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A7 MIG Welder
© Kemppi Oy 2017
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OPERA
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4.7 Collision sensor
For information on connecting and configuring the collision sensor, see the A7 MIG
Welder Integration guide.
The collision sensor is a module mounted between a robot arm and a welding torch.
It protects the torch neck from bending and breaking on collision to an obstacle. The
collision detection is usually based on micro switches or optical switches which act on the
collision. The information about the detection is passed to the robot that uses it to stop
motion immediately to prevent any damage.
In the A7 MIG Welder the collision sensor signal is read by the wire feeder and the
information is passed to the robot by the welding system. In addition, a collision causes
always the Error 53 Collision detected in the welding system. When the error occurs, the
power source stops welding immediately.
Fieldbus
1
3
5
4
2
Figure 4.25 Collision sensing system
1. Collision sensor
2. Fieldbus / Digital robot interface
3. Wire feeder control cable
4. Configuration using web user interface or setup panel
5. Peripheral connector
The collision sensor is mounted to the robot arm, and it is a mounting point for the
welding torch (see
Figure 4.26, “Collision sensor mounting”
).
1
2
3
4
5
Figure 4.26: Collision sensor mounting
1. Robot arm
2. Collision sensor
3. Collision signal cable
4. Torch suspension
5. Torch neck
The collision sensor input hardware is located in the wire feeder. There is a 10-pin
peripheral connector in the front panel of the wire feeder. The collision sensor signal is
available in the pin E, and the ground for the signal is in the pin H. See the
A7 MIG Welder
Integration guide
for more information about connecting the collision sensor.
