3
A7 MIG Welder
© Kemppi Oy 2020
2002
INTEGRA
TION GUIDE
6. Digital robot interface
.....................................................................
38
6.1 Control functions
....................................................................................
38
6.1.1 WireFeedSpeed ..................................................................................
39
6.1.2 Voltage .............................................................................................
39
6.1.3 FineTuning ........................................................................................
40
6.1.4 Dynamics ..........................................................................................
40
6.1.5 MemoryChannel ................................................................................
40
6.1.6 PulseCurrent ......................................................................................
41
6.1.7 PulseBaseCurrent ...............................................................................
41
6.1.8 PulseFrequency ..................................................................................
41
6.1.9 PulseLength ......................................................................................
41
6.1.10 WeldingAllowed .................................................................................
41
6.1.11 SimulationMode ................................................................................
41
6.1.12 StartWelding .....................................................................................
42
6.1.13 WireInch ...........................................................................................
42
6.1.14 WireRetract .......................................................................................
42
6.1.15 GasBlow ...........................................................................................
42
6.1.16 AirBlow.............................................................................................
42
6.1.17 TouchSensorToolSel ............................................................................
42
6.1.18 TouchSensorOn..................................................................................
42
6.1.19 OnlineControl ....................................................................................
42
6.1.20 Watchdog .........................................................................................
43
6.1.21 ErrorReset .........................................................................................
43
6.1.22 HotStartOn........................................................................................
43
6.1.23 CraterFillOn .......................................................................................
43
6.1.24 WireFeederSelect ...............................................................................
43
6.2 Status functions
.......................................................................................
44
6.2.1 WeldingCurrent .................................................................................
47
6.2.2 WeldingVoltage .................................................................................
47
6.2.3 WeldingWireFeedSpeed ......................................................................
47
6.2.4 MotorCurrent ....................................................................................
47
6.2.5 GasFlowRate......................................................................................
47
6.2.6 ErrorNumber .....................................................................................
47
6.2.7 WeldingMemoryChannel .....................................................................
48
6.2.8 TAST ................................................................................................
48
6.2.9 WeldingProcess ..................................................................................
48
6.2.10 Ready ...............................................................................................
48
6.2.11 PowerSourceReady .............................................................................
48
6.2.12 CoolingUnitOk ...................................................................................
48
6.2.13 ProgramSaved ...................................................................................
48
6.2.14 RobotHasControl ................................................................................
48
6.2.15 CycleOn ............................................................................................
48
6.2.16 ArcOn ..............................................................................................
49
6.2.17 GasFlowOk ........................................................................................
49
6.2.18 MainCurrentOn ..................................................................................
49
6.2.19 CurrentOk .........................................................................................
49
6.2.20 MotorCurrentOk .................................................................................
49
6.2.21 WFSpeedOk ......................................................................................
49
6.2.22 TouchSensed .....................................................................................
49
6.2.23 Error ................................................................................................
49
6.2.24 CollisionDetected ...............................................................................
49
6.2.25 ToleranceError ...................................................................................
50
6.2.26 WireStuck .........................................................................................
50
6.2.27 GateDoorOpen ..................................................................................
50
6.2.28 PanelLocked ......................................................................................
50
6.2.29 LocalRemote .....................................................................................
50
6.2.30 AutoManual ......................................................................................
50
6.3 Timing diagrams
.....................................................................................
51
6.3.1 Welding startup timing ........................................................................
51
6.3.2 Welding stop timing ...........................................................................
53
6.3.3 Memory channel change timing ............................................................
55
6.3.4 Online control timing ..........................................................................
56
6.3.5 Wire inch and retract timing .................................................................
57
6.3.6 Touch sensor timing ............................................................................
58
6.3.7 Emergency stop response timing ..........................................................
59
