
contain the measured size of the joint gap. If the macro is
configured to obtain area, mismatch, and normal angle,
then these values will be stored in the D variables immedi-
ately after gap.
f) # retry on failu: The number of times to retry a measurement
if any error is detected.

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4.1 New Weld Joint

g) Alarm on failure: In addition to populating the Bvar with an

error code, the system can optionally alarm in the event of a
failure. This will stop robot motion.
h) Don't Mute Laser: If it is known that this measurement will
be followed by subsequent measurements, you can
optionally leave the laser visible after execution. This should
only be used in applications where cycle time is very critical.
7. Program the Ref Position such that the weld seam is in range of the
laser sensor (automatically or manually) and that a tracking point can
be established by the laser sensor.
8. Program the weld path.

If using coordinated motion during execution of the shift

amount, use the {SSFTON} and {SSFTOF} command.
Make sure that use of the {CNVRT} command is used for
NOTE this conversion process. When programming the job with
these functions make sure that the {CNVRT} command is
used prior to the {SSFTON} and immediately after
execution of the L*-SF macro. The Master Tool Frame shift
amounts should be used as a target for the conversions.

9. Deploy the {SFTON} instruction(s) into the weld job, referencing the
P Variable number registered in step 6c and (optionally) combine with
other measured P variable shift amounts if needed (contact Yaskawa
customer support, if needed).

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MotoEye™ SF 4 Programming
4.2 Robot Programming

4.2 Robot Programming

The control interface of the robot to the SF sensor is through a
L*-SF (ie. L1-SF, L2-SF, L3-SF, and L4-SF) macro job.
Every time a location is to be detected on the weld joint or part feature a
L*-SF macro instruction needs to be registered.
Execution of the L*-SF macro instruction will manage communication with
the sensor.

4.2.1 Detecting a Weld Seam

For weld seams to be detected, the following steps needs to be taken.
1. Insert a L*-SF macro instruction into the robot job (done by [INFORM
LIST] > {MACRO}).
2. Position the camera so the laser is on the weld joint roughly
perpendicular to the weld seam.
3. Set remaining arguments of the L*-SF macro instruction.
• See Fig. “” for details.
4. Insert other L*-SF macro instructions and teach the sensor to the weld
joints if needed.
5. Set remaining arguments of the L*-SF macro instruction as needed.
6. Condition/combine/calculate shift amounts made by the L*-SF macro
instructions in the previous step.
7. Insert {SFTON}/{SFTOF} (or {SSFTON}/{SSFTOF}) instruction(s) into
the weld path section of the robot job.

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4.2 Robot Programming

4.2.2 Programming the Sensor over the Weld Joint

Once properly programmed to the weld joint, the laser sensor will provide
an offset (i.e. how far the new part is located from the original taught part).
This offset is calculated from the nominal position in the camera's field of
view. The further the weld joint or tracking point is from this nominal
position, the larger the calculated offset will be.
To program the camera to the nominal position, it is recommended to use
the following procedure:
1. Insert the L*-SF macro instruction into the robot job above the
{ARCON} instruction.
• The instruction can be accessed from [INFORM LIST] > {MACRO}.
• This macro instruction after insertion, should have the following
structure (although the data of each argument may differ from
Fig. 4-1).
Fig. 4-1: Macro Instruction

2. Open the Argument Setting screen of the L*-SF macro instruction.

• To open the instruction, cursor to the instruction side of the
instruction and press [SELECT] two times.
Fig. 4-2: Argument Setting

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4.2 Robot Programming

Table 4-1: Arguments of the L*-SF-INSPECT Macro Instruction

Argument Description Data Range

Sensor Task # Task number used in the (-1), 0 - 64

Servo-Robot control. If (-1) is specified, then
the sensor will not
change Task #. The
previously loaded task
will be preserved.

RefPosition Robot position used for joint [MODITY] > [ENTER]

measurement.

Status Msg Bvar# Every execution of the macro 0 - 99

will write a value to this user-
definable B variable. If there
are any errors during
execution, the B variable will
contain a non-zero error
code.

Teach Mode Set to “1” if user wishes to 0 or 1

execute an AutoTeach
routine. Set to “0” for normal
playback mode.

Shift Amnt Pvar# Destination P variable 0 - 127 or more

number to save shift amount
to.

Max Shift Amount If the calculated shift amount mm

exceeds the Maximum Shift
Amount argument value, the
(1) calculated shift amount or
(2) optionally a 0.0mm shift
amount is set to the P
variable. The default is the
“calculated” shift amount
(contact Yaskawa customer
service if a change to this
setting is required).

Gap Size DVar# Destination D variable 0 - 99

number that will contain the
measured size of the joint
gap. If the macro is
configured to obtain area,
mismatch, and normal angle,
then these values will be
stored in the D variables
immediately after gap.

# retry on failure In the event of a failure, this is 0-5

the number of attempts that
should be made prior to
raising an error.

Alarm on failure In addition to populating the 0 = No alarm

Bvar with an error code, the 1 = Alarm
system can optionally alarm
in the event of a failure to
stop robot motion.

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4.2 Robot Programming

Table 4-1: Arguments of the L*-SF-INSPECT Macro Instruction

Argument Description Data Range

Don’t Mute Laser Set this to “1” to leave the 1 = Do not mute
laser unmuted at the end of
the L*-SF routine

3. Verify that each parameter is set correctly for the application.

• For example, adjust the Max Shift Amount to no greater than the
maximum shift amount that is expected to be experienced.
Erroneous measurements during the search attempt may result in a
crash with the robot.
4. Move the robot into position over the part.
• Make sure you have a stable tracking point using Weldcom
software on the PC.
• [MODIFY] > [ENTER] the current robot position in the RefPosition.
5. Set the Teach Mode parameter to a value of “1”.
6. Press [ENTER] > [ENTER] to save all the displayed argument settings.
7. Press and hold [INTERLOCK] + [TEST START] to execute the routine.
• If everything is working properly the laser should turn on, the robot
should move slightly closer to the weld joint and then a message
should be displayed on the bottom of the teach pendant instructing
the user to “ReModify the RefPosition, and set Teach Mode to 0.”
8. Re-open the argument setting screen of the L*-SF macro instruction.
• From the instruction side of the macro press [ENTER] > [ENTER].
9. Place the cursor over the RefPosition parameter and press [MODIFY]
> [ENTER] to capture the newly defined position of the camera over
the weld joint.
10. Set the Teach Mode parameter to a value of “0”.
11. Press [ENTER] > [ENTER] to save all the displayed argument settings.
• The L*-SF macro instruction is now programmed to this specific
location of the weld joint.
12. Repeat the above process for each weld joint location to be detected.

If the AutoTeach mode is successful, the robot moves such

that the laser sensor measures a Nominal Z Position of
150.0 mm (this value is adjustable, and is set inside the
L*-SF macro job and can be changed, SYSTEM WIDE) and
Nominal Y Position 0.0 mm (corresponding to the center of
the field of view). These measurements can be observed
NOTE from the Weldcom portal as well. As the weld seam varies,
the vision system measurements are compared to these
two nominal values and shift offsets are made based on the
distance between: taught Nominal Z Position (150.0 mm) -
measured Nominal Z Position = Z offset; Nominal Y Position
(center of field of view, or 0 mm) - measured Nominal Y
Position = Y offset.

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MotoEye™ SF 4 Programming
4.2 Robot Programming

4.2.3 Advanced Control

The SF*-ADV macro is provided for users who desire advanced control/
calculation abilities. This macro is intended for use by users who are
experienced with the Servo-Robot product and familiar with position
calculations.

The advanced macro does not perform any calculations on

NOTE the raw data returned from the SF sensor. Therefore, it does
not provide the positional offset data which can be obtained
from the L*-SF macro.

This job is useful for users who want to calculate their own joint geometry
given the raw data returned from the Servo-Robot sensor. It can also be
used to perform an individual task, without doing an entire cycle of [Set
Task] - [Unmute] - [Measure] - [Calculate] - [Mute] - [Check Status]. Users
can pick and choose any or all of the functions to perform.

If multiple tasks are enabled in the SF*-ADV macro, they

NOTE will execute in the order that they appear in the argument
list below.

Fig. 4-3: Argument Setting

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MotoEye™ SF 4 Programming
4.2 Robot Programming

Table 4-2: Arguments of the L*-ADV Macro Instruction

Argument Description Data Range

Set Task This sets the internal Sensor 1 = Select Sensor

Task # inside the Servo Robot Task #
SF sensor. The details of 0 = Do not select
each task must be pre- Sensor Task #
configured using Servo
Robot's WeldCom software.

Task Index This is the task number to 0 - 64

select in the camera. A list of
configured task numbers can
be viewed in WeldCom.
(This argument is N/A if SET
TASK = 0)

Unmuted Laser This will unmute the laser so 1 = Unmute laser

that it is visible. The laser 0 = Do not unmute
must be un-muted to take a laser
measurement.

Measure This will trigger the SF sensor 1 = Return

and retrieve the raw measurements
measurement data. No 0 = Do not measure
additional calculations are
performed on the data
returned from the sensor.

Meas D-Var IDX This is the starting index of 0 - 99

robot D-Variables to return
data from the camera. If the
EXTENDED MEAS
parameter is disabled, then
only 1 D-variable will be
returned, containing the GAP
measurement. If the
EXTENDED MEAS
parameter is enabled, then a
total of 4 D-variables will be
populated, containing GAP,
AREA, MISMATCH, and
NORMAL. (This argument is
N/A if MEASURE = 0)

Meas P-Var IDX This is the index of the robot 0 - 99

P-variable to return the
Tracking Point data. This
position variable will contain
the Y and Z coordinates of the
tracking point.
(This argument is N/A if
MEASURE = 0)

Extended Meas This action causes additional 0 = Gap only

data to be returned from the 1 = Gap, area,
SF into the robot D variables. mismatch, and normal
(This argument is N/A if
MEASURE = 0)

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MotoEye™ SF 4 Programming
4.2 Robot Programming

Table 4-2: Arguments of the L*-ADV Macro Instruction

Argument Description Data Range

Get Breakpoints This will trigger the SF sensor 1 = Get breakpoint

and retrieve data into robot data
variables. However, instead of 0 = Do not get
asking the camera to process breakpoint data
the joint profile, this will fetch
the raw positions of each of
the 8 breakpoints which
compose the joint profile. This
is used when you want to
calculate your own joint-
geometry.

BP D-Var IDX This is the starting index of 0 - 99

the robot D-variables to
populate with the breakpoint
data. This will consume a total
of 16 D-variables. They will be
populated in the following
order: BP-0-Y, BP-0-Z, BP-1-
Y, BP-1-Z, …, BP-7-Z
(This argument is N/A if GET
BREAKPOINTS = 0

Mute Laser This will mute the laser so that 1 = Mute laser
it is not visible. The laser must 0 = Unmute laser
not be muted to take a
measurement.

Get Status This will ask the SF sensor for 1 = Get status
its current status. The status 0 = Do not get status
will be encoded into a robot
M-Register.
R1 - M482, R2 - M484, R3 -
M486, R4 - M488
Please consult the Servo
Robot SF manual for
definition of the STATUS and
ERROR fields.

Error Check This will perform a GET 1 = Perform error

STATUS action, and then check
display any appropriate 0 = Do not perform
alarms and/or error messages error check
accordingly.

Err Code B-Var This is the index of a robot B- 0 - 99

variable which will be
populated with an error code
if an error condition exists.
After executing the macro,
this B-variable can be
checked to determine if the
measurement data is valid.
See Appendix A.1.2 for a
lookup table to determine the
definition of each possible
value.

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MotoEye™ SF 4 Programming
4.2 Robot Programming

4.2.4 Deployment
As previously mentioned, the L*-SF macro instruction needs to be
programmed each time the user wishes to measure for part deviation.
Simple weld joints will only need one macro instruction.
For longer weld joints, or weld joints experiencing multi-dimensional
variation (ie. X, Y, and Z), multiple L*-SF macros will need to be
programmed into the job. Carefully combine/condition resulting shift
amounts to get full shift amounts.

4.2.4.1 Status Message

Every execution of the L*-SF macro will save a value to a B variable. The
value written to this variable corresponds to a Status Message. In the
event the L*-SF macro was unsuccessful, these messages will give the
robot program a value to base corrective action on. The list of possible
Message Codes, their descriptions, and recommended corrective action is
shown in Appendix A section of this document.
The variable number used to store the Status Message code is user
definable based on the “StatusMessageBvar#” parameter of the L*-SF
macro instruction. For example, if the user sets StatusMessageBvar# to a
value of 44, the B044 will receive a value (0 through 16) upon execution of
the L*-SF macro. In general, a value of 0 or 1 corresponds to a successful
execution of the routine, and a value between 2-16 denotes unsuccessful
execution. It is up to the user what the robot job's code will do with this
data. For example, if the robot program receives a value of 9 (no joint
detected) then the robot program could re-try the L*-SF but with a shifted
detection position (ie. executing a {SFTON} before executing the L*-SF
macro). If a received value of 7 (Maximum shift amount exceeded) then
the robot program may be structured and to skip the weld and notify the
PLC that the weld joint positioning is out of limits. In the event a User
Message occurs (Alarm 8000 series and labeled “L*-SF Comm Alarm:
xxxxxx”) user should note the full description of the alarm and contact
Yaskawa Customer Support Group.

4.2.4.2 Short Welds

If the weld lengths are very short and/or the amount of variation of the
weld start and weld end are virtually the same measurement, only one
L*-SF macro may be needed. In this example, the P variable is P000 (to
modify robot path). Even though a value is always written to the measured
Gap D variable, for this weld joint, the D variable is not being used. See
Fig. 4-4 “Example of a Short Weld Job” for sample programming.
Fig. 4-4: Example of a Short Weld Job

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MotoEye™ SF 4 Programming
4.2 Robot Programming

4.2.4.3 Long Welds

For longer weld lengths where the start point may vary by a different
amount and/or direction than the end position, multiple measurements
would be required. Normally two measurements are made. One at weld
start and one at weld end.
Fig. 4-5: Example of a Long Weld Job

*
Different L -SF macros used

with 2 different P variables

Note Shifts on ({SFTON}) with

corresponding P variables

In Fig. 4-5, two L*-SF macro instructions have been inserted and taught.
The first instruction, programmed at the start position of the weld joint,
saves the shift amount to P000 and the gap measurement to D000. The
second instruction utilizes P001 and D001. Before the first weld position is
reached, a Shift Amount is registered using P000, and before the second
weld position is reached the other Shift Amount is executed using the
amount in P001.

4.2.4.4 Adaptive Weaving

An additional feature of the L*-SF macro is the ability to collect a gap
measurement and then use this measurement to affect welding
parameters using the {WVADJ} (weave adjust) instruction.

The {WVADJ} instruction is an optional function that must

NOTE be enabled into the DX Robot Controller. Contact Yaskawa
Customer Support if you would like to have this enabled in
the DX Robot Controller.

Fig. 4-6: Example of a Adaptive Weaving Job

Weave Adjust Instruction

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MotoEye™ SF 4 Programming
4.2 Robot Programming

In Fig. 4-6, all robots and L*-SF macro instructions programmed are just
like that of the Long Welds example above. However, in addition to using
the P variables to adjust weld path via the {SFTON} instruction, the
{WVADJ} instruction deploys to adjust the Weave Amplitude and Travel
Speed between the two weld positions.
The {WVADJ} instruction behaves such that the Start Gap, or ST=
parameter, and the End Gap, or END= parameter are compared to the
Standard Gap, or STD= parameter, and target values for both weave
amplitude and travel speed are calculated for the weld start and weld end
position. The weaving amplitude and travel speed are smoothly
interpolated, or sloped, between these two points. The weave amplitude is
adjusted based on its nominal value - the value referenced by the {WVON}
instruction, and in this case saved in the weave file. The travel speed is
adjusted based on its nominal value set in either the job (by a SPEED=
instruction or referenced by the MOV instruction of the second weld point)
or by the {ARCON} instruction (by the SPD: Robot Speed field of the Arc
Start File).
Fig. 4-7: WVADJ Detail Edit Screen

4.2.5 Tips for Improving Cycle Time

• The time required to take a measurement varies greatly based on
the weld profile setup in the Weldcom software. Simplifying the
parameters of a weld joint can have the largest impact on cycle time.
• Do not mute the laser between a series of back-to-back
measurements.
– The Lx-SF macro has a parameter “Do Not Mute Laser”. This will
leave the laser unmuted after measurement is complete. Not only
will skipping this action save time, you will save more time on your
next measurement since the laser is already unmuted.
– When all your measurements for the weld seam are complete, be
sure to mute the laser. This can be done by setting the “Do Not Mute
Laser” argument to 0 on your last measurement. Or, the
SF-ADV macro can be called to mute the laser without performing
other actions.

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MotoEye™ SF 4 Programming
4.2 Robot Programming

• Do not switch task number between a series of back-to-back

measurements.
– Switching task number inside the SF sensor is the second largest
consumer of cycle time. However, it is common to perform a series
of back-to-back measurements using the same task.
– The Lx-SF macro contains an argument for Task Number. If a
number is specified, it will always try to change task, regardless of
the currently selected task. However, by placing a “-1” in this
argument, the macro will skip task selection and use the currently
selected task for the measurements.
– Additionally, the SFx-ADV macro can be used to select a task
number without performing other actions. This is useful at the start
of a robot job which performs a series of measurements.

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MotoEye™ SF Appendix A
A.1 Output Messages

Appendix A

A.1 Output Messages

A.1.1 Lx-SF Macro

The Status Msg Bvar# parameter sets the B variable number specified in
the L*-SF macro with the status of the joint locating routine. The value of
this B variable can then be used to skip welds (in the event the measured
offset amount is outside of a user defined allowable window), alert a PLC,
or execute another user-defined routine.
In addition to the Status Msg Bvar, the Lx-SF macro routine will print a
status message at the bottom of the pendant display. In the event of an
error, the macro can optionally raise an alarm as well.
The possible messages are listed in Table A-1..

Table A-1: Output Messages for Lx-SF Macro

Message Description Robot Action Corrective Action

Re-Modify Using the AutoTeach mode, PAUSE Message Re-Modify the RefPosition
Ref Positn; the routine executed as argument.
Set Teach = 0 expected. Set “Teach Mode” to 0.

L*-SF Routine Using the normal playback -- --

Successful mode, the routine executed
as expected. Measurements
were collected and written to
variables.

L*-Comm Communication messages User Alarm Re-execute routine. If problem

Alarm:XXXXX from the Servo-Robot control persists contact the Yaskawa
XXXXX XXXX were not given as expected. Customer Support Group.

Reserved Reserved Reserved Reserved

Reserved Reserved *Reserved Reserved

Improper -- User Alarm If problem persists contact the

*Com Arg Yaskawa Customer Support
Group.

System Error -- User Alarm Re-execute routine. If problem

persists contact the Yaskawa
Customer Support Group.
Note the error code name and
sub-code.

Max Shift Amount The calculated shift amount Message Increase the allowable shift
Exceeded exceeds the limit imposed by amount parameter or take
the Max Shift Amount other corrective actions, either
parameter. with robot programming or
with part variability.

Sensor Application An error occurred with the Message Contact Yaskawa Customer
Error system software. Support Group.

L*: No Joint Not enough profiles were Message Adjust laser sensor
Detected measured in order to detect parameters to detect weld.
proper joint configuration.

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MotoEye™ SF Appendix A
A.1 Output Messages

Table A-1: Output Messages for Lx-SF Macro

Message Description Robot Action Corrective Action

L*: Z Over Limit The Z element of the tracking Message Weld joint could be outside of
point was outside of the acceptable limit or increase
standard deviation limit. allowable deviation.

L*: Y Over Limit The Y element of the Message Weld joint could be outside of
tracking point was outside of acceptable limit or increase
the standard deviation limit. allowable deviation.

L*: Gap Over Limit The measured gap value Message Weld joint could be outside of
was outside of the standard acceptable limit or increase
deviation limit. allowable deviation.

L*: Mismatch Over The measured mismatch Message Weld joint could be outside of
Limit was outside of the standard acceptable limit or increase
deviation limit. allowable deviation.

L*: Area Over Limit The calculated area was Message Weld joint could be outside of
outside of the standard acceptable limit or increase
deviation limit. allowable deviation.

L*: Normal Over The calculated joint normal Message Weld joint could be outside of
Limit vector was outside of the acceptable limit or increase
standard deviation limit. allowable deviation.

L*: Unknown -- Message Retry macro routine. If

ERROR Condition problem persists, contact
Yaskawa Customer Support
Group.

A.1.2 SFx-ADV Macro

Table A-2: Error Values and Messages for SFx-ADV Macro

Value of Message Description Robot Action Corrective Action

B-
Variable

1 (Sucess, no No Error Alarm Reboot the DX Robot

message) Controller and try again. If
problem persists contact
the Yaskawa Customer
Support Group with the
code number.

2-8, 100 L*: Comm Internal error code Message Adjust laser sensor
Alarm:xxx returned from the SF parameters to detect weld.
sensor.

9 L*: No Joint Not enough profiles were Message Weld joint could be outside
Detected measured in order to of acceptable limit or
detect proper joint increase allowable
configuration. deviation.

10 L*: Z Over Limit The Z element of the Message Weld joint could be outside
tracking point was of acceptable limit or
outside of the standard increase allowable
deviation limit. deviation.

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MotoEye™ SF Appendix A
A.1 Output Messages

Table A-2: Error Values and Messages for SFx-ADV Macro

Value of Message Description Robot Action Corrective Action

B-
Variable

11 L*: Y Over Limit The Y element of the Message Weld joint could be outside
tracking point was of acceptable limit or
outside of the standard increase allowable
deviation limit. deviation.

12 L*: Gap Over The measured gap value Message Weld joint could be outside
Limit was outside of the of acceptable limit or
standard deviation limit. increase allowable
deviation.

13 L*: Mismatch The measured mismatch Message Weld joint could be outside
Over Limit was outside of the of acceptable limit or
standard deviation limit. increase allowable
deviation.

14 L*: Area Over The calculated area was Message Weld joint could be outside
Limit outside of the standard of acceptable limit or
deviation limit. increase allowable
deviation.

15 L*: Normal Over The calculated joint Message Weld joint could be outside
Limit normal vector was of acceptable limit or
outside of the standard increase allowable
deviation limit. deviation.

NOTE: The measurement limits for the weld joint are set using Servo-Robot's Weldcom software.

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MotoEye™ SF Appendix B
B.1 Communication Setup

Appendix B

B.1 Communication Setup

The SF communication driver is controlled through the robot’s M Registers
and Universal Inputs/Outputs. In Fig. B-1 “L1-SF Macro Job Example”, a
series of LI variables are set to reference which M Reg number uses each
communication point. They are set internally in the Lx-SF macro. For
multiple-laser systems, like an R1 + R2 system where each robot has it
own laser sensor, the L2-SF (and L3-SF) macro job uses different M Reg
numbers for control of the communication driver.

NOTE These register I/O addresses are for reference only and
should not be modified by the user.

Fig. B-1: L1-SF Macro Job Example

'----------Comm Config-----------
'
'LI1 = MREG# rcv AppErrorCode
SET LI001 480
'LI2 = MREG# rcv AppErrorSubCode
SET LI002 481
'LI3 = MREG# rcv L1SensorStatus
SET LI003 482
'LI4 = MREG# rcv L1ErrorCode
SET LI004 483
'LI10 = MREG# send CMDid
SET LI010 490
'LI11 = MREG# send TPadd/Task
SET LI011 491
'LI12 = MREG# send GapAddress
SET LI012 492
'LI13 = MREG# send ParamCode
SET LI013 493
'LI14 = MREG# send ParamStrtIndex
SET LI014 494
'
'LI5 = CommandComplete IN#
SET LI005 1785
'LI6 = ConnectionEstab IN#
SET LI006 1789
'LI7 = CommError IN#
SET LI007 1793
'LI8 = MREGCmdReady OT#
SET LI008 1785
'
'------Comm Config Complete------

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MotoEye™ SF Appendix C
C.1 Alarm List

Appendix C

C.1 Alarm List

NOTE For all other alarms, please contact Yaskawa Customer

Support with the alarm number and subcode.

C.1.1 v2.4.0 and Above Alarm List

Table C-1: v2.4.0 and Above

Alarm Code Subcode Alarm Name Counter Measure

8000 0 UNKNOWN SENSOR An item in the setup section of the L*-SF-

MODEL INSPECT macro is set incorrectly. Edit the
macro job and scroll to the Setup Section. Set
the “Laser sensor model” to one of the listed
values.

8000 7 L* Inspect: Max Shift The joint was detected outside of the allowable
Exceeded distance. This limit is designed to prevent false
detections which could lead to a robot collision.
If you are confident that the detected point is
valid, then you can increase the “Max Shift
Amount” argument of the L*-SF-INSPECT
macro.

8000 9 L* Inspect: No Joint The laser sensor was unable to locate a valid
Detected joint profile. Open the Weldcom PC software
and edit the joint profile to properly detect your
weld joint.

8000 10 L* Inspect: Z Over Limit The Z coordinate of the joint’s Tracking Point
was over the allowable limit. The allowable
limit is configured in the joint profile using the
Weldcom PC software.

8000 11 L* Inspect: Y Over Limit The Y coordinate of the joint’s Tracking Point
was over the allowable limit. The allowable
limit is configured in the joint profile using the
Weldcom PC software.

8000 12 L* Inspect: Gap Over The gap in the joint was over the allowable
Limit limit. The allowable limit is configured in the
joint profile using the Weldcom PC software.

8000 13 L* Inspect: Mismatch The mismatch in the joint was over the
Over Limit allowable limit. The allowable limit is
configured in the joint profile using the
Weldcom PC software.

8000 14 L* Inspect: Area Over The area in the joint was over the allowable
Limit limit. The allowable limit is configured in the
joint profile using the Weldcom PC software.

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MotoEye™ SF Appendix C
C.1 Alarm List

Table C-1: v2.4.0 and Above

Alarm Code Subcode Alarm Name Counter Measure

8000 15 L* Inspect: Normal Over The joint normal angle was over the allowable
Limit limit. The allowable limit is configured in the
joint profile using the Weldcom PC software.

8000 18 MotoEye L*: Internal Please reboot the robot controller and laser
Com Error sensor. If you continue to receive this error,
please contact Yaskawa support.

8006 5 Sensor Error Code The robot has received an error code from the
Servo Robot laser sensor. Please use the
Weldcom PC software to resolve the error in
the sensor.
The specific error code can be found in the
robot M registers:
Laser 1: M483
Laser 2: M485
Laser 3: M487
Laser 4: M489
The most common error occurs when you
specify a joint profile number that doesn’t exist
in the sensor.

8007 1 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Set for the macro instruction and set the argument
TeachMode to 0 or 1 “AutoTeach” to a value of 0 or 1.

8007 2 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set additional macro job and scroll to the Setup Section. Set
scan# between 0-5 the number of additional scans to a value
between 0 and 5

8007 3 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set fail retry macro job and scroll to the Setup Section. Set
scan# between 0-5 the number of additional scans to a value
between 0 and 5

8007 4 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Set alarm for the macro instruction and set the argument
mode to 0 or 1 “Alarm on failure” to a value of 0 or 1.

8007 5 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Bvar# for for the macro instruction and set the
Status and Task # Same arguments for “WeldCom Task #” and “Status
Msg Bvar#” to be different values.

8007 6 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Set status for the macro instruction and set the argument
Bvar# between 0 - 99 “Status Msg Bvar#” to a value between 0 and
99.

8007 7 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Set Gap for the macro instruction and set the argument
Dvar# between 0 - 99 “Gap Size Dvar#” to a value between 0 and 99.

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MotoEye™ SF Appendix C
C.1 Alarm List

Table C-1: v2.4.0 and Above

Alarm Code Subcode Alarm Name Counter Measure

8007 9 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Set for the macro instruction and set the argument
MaxShiftAmount “Max Shift Amount” to a value between 0 and
between0-25mm 25.

8007 10 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set Y-offset macro job and scroll to the Setup Section. Set
between -25 to 25mm the “Nominal Y distance” to a value between -
25 and 25.

8007 11 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set Z-offset to macro job and scroll to the Setup Section. Set
allowable range the “Nominal Z distance” to a value within the
range described in the Setup Section. The
valid range varies based on the selected
sensor model.

8007 12 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Set for the macro instruction and set the argument
ShiftVariable between 0- “Shift Variable” to a value between 0 and 127.
127

8007 13 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set U.F. # or 0 macro job and scroll to the Setup Section. Set
for BaseFrame “LI024” to a value between 0 and 63.

8007 15 L*: INVALID An argument for the L*-SF-INSPECT macro is

PARAMETERS set incorrectly. Open the DETAIL EDIT view
Message: Set WeldCom for the macro instruction and set the argument
task # between 0-64 “WeldCom Task #” to a value between 0 and
64.

8007 16 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set Tool # macro job and scroll to the Setup Section. Set
between 0-63 the “Laser Tool File #” to a value between 0
and 63.

8007 17 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set Max Shift macro job and scroll to the Setup Section. Set
Condition 0-2 the “Maximum shift behavior” to a value
between 0 and 2.

8007 18 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set Pvar macro job and scroll to the Setup Section. Set
Reset Condition 0 or 1 “LB014” to either 0 or 1.

8007 21 L*: INVALID An item in the setup section of the L*-SF-

PARAMETERS INSPECT macro is set incorrectly. Edit the
Message: Set PRINT log macro job and scroll to the Setup Section. Set
condition to 0-1 “Print log to TERMINAL” to either 0 or 1

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MotoEye™ SF Appendix C
C.1 Alarm List

Table C-1: v2.4.0 and Above

Alarm Code Subcode Alarm Name Counter Measure

8008 2 MotoEyeSF: Set param Please set robot parameter S2C541=0.

S2C541=0

8008 3 MotoEyeSF: Set param Please set robot parameter S2C542=0.

S2C542=0

8008 4 MotoEyeSF: Set param Please set robot parameter S2C1103=2.

S2C1103=2

8008 5 MotoEyeSF: Set param Please set robot parameter S2C1117=1.

S2C1117=1

8008 7 Set param S3C1192 >= Please set robot parameter

1000000 S3C1192=1,000,000 or greater.

C.1.2 v2.3.0 and Below Alarm List

Table C-2: v2.3.0 and Below

Alarm Code Alarm Subcode Alarm Name Counter Measure

8000 3 Transactions out of Sync Reboot the DX Robot Controller and laser
sensor. If the problem persists, try limiting the
number of other devices on the local Ethernet
network.

8000 5 Sensor Communication Use the Servo Robot Weldcom Software to

Error ensure requested task number is configured in
the sensor. Reboot the DX Robot Controller
and laser sensor. If the problem persists,
please contact Yaskawa Customer Support.

8000 6 Polling out of Sync Increase the value of M Register 358 to 2500,
then Reboot the DX Controller. If problem
persists, contact Yaskawa Customer Support.

8002 2 Could not connect to Check all network connections on the local
sensor Ethernet network. Try to “ping” both the sensor
and the DX Robot Controller.
Check String(s) variables S096 - S099 to
ensure the IP address of the sensor is saved in
the corresponding variable.
Reboot DX Robot Controller and laser sensor.
If problem persist, contact Yaskawa Customer
Support. Please provide information on the last
action performed and prior to the alarm.

C-4 161204-1CD 64 of 65
MOTOEYETM SF
SYSTEM MANUAL
For DX100 or DX200 Controller

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802

YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Europe GmbH Robotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10

YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199

PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

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