Manual Setup of Mig Devicenet

MIGATRONIC ROBOT SETUP
FANUC – DEVICENET – MIG/MAG
SETUP MANUAL
50115014 Valid from 2020 week 19

Dansk...................................................................3
English...............................................................15
2
Indholdsfortegnelse
Klargøring af strømkilden..........................................................................4
Opsætning af robotten som Devicenet scanner.......................................4
Definer Device..............................................................................................5
Tilføj Device til scanneren...........................................................................6
Hold analoge værdier efter endt svejsning...............................................7
Indstil I/O til manuel opsætning.................................................................7
Konfigurer digitale I/O................................................................................8
Konfigurer Weld I/O.....................................................................................9
Skaler analoge kanaler til svejsning........................................................10
Konfigurer analoge I/O..............................................................................11
Konfigurer Group I/O.................................................................................12
Tips..............................................................................................................13
Background Logic...................................................................................13
Svejseprogrammer.................................................................................14
3
Opsætning af Migatronic RCI² på Fanuc Robot Version 1.0
Klargøring af strømkilden
Inden opsætning af robotten skal strømkilden være monteret med interface, wirefeeder og ANYBUS
modul for at kunne kommunikere med strømkilden.
Vælg interface konfigurationsfil 10010205, hvor svejsespænding og svejsestrøm styres fra robotten.
Indlæs konfigurationsfilen i interfacet, og indstil Device adresse (MAC ID) = 10.
Kommunikationshastighed indstilles til AUTO. Se RCI² manual for yderligere information om dette.
Opsætning af robotten som Devicenet scanner
Tryk MENU -> SETUP -> I/O -> Devicenet

Placer cursoren på Board 1 og tryk på Detail (F4).
Indtast MAC-Id = 2
Vælg Baud-rate = 125 kBaud

Vælg Board auto-restart = ON
Tryk på Prev.
4
Definer Device
Tryk på DEF-DEV (F3). Tryk på Next. Tryk ADD_DEF (F2).
Indtast følgende parametre,
som findes i EDS filen for AnyBus modulet:.

Device Name: Sigma
Comment: Migatronic
Vendor ID: 90
Device Type: 0
Product Code: 98
I/O Mode: POLL
Størrelsen af I/O bytes læses i dokumentationen fra

konfigurationsfilen.
Alle I/O kan lægges ud som digitale I/O, men her er
valgt at oprette 4 analoge input og 3 analoge output:
Digital inputs: 96
Digital outputs: 96
Analog inputs: 4
Analog outputs: 3
COS/CYC Ack: YES
Analog First: YES
Input Data offset (bytes): 0
Tryk Verify (F2) for at kontrollere opsætningen.
Tryk Prev for at forlade menuen. Tryk på BD-LIST (F2).
5
Tilføj device til scanneren

Placer cursoren på Board 1 – Rack 81.
Tryk på DEV-LIST (F2). Tryk på ADD_DEV (F2).

Indtast MAC-ID = 10.
Tryk Choice (F4) og vælg Sigma i menuen.
Tryk på Next -> Tryk på CHGDSP (F5)

Indstil følgende parametre:
Mode = POLL (Cyclic I/O Update)
Int = 10ms (I/O refresh Interval)
AR = Y (Automatic Re-connnect)
QC = N (Quick Connect)
STAT = ONLINE (Status)

Tryk på BD-LIST.
Tryk på Next.
Tryk på ONLINE (F4).
Genstart robotten og kontroller at scanneren går online.
6
Hold analoge værdier efter endt svejsning

Det kan være praktisk, at strømkilden viser den strøm, der sidst har været svejset med.
Som standard sætter en Fanuc robot de analoge værdier til 0 efter endt svejsning.
Det kan ændres ved at indstille systemvariablen $AWEPCR[1].AE_HOLD_AO = TRUE
Variablerne findes ved at trykke MENU -> NEXT -> SYSTEM -> VARIABLES
Indstil I/O til manuel opsætning

For at forhindre at robotten selv forsøger at opsætte I/O moduler, indstilles systemvariablerne:
$IO_AUTO_CFG = FALSE
$IO_AUTO_UOP = FALSE
Variablerne findes ved at trykke MENU -> NEXT -> SYSTEM -> VARIABLES
7
Konfigurer digitale I/O
Tryk MENU -> I/O -> TYPE -> DIGITAL for at gå til de digitale I/O.
Tryk CONFIG for at se konfigurationen af de digitale I/O.
Der skiftes mellem visning af Input og Output ved at trykke på F3: IN/OUT.
I/O, der hører til den Devicenet scanner, der lige er konfigureret, sidder på Rack 81.
Slotnummeret refererer til det MAC-ID, hvor kommunikationen til Migatronic strømkilden er
konfigureret. I dette eksempel er det Slot 10.
Der er konfigureret henholdsvis 96 DIGITALE Output fra robotten til interfacet og 96 DIGITALE
Input fra interfacet til robotten. Hertil kommer I/O konfigureret i det analoge område under
Devicenet opsætningen.
Det giver følgende opsætning af de digitale I/O:

Det er valgfrit, hvor de digitale I/O placeres. I dette tilfælde er der valgt at placere adresserne i
området fra DI[101] til DI[196] og fra DO[101] til DO[196].
Adresserne kan navngives ved at trykke på Next -> Detail og indtaste et variabelnavn.
Alternativt kan man logge ind på robottens webserver og anvende værktøjerne her til at indtaste
variabelnavne på adresserne.
8
Konfigurer Weld I/O

For at kunne starte en svejsning med robottens
svejseinstruktioner skal Weld I/O konfigureres.
Tryk MENU -> I/O -> TYPE -> WELD for at gå til WELD I/O.
Vælg I/O Weld IN på F3: IN/OUT, hvis ikke de allerede vises.
Arc Detect, Gas Fault, Power Fault og Wirestick tildeles
adresser som vist på billedet.
Tryk på Next -> Config og vælg Input Type DI og indtast
adressen for hvert Input.
Tryk på F3: IN/OUT for at vælge I/O Weld Out

Weld Start, Gas Start, Inch Forward og Inch Backward
tildeles adresser som vist på billedet.
Tryk på Next -> Config og vælg Input Type DO og indtast
adressen for hvert Input.
På samme måde tildeles svejseparametrene en analog adresse ved at trykke Next -> Config.
Her skal valget af adresser for de analoge kanaler harmonere med det, der indtastes under
opsætningen af de analoge I/O. Se afsnittet ”Konfigurer analoge I/O”.
De øvrige parametre i koordinatsystemet indstilles andetsteds.

Se afsnittet ”Skaler analoge kanaler til svejsning”.
9
Skaler analoge kanaler til svejsning
For at få Setpunkts-værdierne i robotten til at passe med den viste på strømkilden, skal de analoge
kanaler skaleres.
Genstart robotten i Controlled Start.
Controlled Start udføres ved at holde knapperne ”Prev” og ”Next” aktiverede mens robotten genstartes.
Herved fremkommer en menu, hvor der kan vælges Controlled Start.
Gå til systemvariablerne ved at trykke på MENU og vælge Variables.
Find systemvariablen $AWEPRR[1] og tryk Enter.
Indstil variablerne:
$VOLTAGE_CMD
$WFS_CMD
$CURRENT_CMD
$VOLTAGE_FBK
$CURRENT_FBK
som vist på billederne.
Genstart robotten ved at trykke MENU -> Start Cold.
10
Konfigurer analoge I/O
Tryk MENU -> I/O -> TYPE -> ANALOG for at gå til de analoge I/O.
Tryk CONFIG for at se konfigurationen af de analoge I/O.
Der skiftes mellem visning af Input og Output ved at trykke på F3.
Der er konfigureret henholdsvis 3 Output fra robotten til interfacet og 4 Input fra interfacet til
robotten.
Det giver følgende opsætning af de analoge I/O:
Det er valgfrit, hvor de analoge I/O placeres. Det skal blot harmonere med opsætningen under
Weld I/O.
I dette tilfælde er der valgt at placere adresserne i området fra AI[1] til AI[4] og fra AO[1] til AO[3].
11
Konfigurer Group I/O

Group I/O giver mulighed for at styre fx 8 bit som en byte eller 16 bit som et ord.
Således kan der skrives en værdi til flere bit på én gang i stedet for at styre bittene enkeltvis.
Tryk MENU -> I/O -> TYPE -> Group for at gå til Group I/O.
Tryk CONFIG for at se konfigurationen af Group I/O.
Der er konfigureret henholdsvis 6 Input fra interfacet til robotten og 4 Output fra robotten til
interfacet.
Det giver følgende opsætning af Group I/O:
Det er valgfrit, hvor Group I/O placeres. I dette tilfælde er der valgt at placere adresserne i
området fra GI[1] til GI[6] og fra GO[1] til GO[4].
Alternativt kan man logge ind på robottens webserver og anvende værktøjerne her til at indtaste
variabelnavne på adresserne.
12
Tips
Der er mange muligheder for at kontrollere parametre og indstillinger med Migatronic RCI².
For at håndtere alle disse funktioner har Migatronic nogle anbefalinger til programmøren.
Background Logic
Det anbefales at lave et program, der afvikles som ”Background Logic” (se Fanuc Arc Tool Setup and
Operations Manual for mere information om dette).
Et Background Logic program er et program, der afvikles i baggrunden, samtidig med at
svejseprogrammerne afvikles.
Nedenfor er vist et eksempel, hvor der udføres følgende:
1/ Når fejl på robotten resettes, resettes fejl på svejsemaskinen med et one-shot.
2/ Når der er nødstop på robotten, sendes Quick Stop til svejsemaskinen, for at stoppe evt.
igangværende svejsning.
3/ Når der robotten er klar, låses tastaturet på svejsemaskinen, og alle indstillinger fra robotten
opdateres på svejsemaskinen.
1: !Automatic Reset Welding Machine ;

2: IF (UO[6:Fault]),F[1:Reset Error]=(ON) ;
3: IF (!UO[6:Fault] AND F[1:Reset Error]),DO[189:Reset Error]=(ON) ;
4: IF (!UO[6:Fault] AND F[1:Reset Error]),R[200:Reset Error]=(R[200:Reset Error]+1) ;
5: IF (R[200:Reset Error]>=100),DO[189:Reset Error]=(OFF) ;
6: IF (R[200]>=100),F[1:Reset Error]=(OFF) ;
7: IF (UO[6:Fault]),R[200:Reset Error]=(0) ;
8: IF (!UO[6:Fault] AND R[200:Reset Error]>99),F[1:Reset Error]=(OFF) ;
9: ;
10: !Quick Stop = Inverse E-stop OK ;
11: DO[165:Quick Stop]=(!DI[1:Emergency Stop OK]) ;
12: ;
13: !Lock Parameters to Robot, when errors is Reset ;
14: DO[166:Lock Keyboard]=(UO[2:System ready]) ;
13
Svejseprogrammer
I toppen af hvert svejseprogram anbefales det at indsætte nogle linjer der indstiller svejseprocessen,
jobnummer i svejsemaskinen, samt om tråd, og puls skal være aktiveret.
I nedenstående eksempel udføres følgende:
1/ Wirefeeder 1 vælges.
2/ Job Mode OFF, ved at indstille job kald til 0.
3/ Process 112 vælges (gas, trådmateriale og tråddimension).
4/ Puls vælges til.
5/ DuoPlus vælges fra.
6/ Sekvens nr. 3 vælges
1: !Select Wirefeeder 1 ;
2: GO[4:WirefeederNo]=1 ;
3: !Job Mode OFF ;
4: GO[1:JobNo]=0 ;
5: !Call Process 112 ;
6: GO[2:PrgNo]=112 ;
7: !Set Pulse to ON ;
8: DO[173:Pulse Enable]=ON ;
9: !Set DuoPlus to OFF ;
10: DO[174:DuoPlus Enable]=OFF ;
11: !Select Sequence No. 3 ;
12: GO[3:SequenceNo]=3
14
Contents
Making ready the Power Source..............................................................16
Setting up the Robot as Devicenet Scanner............................................16
Defining Device..........................................................................................17
Adding Device to Scanner.........................................................................18
Holding Analog Values after Welding......................................................19
Setting I/O at Manual Setup......................................................................19
Configuring Digital I/O..............................................................................20
Configuring Weld I/O.................................................................................21
Scaling Analog Channels for Welding......................................................22
Configuring Analog I/O.............................................................................23
Configuring Group I/O...............................................................................24
Tips..............................................................................................................25
Background Logic...................................................................................25
Welding Programs..................................................................................26
15
Setting up Migatronic RCI² at Fanuc Robot Version 1.0
Making ready the Power Source

Prior to setting up the robot, the power source must be connected to interface, wire feeder and
ANYBUS module to enable communication.
Select interface configuration file 10010205, where welding voltage and welding current are
adjusted at the robot
Load the configuration file into the interface and set Device address (MAC ID) = 10.
Set communication speed at AUTO. For more information, please refer to RCI² manual.
Setting up the Robot as Devicenet Scanner
Press MENU -> SETUP -> I/O -> Devicenet

Place the cursor at Board 1 and press Detail (F4)
Enter MAC-Id = 2
Select Baud-rate = 125 kBaud

Select Board auto-restart = ON
Press Prev.
16
Defining Device
Press DEF-DEV (F3). Press Next. Press ADD_DEF (F2).
Enter the following parameters which are available
in the EDS file for the AnyBus module:

Device Name: Sigma
Comment: Migatronic
Vendor ID: 90
Device Type: 0
Product Code: 98
I/O Mode: POLL
The size of I/O bytes will appear from the

configuration file documentation.
All I/O can be created as digital I/O but in this case,
4 analog inputs and 3 analog outputs were created:
Digital inputs: 96
Digital outputs: 96
Analog inputs: 4
Analog outputs: 3
COS/CYC Ack: YES
Analog First: YES
Input Data offset (bytes): 0
Press Verify (F2) to check the setup.
Press Prev to leave the menu. Press BD-LIST (F2).
17
Adding Device to the Scanner

Place the cursor at Board 1 – Rack 81.
Press DEV-LIST (F2). Press ADD_DEV (F2).

Enter MAC-ID = 10.
Press Choice (F4) and select Sigma in the menu.
Press Next -> Press CHGDSP (F5)

Set the following parameters:
Mode = POLL (Cyclic I/O Update)
Int = 10ms (I/O refresh Interval)
AR = Y (Automatic Re-connnect)
QC = N (Quick Connect)
STAT = ONLINE (Status)

Press BD-LIST.
Press Next.
Press ONLINE (F4).
Restart the robot and check that the scanner is online.
18
Holding Analog Values after Welding

It may be practical if the power source displays the most recently used welding current.
A Fanuc robot sets the analog values at 0 by default after welding.
Set the system variable $AWEPCR[1].AE_HOLD_AO = TRUE to change it.
Press MENU -> NEXT -> SYSTEM -> VARIABLES to find the variables.
Setting I/O at Manual Setup

To prevent the robot from trying to set up I/O modules, set the system variables:
$IO_AUTO_CFG = FALSE
$IO_AUTO_UOP = FALSE
Press MENU -> NEXT -> SYSTEM -> VARIABLES to find the variables.
19
Configuring Digital I/O
Press MENU -> I/O -> TYPE -> DIGITAL to go to the digital I/O.
Press CONFIG to see the configuration of the digital I/O.
Press F3: IN/OUT to switch between display of Input and Output.
I/O, belonging to the configured Devicenet scanner, is on Rack 81. The slot number refers to the
MAC-ID where the communication to the power source is configured; in this case slot 10.
96 DIGITAL Outputs from the robot to the interface and 96 DIGITAL Inputs from the interface
to the robot respectively have been configured. Add to this I/O configured in the analog range
during Devicenet setup.
This gives the following setup of the digital I/O:

The digital I/O can be placed according to choice. In this case the addresses were placed in the
DI[101] - DI[196] and DO[101] - DO[196] ranges.
Press Next -> Detail and enter a variable name to name the addresses.
Alternatively, you can log in at the robot web server and use the tools here to enter variable names
of the addresses.
20
Configuring Weld I/O

To be able to start welding using the robot welding
instructions, the Weld I/O must be configured.
Press MENU -> I/O -> TYPE -> WELD to go to WELD I/O.
Select I/O Weld IN at F3: IN/OUT, if they are not already
displayed.
Give Arc Detect, Gas Fault, Power Fault and Wirestick
addresses as illustrated.
Press Next -> Config, select Input Type DI and enter the
address for each Input.
Press F3: IN/OUT to select I/O Weld Out

Give Weld start, Gas start, Inch forward and Inch backward
addresses as illustrated.
Press Next -> Config, select Input Type DO and enter the
address for each Input.
In the same way, welding parameters are given an analog address by pressing Next -> Config.
Here the choice of addresses for the analog channels must harmonise with the data entered during
setup of the analog I/O; please refer to ”Configuring Analog I/O”.
The other parameters in the co-ordinate system are to be set elsewhere.

Please refer to ”Scaling Analog Channels for Welding”.
21
Scaling Analog Channels for Welding
To ensure correspondence between robot setpoint values and power source setpoint values, the analog
channels must be scaled.
Restart the robot in Controlled Start.
Press and hold down the ”Prev” and ”Next” keys while restarting the robot and select Controlled Start in
the menu.
Press MENU and select Variables to go to the system variables.
Find the system variable $AWEPRR[1] and press Enter.
Set the variables:
$VOLTAGE_CMD
$WFS_CMD
$CURRENT_CMD
$VOLTAGE_FBK
$CURRENT_FBK
as illustrated.
Press MENU -> Start Cold to restart the robot.
22
Configuring Analog I/O
Press MENU -> I/O -> TYPE -> ANALOG to go to the analog I/O.
Press CONFIG to see the configuration of the analog I/O.
Press F3 to switch between display of Input and Output.
MAC-ID where the communicationen to the power source is configured; in this case slot 10.
3 Outputs from the robot to the interface and 4 Inputs from the interface to the robot respectively
have been configured.
This gives the following setup of the analog I/O:
The analog I/O can be placed according to choice but must harmonise with the setup under Weld
I/O.
In this case the addresses were placed in the AI[1] - AI[4] and AO[1] - AO[3] ranges.
23
Configuring Group I/O

Group I/O enables control of e.g. 8 bits as a byte or 16 bits as a word.
In this way, a value can be written to several bits at a time instead of controlling bits individually.
Press MENU -> I/O -> TYPE -> Group to go to Group I/O.
Press CONFIG to see the configuration of Group I/O.
MAC-ID where the communication to the power source is configured; in this case slot 10.
6 Input from the interface to the robot and 4 Outputs from the robot to the interface have been
configured.
This gives the following setup of Group I/O:
The Group I/O can be placed according to choice. In this case the addresses were placed in the
GI[1] - GI[6] and GO[1] - GO[4] ranges.
Alternatively, you can log in at the robot web server and use the tools here to enter variable names
of the addresses.
24
Tips
The Migatronic RCI² allows check of parameters and settings.

See recommendations to the operator below:
Background Logic
You are recommended to make and run a ”Background Logic” program (for more information, please
refer to Fanuc Arc Tool Setup and Operations manual).
A Background Logic program is run in the background simultaneously with the welding programs.
Example:
1/ When resetting errors at the robot, reset errors at the welding machine using a one-shot.
2/ In case of emergency stop at the robot, send Quick Stop to the welding machine to stop any
ongoing welding.
3/ Once the robot is ready, lock the welding machine keypad and update all settings from the robot
on the welding machine.
1: !Automatic Reset Welding Machine ;

2: IF (UO[6:Fault]),F[1:Reset Error]=(ON) ;
3: IF (!UO[6:Fault] AND F[1:Reset Error]),DO[189:Reset Error]=(ON) ;
4: IF (!UO[6:Fault] AND F[1:Reset Error]),R[200:Reset Error]=(R[200:Reset Error]+1) ;
5: IF (R[200:Reset Error]>=100),DO[189:Reset Error]=(OFF) ;
6: IF (R[200]>=100),F[1:Reset Error]=(OFF) ;
7: IF (UO[6:Fault]),R[200:Reset Error]=(0) ;
8: IF (!UO[6:Fault] AND R[200:Reset Error]>99),F[1:Reset Error]=(OFF) ;
9: ;
10: !Quick Stop = Inverse E-stop OK ;
11: DO[165:Quick Stop]=(!DI[1:Emergency Stop OK]) ;
12: ;
13: !Lock Parameters to Robot, when errors is Reset ;
14: DO[166:Lock Keyboard]=(UO[2:System ready]) ;
25
Welding Programs
You are recommended to insert lines at the top of each welding program, setting welding process,
job number in the welding machine and activating/deactivating wire and pulse.
Example:
1/ Select wire feeder 1
2/ Job Mode OFF by setting Job Call at 0
3/ Select process 112 (gas, wire material and wire dimension)
4/ Pulse ON
5/ DuoPlus OFF
6/ Select sequence no. 3
1: !Select Wirefeeder 1 ;
2: GO[4:WirefeederNo]=1 ;
3: !Job Mode OFF ;
4: GO[1:JobNo]=0 ;
5: !Call Process 112 ;
6: GO[2:PrgNo]=112 ;
7: !Set Pulse to ON ;
8: DO[173:Pulse Enable]=ON ;
9: !Set DuoPlus to OFF ;
10: DO[174:DuoPlus Enable]=OFF ;
11: !Select Sequence No. 3 ;
12: GO[3:SequenceNo]=3
26
27
DENMARK:
Main office
SVEJSEMASKINEFABRIKKEN MIGATRONIC A/S MIGATRONIC AUTOMATION A/S
Aggersundvej 33, DK-9690 Fjerritslev, Denmark Knøsgårdvej 112, DK-9440 Aabybro, Denmark
Tel. +45 96 500 600, www.migatronic.com Tel. +45 96 96 27 00, www.migatronic-automation.dk
MIGATRONIC EUROPE:
Great Britain Finland

MIGATRONIC WELDING EQUIPMENT LTD MIGATRONIC OY
21 Jubilee Drive, Belton Park, Loughborough PL 105, FI-04301 Tuusula, Finland
GB-Leicestershire LE11 5XS, Great Britain Tel. +358 0102 176 500, www.migatronic.fi
Tel. +44 01509/267499, www.migatronic.co.uk
France Holland
MIGATRONIC EQUIPEMENT DE SOUDURE S.A.R.L. MIGATRONIC NEDERLAND B.V.
Parc Avenir II, 313 Rue Marcel Merieux Ericssonstraat 2, NL-5121 ML Rijen, Holland
FR-69530 Brignais, France Tel. +31 (0)161-747840, www.migatronic.nl
Tel. +33 04 78 50 65 11, www.migatronic.fr
Italy Sweden
MIGATRONIC s.r.l. IMPIANTI PER SALDATURA MIGATRONIC SVETSMASKINER AB
Via Dei Quadri 40, IT-20871 Vimercate (MB), Italy Nääs Fabriker, Box 5015,S-448 50 Tollered, Sweden
Tel. +39 039 9278093, www.migatronic.it Tel. +46 031 44 00 45, www.migatronic.se
Norway Germany
MIGATRONIC NORGE AS MIGATRONIC SCHWEISSMASCHINEN GMBH
Industriveien 6, N-3300 Hokksund, Norway Sandusweg 12, D-35435 Wettenberg-Launsbach, Germany
Tel. +47 32 25 69 00, www.migatronic.no Tel. +49 0641/98284-0, www.migatronic.de
Czech Republic
MIGATRONIC CZ a.s.
Tolstého 451, CZ-415 03 Teplice 3, Czech Republic
Tel. +420 411 135 600, www.migatronic.cz
Hungary
MIGATRONIC KERESKEDELMI KFT.
Szent Miklós u. 17/a, H-6000 Kecskemét, Hungary
Tel. +36 76 505 969 www.migatronic.hu
MIGATRONIC ASIA:
China India
SUZHOU MIGATRONIC WELDING TECHNOLOGY CO. LTD MIGATRONIC INDIA PRIVATE LTD.
#4 FengHe Road, Industrial Park, CH-SuZhou, China No.22 & 39/20H Sowri Street,
Tel. +86 0512-87179800, www.migatronic.cn IN-Alandur, Chennai – 600 016, India
Tel. +91 44 2233 0074 www.migatronic.in

Manual Setup of Mig Devicenet

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Manual Setup of Mig Devicenet

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MIGATRONIC ROBOT SETUP

FANUC – DEVICENET – MIG/MAG

50115014 Valid from 2020 week 19

Opsætning af robotten som Devicenet scanner.......................................4

Tilføj Device til scanneren...........................................................................6

Hold analoge værdier efter endt svejsning...............................................7

Indstil I/O til manuel opsætning.................................................................7

Konfigurer digitale I/O................................................................................8

Konfigurer Weld I/O.....................................................................................9

Skaler analoge kanaler til svejsning........................................................10

Konfigurer analoge I/O..............................................................................11

Konfigurer Group I/O.................................................................................12

Opsætning af robotten som Devicenet scanner

Tryk MENU -> SETUP -> I/O -> Devicenet

Vælg Baud-rate = 125 kBaud

Størrelsen af I/O bytes læses i dokumentationen fra

Tryk Prev for at forlade menuen. Tryk på BD-LIST (F2).

Tilføj device til scanneren

Tryk på DEV-LIST (F2). Tryk på ADD_DEV (F2).

Tryk på Next -> Tryk på CHGDSP (F5)

Genstart robotten og kontroller at scanneren går online.

Hold analoge værdier efter endt svejsning

Indstil I/O til manuel opsætning

Konfigurer digitale I/O

Konfigurer Weld I/O

Tryk på F3: IN/OUT for at vælge I/O Weld Out

De øvrige parametre i koordinatsystemet indstilles andetsteds.

Skaler analoge kanaler til svejsning

som vist på billederne.

Genstart robotten ved at trykke MENU -> Start Cold.

Konfigurer analoge I/O

Konfigurer Group I/O

1: !Automatic Reset Welding Machine ;

Making ready the Power Source..............................................................16

Setting up the Robot as Devicenet Scanner............................................16

Adding Device to Scanner.........................................................................18

Holding Analog Values after Welding......................................................19

Setting I/O at Manual Setup......................................................................19

Configuring Digital I/O..............................................................................20

Configuring Weld I/O.................................................................................21

Scaling Analog Channels for Welding......................................................22

Configuring Analog I/O.............................................................................23

Configuring Group I/O...............................................................................24

Making ready the Power Source

Setting up the Robot as Devicenet Scanner

Press MENU -> SETUP -> I/O -> Devicenet

Select Baud-rate = 125 kBaud

The size of I/O bytes will appear from the

Press Prev to leave the menu. Press BD-LIST (F2).

Adding Device to the Scanner

Press DEV-LIST (F2). Press ADD_DEV (F2).

Press Next -> Press CHGDSP (F5)

Restart the robot and check that the scanner is online.

Holding Analog Values after Welding

Setting I/O at Manual Setup

Configuring Digital I/O

Configuring Weld I/O

Press F3: IN/OUT to select I/O Weld Out

The other parameters in the co-ordinate system are to be set elsewhere.

Scaling Analog Channels for Welding

Set the variables:

Press MENU -> Start Cold to restart the robot.

Configuring Analog I/O