Fieldbus control table
This section describes the fieldbus control table for Modbus TCP and EtherNet/IP connections.
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EtherNet/IP connection is possible with the fieldbus converter (refer to Connecting fieldbus converter (optional)). |
For information on setting the control bit states for starting welding, refer to Setting control bit states to start welding.
Control parameters (from cobot to welding system)
| Register (word) | Coil | Data type | Bit | Control parameter |
|---|---|---|---|---|
| 0 | 0 | Bit | 0 | StartWelding |
| 1 | Bit | 1 | RobotReadyToWeld | |
| 2 | Bit | 2 | OnlineControl | |
| 3 | Bit | 3 | GasBlow | |
| 4 | Bit | 4 | WireInchForward | |
| 5 | Bit | 5 | WireInchBackward | |
| 6 | Bit | 6 | SimulationOn | |
| 7 | Bit | 7 | RobotControlMode | |
| 8 | Bit | 8 | Watchdog | |
| 9 | Bit | 9 | HotStartOn | |
| 10 | Bit | 10 | CraterFillOn | |
| 11 | Bit | 11 | TouchSensorOn | |
| 12 | Bit | 12 | (Not in use) | |
| 13 | Bit | 13 | (Not in use) | |
| 14 | Bit | 14 | (Not in use) | |
| 15 | Bit | 15 | (Not in use) | |
| 1 | UINT16 | MemoryChannel | ||
| 2 | UINT16 | WireFeedSpeed/Current/PlateThickness | ||
| 3 | UINT16 | Voltage/FineTuning | ||
| 4 | UINT16 | (Not in use) | ||
| 5 | UINT16 |
Dynamics | ||
| 6 | UINT16 |
PostCurrent | ||
| 7 | UINT16 |
(Not in use) |
||
| 8 | UINT16 |
(Not in use) |
||
| 9 | UINT16 |
(Not in use) | ||
| 10 | UINT16 |
(Not in use) | ||
| 11 | UINT16 |
(Not in use) | ||
Status parameters (from welding system to cobot)
| Register (word) | Discrete input | Data type | Bit | Status parameter |
|---|---|---|---|---|
| 0 | 0 | Bit | 0 | WeldingSystemReady |
| 1 | Bit | 1 | PowerSourceReady | |
| 2 | Bit | 2 | ArcOn | |
| 3 | Bit | 3 | CycleOn | |
| 4 | Bit | 4 | WeldingVoltageAdjustOn | |
| 5 | Bit | 5 | Error | |
| 6 | Bit | 6 | WorkMemoryChannel | |
| 7 | Bit | 7 | WatchdogTriggered | |
| 8 | Bit | 8 | WeldingSystemAccess | |
| 9 | Bit | 9 | OnlineControlValuesValid | |
| 10 | Bit | 10 | TouchSensed | |
| 11 | Bit | 11 | (Not in use) | |
| 12 | Bit | 12 | (Not in use) | |
| 13 | Bit | 13 | (Not in use) | |
| 14 | Bit | 14 | (Not in use) | |
| 15 | Bit | 15 | (Not in use) | |
| 1 | UINT16 | TAST | ||
| 2 | UINT16 | WeldingWireFeedSpeed | ||
| 3 | UINT16 | WeldingVoltage | ||
| 4 | UINT16 | WeldingCurrent | ||
| 5 | UINT16 | ErrorNumber | ||
| 6 | UINT16 | UserNumber | ||
| 7 | UINT16 | ActiveMemoryChannel | ||
| 8 | UINT16 | WeldingArcVoltage | ||
| 9 | UINT16 | WatchdogTimeoutValue | ||
| 10 | UINT16 | WeldingProcess | ||
| 11 | UINT16 | TravelSpeed | ||
Control information
Control information from the cobot to the welding system is transmitted as parameters and individual bits (signals) in the fieldbus control table.
Control parameters:
| Parameter name | Parameter value | Raw (bus) value | Description |
|---|---|---|---|
| WireFeedSpeed | 0.5 ... 25.0 m/min | 5 ... 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/FineTuning |
Voltage: 8.0 ... 46.0 V FineTuning: -10...+10 |
Voltage: 80 ... 460 FineTuning: 0...200 |
Controls the welding voltage for the MIG process in online control mode. For other welding processes FineTuning function is used instead. |
| MemoryChannel | 0 ... 100 | 0 ... 100 | 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.) |
| 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 name | Bit state 0 | Bit state 1 | Requirements | Description |
|---|---|---|---|---|
| StartWelding | Welding / simulation OFF | Welding / simulation ON |
RobotControlMode = 1 and WeldingAllowed = 1 | Starts the welding sequence. If the simulation mode is ON (SimulationOn = 1), this controls the simulation sequence instead. |
| RobotReadyToWeld | Cobot is not ready to weld (StartWelding disabled) | Cobot is ready to weld (StartWelding enabled) | RobotControlMode = 1 | Safeguards the StartWelding bit so that welding cannot be started if the cobot is not ready. |
| OnlineControl | Channel control (values from memory channel are used) | Online control (cobot controls certain welding parameters) | RobotControlMode = 1 | Enables cobot-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. |
| GasBlow | Gas blow OFF | Gas blow ON | RobotControlMode = 1 | Opens the shielding gas valve for testing / purging purposes. During welding the gas valve is controlled automatically, so during welding this bit has no effect. |
| WireInchForward | Wire inch forward OFF | Wire inch forward ON | RobotControlMode = 1 | Feeds the welding wire forward. The wire is fed at the speed of 1.0 m/min for 3 seconds and then 5.0 m/min. |
| WireInchBackward | Wire inch backward OFF | Wire inch backward ON | RobotControlMode = 1 | Feeds the welding wire backwards. The wire is fed at the speed of 1.0 m/min for 3 seconds and then stepped to 5.0 m/min. |
| SimulationOn | No simulation mode: Normal welding sequence | Simulation mode: Simulated welding sequence (arc is not lit) | RobotControlMode = 1 | Turns the welding simulation mode ON and OFF. During simulated welding the arc is not established. |
| RobotControlMode | Cobot control mode disabled. Cobot cannot control the welding equipment, welding gun trigger is enabled. | Cobot control mode enabled. Cobot can control the welding equipment, the welding gun trigger is disabled. | Defines whether the cobot has control of the welding equipment. When the cobot controls the welding equipment, the welding gun trigger is disabled. | |
| Watchdog | - | - | RobotControlMode = 1 | If you set a value for the watchdog timeout parameter (in the Kemppi Cobotics application), the cobot must toggle the watchdog control bit between states 1 and 0 continuously when the cobot control mode is enabled. If the cobot stops toggling, a watchdog timeout occurs (WatchdogTriggered bit state = 1), and the welding system stops and gives a watchdog error. |
| HotStartOn | Hot start OFF | Hot start ON | Sets the hot start function ON or OFF in online control mode. Hot start is a welding function that uses higher or lower wire feed speed and welding current at the start of the weld. After the hot start period the current changes to normal welding current level. This facilitates the start of the weld especially with aluminum materials. | |
| CraterFillOn | Crater fill OFF | Crater fill ON | Sets the crater fill function ON or OFF in online control mode. When welding with high power, a crater is usually formed at the end of the weld. The Crater fill function decreases the welding power / wire feed speed at the end of the welding job so that the crater can be filled using a lower power level. | |
| TouchSensorOn | Touch sensor OFF | Touch sensor ON | RobotControlMode = 1 | Sets the touch sensor ON/OFF. |
Status information
Status information from the welding system to the robot is transmitted as parameters and individual bits (signals) in the fieldbus control table.
Status parameters:
| Parameter name | Parameter value | Raw (bus) value | Description |
|---|---|---|---|
| WeldingWireFeedSpeed | 0 ... 25.5 m/min | 0 ... 255 | Measured welding wire feed speed. |
| WeldingVoltage | 0 ... 6553.5 V | 0 ... 65535 | Measured welding (terminal) voltage. |
| WeldingCurrent | 0 ... 65535 A | 0 ... 65535 | Measured welding current. |
| TAST | 0 ... 8191 | 0 ... 8191 | TAST (Through Arc Seam Tracking) value. TAST is used for providing precise welds depending on specific weld characteristics or in setups where the position of the work piece varies during repetitive tasks. |
| ErrorNumber | 0 ... 65535 | - | System error / warning number. |
| UserNumber | 0 ... 10 | 0 ... 10 | Current user number. |
| ActiveMemoryChannel | 0 ... 99 | 0 ... 99 | Current memory channel number. |
| WeldingArcVoltage | 0 ...6553.5 V | 0 ... 65535 | Measured welding arc voltage. |
| WatchdogTimeoutValue | 0 ... 65535 | 0 ... 65535 | Watchdog timeout defined by the user. |
| WeldingProcess | 0 ... 18 0 = Unknown 1 = MIG 2 = 1-MIG 3 = Pulse MIG 4 = DPulse MIG 9 = WiseRoot 10 = WiseThin 11 = WiseRoot+ 14 = WiseThin+ 16 = MAX Speed 17 = MAX Cool 18 = MAX Position | 0 ... 18 | Current welding process. |
| TravelSpeed | 0 ... 65535 mm/min | 0 ... 65535 | The travel speed recommended by Weld Assist (the value is 0 when not applicable). |
Status bits:
| Status bit name | Bit state 0 | Bit state 1 | Description |
|---|---|---|---|
| WeldingSystem Ready | Welding system is not ready | Welding system is ready | Indicates whether the welding system is ready to be used for welding. The system is ready when all necessary devices are present and no error is active. |
| PowerSourceReady | Power source is busy | Power source is ready for a new weld | Indicates whether the power source is ready to start a new weld. The power source is ready when the robot has not requested welding and crater fill is not ongoing. |
| ArcOn | No welding arc | Welding arc established | Indicates whether welding arc is established. |
| CycleOn | Welding cycle not active | Welding cycle active | Indicates whether welding cycle is ongoing. The welding cycle includes also pre gas, creep start, crater fill and post gas phases. |
| WeldingVoltageAdjustOn | Voltage/FineTuning parameter controls the fine tuning value | Voltage/FineTuning parameter controls the welding voltage value | Describes whether the Voltage/FineTuning parameter controls the welding voltage or the fine tuning value. |
| Error | No error or only a warning | Error in welding system | Indicates whether there is an error in the system that prevents welding. |
| WorkMemoryChannel | Normal memory channel | Working memory channel | Indicates whether the current channel is a working channel. |
| WatchdogTriggered | OK | Watchdog timeout has occurred | Bit state 1 indicates that the watchdog timeout has been exceeded and the welding system has stopped. |
| WeldingSystemAccess | No access (the welding parameters are read-only) | Full access to welding system parameters | Indicates whether the Modbus TCP server has access to control the welding system’s parameters. |
| OnlineControlValuesValid | - | - | Indicates when online control values are valid. |
| TouchSensed | Touch is not detected | Touch is detected | Indicates if a touch is detected between the wire and the work piece. The touch sensor must be set active with the TouchSensorOn control bit. |
