ROBOTIC INTERFACE
2.17 DUAL PROCEDURE SWITCH COM- MAND
This is an active low output from the robot con- troller used to activate the dual procedure switch. When the Power Wave is running a dual proce- dure overlay this output is used to switch between procedures. If the output is held high by the robot controller then procedure A is active, and if the output is held low then procedure B is active.
2.18 WIRE STICK DETECT
This is a resistance measuring input to the robot controller used to detect a wire stick. The intended use for this resistance check is to mea- sure the resistance between the output terminals of the weld equipment. This is not directly possi- ble with a Power Wave because the resistance between the output studs is always 40 Ohms or less. Additional circuits have been added to allow the wire stick detect to work properly although it is not directly measuring the resis- tance between the output studs. If a resistance of approximately 100 Ohms or less is found then a wire stick error is reported by the robot con- troller.
3.INTERFACE CIRCUIT DESCRIP- TIONS
CAUTION
All of the signals between the Power Wave and the robot controller were designed to operate in a shielded cable. No surge or high frequency protection has been added to the circuitry.
3.1 ROBOT CONTROLLER ELECTRICAL CHARACTERISTICS
The following signals are referenced to the robot con- troller’s 24V supply unless otherwise noted. The total allowable load on the 24V supply is 0.7A.
The following is a brief description of the electrical characteristics, for a full description see the Fanuc electrical connections manual.
3.1.1 DIGITAL OUTPUTS |
|
Rated Voltage: | 24VDC |
Maximum Applied Voltage: | 30VDC |
Maximum Load Current: | 0.2A |
Transistor Type: | Open collec- |
| tor NPN |
3.1.2 DIGITAL INPUTS |
|
Maximum Input Voltage: | 28VDC |
High Input Voltage: | 20 to 28VDC |
Low Input Voltage: | 0 to 4VDC |
Input Impedance: | 3.3K Ohms |
Response Time: | 5 to 20mS |
3.1.3ANALOG OUTPUTS
Weld equipment analog outputs are isolated from the robot controller 24V supply.
Maximum Output Range: | 0 to 10V |
Load Impedance: | 3.3K Ohms |
| or more |
3.1.4 ANALOG INPUTS |
|
Maximum Input Range: | 0 to 10V |
3.1.5WIRE STICK DETECT
The wire stick detect output is isolated from the robot controller 24V supply.
Maximum Output Voltage: | 15VDC |
Maximum Output Current: | 85mA |
4.POWER WAVE CIRCUITS
4.1VOLTAGE COMMAND
The voltage command from the robot controller (DACH1) is directly connected to the TIG analog input on the display board of the Power Wave. This signal is not connected to the robot or control ground.
Maximum Input Range: | 0 to 10V |
Typical Zero Offset: | 0.55 to 0.65V |
Typical Range: | 9.0V |
Input Impedance: | 200KΩ |
4.2WIRE FEED SPEED COMMAND
The wire feed speed command from the robot con- troller (DACH2) is directly connected to the WF1 ana- log input on the display board of the Power Wave. This signal is not connected to the robot or control ground.
Maximum Input Range: | 0 to 10V |
Typical Zero Offset: | 0.55 to 0.65V |
Typical Range: | 9.0V |
Input Impedance: | 200KΩ |
4.3TOUCH SENSE SIGNAL
The touch sense signal is generated by active high miscellaneous output #4 (bit #3) on the control board. The signal is then isolated from the control ground, inverted, and tied to the robot controller welding input 1 (WDI1). The active state table is responsible for set-
