Operation Manual

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A7 MIG Welder© Kemppi Oy 2018 1804
INTEGRATION GUIDE
5.1.4 General robot settings
Interface mode
Consult Section 5.2, “The digital robot interface.”
Voltage scaling
Consult Section 5.2, “The digital robot interface.”
Wire feed speed scaling
Consult Section 5.2, “The digital robot interface.”
Current scaling
Consult Section 5.2, “The digital robot interface.”
Gun type
Select the type of the welding torch on the basis of the
torch installed.
5.1.5 Touch sensor settings
Output voltage
Set the desired initial voltage, between +50 and +200 V.
This parameter is normally changed during operation and
depends on the work piece surface properties.
Touch tool
Force the touch sensor to the WELDING WIRE or GAS
NOZZLE value, or let the selection be made by the robot
during operation by selecting the SELECT AT ROBOT
alternative.
Not all interface modes support the touch tool’s
selection by a robot. For more information, see Section 5.2,
“The digital robot interface”.
Fast output polarity
If you have connected the touch sensor status fast output
to the robot, select either LOW-ACTIVE or HIGH-ACTIVE
polarity for the output signal. If you are not using the fast
output, this parameter is not required.
5.1.6 Collision sensor settings
Collision sensor
If you have installed a collision sensor in the system, the
sensor parameter’s value should be ON. Otherwise, set this
parameter to be OFF, to prevent possible false detection.
Switch type
Select the type of the switch used in your collision sensor.
The switch can be either OPENING or CLOSING. See Figure
3.8, “Opening-action and closing-action switches.”
Output polarity
Select either LOW-ACTIVE or HIGH-ACTIVE polarity for the
collision detected signal in the digital robot interface. This
aects the behavior of the function CollisionDetected
in the digital robot interface. For more information, see
Chapter 6, “Digital robot interface I/O reference”.
5.1.7 Emergency stop settings
The two emergency inputs are identical in their setting
options, each of which may be adjusted individually. The
inputs don’t depend on each other.
Emergency stop / Gate door switch
If you have installed emergency stop and/or gate door
switch circuits for the system, set the emergency inputs
to be ON accordingly. Otherwise, ensure that these
parameters are set to OFF in order to prevent possible
false detection.
Switch type
Indicate the type of the switch used in your emergency
stop / gate door switch conguration. If you are using an
opening-action switch, select OPENING, and for a closing-
action switch select CLOSING (see Figure 3.15, “Connecting
the emergency input switches”).
Line level
Set the level of the input line used in your emergency stop
/ gate door switch conguration. If you have connected
the emergency input switch between pins B and C, select
0 V. Otherwise, if you have connected the switch between
pins A and B, select 24 V (see Figure 3.15, “Connecting the
emergency input switches”).