Control information
Control information from the robot to the welding system is transmitted as parameters and individual bits (signals) in the fieldbus control table.
Control parameters
| Parameter | Parameter value | Raw value | Description |
|---|---|---|---|
| WireFeedSpeed |
0.5 ... 25.0 m/min, step 0.1 |
0 ... 250 | In online control mode: - WireFeedSpeed controls the wire feed speed in applicable processes. - Current controls the current in 1-MIG + WisePenetration, and Pulse + WisePenetration combinations. - PlateThickness controls the plate thickness in MAX Position process. |
| Current | 0 ... 1024 A | 0 ... 1024 | |
| PlateThickness | 0.0 ... 50.0 mm, step 0.1 | 0 ... 500 | |
| Voltage | 8.0 ... 46.0 V, step 0.1 | 80 ... 460 | Controls the welding voltage in manual MIG process in online control mode. |
| FineTuning | -10.0 ... +10.0, step 0.1 | 0 ... 200 |
In online control mode, FineTuning controls: - fine tuning in synergic welding processes - the corresponding Wise/MAX parameter in Wise/MAX process. |
| MemoryChannel | 0 ... 199 | 0 ... 199 | Controls the active memory channel. |
| Dynamics | -10 ... +10 |
0 ... 20 | Controls the dynamics for the synergic welding processes in online control mode. Dynamics controls the short circuit behavior of the arc. The lower the value the softer the arc, the higher the value the
rougher the arc. (Not available with pulse, double pulse, WiseRoot+, MAX Cool or MAX Speed processes.) |
| RobotTravelSpeed | 0 ... 65535 mm/min | 0 ... 65535 | Sets the welding travel speed of the robot for heat input calculation shown in AX Manager. |
| PostCurrent | -30 ... + 30 | 0 ... 60 | Controls the post current in online control mode. Post current setting affects the wire length at the weld end, for example to prevent the wire from stopping too close to the weld pool. This also enables the optimum wire length for the start of the next weld. |
Control bits
| Control bit | State 0 | State 1 | Description |
|---|---|---|---|
| StartWelding | Welding / simulation OFF | Welding / simulation ON | Controls the welding cycle. In the simulation mode, this controls the simulation cycle. |
| SimulationMode | No simulation mode: Normal welding | Simulation mode: Simulated welding (no arc is lit) | Turns the simulation ON and OFF. Note: The arc parameter must be set to 'Select at robot' in AX Manager (refer to Robot settings). |
| WireInchForward | Wire inch forward OFF | Wire inch forward ON | Drives the filler wire forward. The wire feed speed is 1.0 m/min for 2 seconds, after which it accelerates to the wire feed speed set in the Tools view (refer to Tools). If the set wire feed speed is below 1.0 m/min, wire feeding starts and continues at that speed. |
| WireInchBackward | Wire inch backward OFF | Wire inch backward ON | Drives the filler wire backwards. The wire feed speed is 1.0 m/min for 2 seconds, after which it accelerates to the wire feed speed set in the Tools view (refer to Tools). If the set wire feed speed is below 1.0 m/min, wire feeding starts and continues at that speed. |
| GasBlow | Gas valve closed | Gas valve open | Controls the shielding gas valve. If the setting 'Pre and post gas control' is set to 'Select at robot' (refer to Robot settings), the robot can override the pre and post gas times set in a memory channel. For more information, refer to Pre and post gas control. |
| AirBlow | Air valve closed |
Air valve open | Controls the compressed air valve. The air valve cannot be controlled during welding or simulation. |
| TouchSensorToolSel | Filler wire is used for touch sensing | Gas nozzle is used for touch sensing | Controls the choice of whether the filler wire or gas nozzle is used for touch sensing. Note: The touch sensor tool must be set to 'Select at robot' in AX Manager (refer to Robot settings). |
| TouchSensorOn | Touch sensor OFF | Touch sensor ON | Sets the touch sensor power source and the touch tool on. The touch sensing voltage depends on the user settings in AX Manager (refer to Robot settings). |
| OnlineControl | Channel control (parameter values from memory channel are used) | Online control (robot controls certain parameters) | Enables robot-controlled values for certain parameters. In online control mode, the parameter values in the active memory channel are overridden. In channel control mode, the values from the active memory channel are used. For more information, refer to Online control. |
| ErrorReset | (No effect) | Rising edge in signal (0 -> 1): Error reset | Resets the ErrorNumber value and the Error signal to zero on the rising edge of the signal when no errors are active in the system. |
| Watchdog | Falling edge in signal (1 -> 0): Watchdog timer is reset | Rising edge in signal (0 -> 1): Watchdog timer is reset | Resets the watchdog timer in the system on each watchdog bit transition. If the watchdog timer is not reset in 0.5 s intervals, the welding system gives a watchdog error. To enable generation of watchdog errors, the watchdog parameter must be set to ON in AX Manager (refer to Robot settings). The bit is also provided as a loopback bit back to the robot (if available in the fieldbus control table) even when the watchdog parameter is OFF. |
| HotStartOn | Hot start OFF | Hot start ON | Sets the hot start function ON or OFF in online control mode. For more information, refer to Welding parameters. |
| CraterFillOn | Crater fill OFF | Crater fill ON | Sets the crater fill function ON or OFF in online control mode. For more information, refer to Welding parameters. |
| DigitalOutput [1…16] | Digital output is inactive | Digital output is active | Sets the digital output active or inactive. To use digital outputs 1…8, the DIO (Digital Input/Output) card must be installed in the add-on card slot 1. To use digital outputs 9…16, the DIO card must be installed in the add-on card slot 2. |
| RobotReadyToWeld | Robot is ready to start welding | Robot is not ready to start welding | Safeguards the StartWelding bit so that welding cannot be started if the robot is not ready.
If this bit is not available in the selected fieldbus control table, the robot is assumed to be always ready to weld. This bit must be present in the fieldbus control table for the safeguard to work. |
| WireStuckCheck | Wire stuck detection is OFF | Start wire stuck check | Starts the wire stuck check to detect if the filler wire is stuck to the weld. The ‘Wire stuck detection’ setting must be set to ‘Select at robot’ for this control bit to work. (Refer to Robot settings). |
