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9.3
Output data I/O signals from the welding equipment to the
robot controller
Arc acknowledge (Cable no 25)
The signal is activated after established welding start if the voltage and current
strength lie within weldable limits. The signal disappears if welding cannot be
established.
The criterion for establishing a welding arc is that the process control has passed the
start- procedure, which means that only a short circuit is not sufficient to meet the
criteria. Normal delay from the first contact, which is acknowledged by the welding
arc (wire feed time for this after the first contact is established ) is in the range of 2 to
20 ms. If there is a poor start to the welding arc the "Arc acknowledge" is further
delayed.
Touch sense response (Cable no 26)
This signal indicates contact in the welding circuit, i.e. that the wire is in contact with
the workpiece. To obtain "touch sense response" the "touch sense" input signal must
be activated.
Collision detect (Cable no 26)
The signal comes via the internal CAN bus from the feeding mechanism (RoboFeed).
The signal indicates that the robot's breaker has activated. The interface activates a
relay which breaks two safety loops from the robot, at which the robot orders a quick
stop of both robot and the welding equipment.
The output is high when the welding gun breaker is tripped (the signal is sent to the
robot).
Machine error (Cable no 27)
The signal is low (0V) when an error has been detected in the welding equipment.
Weld busy (Cable no 28)
This signal indicates when the welding equipment is occupied with welding. The
signal can be configurated in the U82 I/O configuration menu.
Remote active (Cable no 29)
Remote active is activated when remote is chosen in U8
General stop (Cable no 30-33)
Can be used as an electrical stop, to stop the servo motors on the robot, when
collision detect signal is low (0V).
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