Cebora WIN TIG DC 500 T ROBOT Manual de usuario

31/03/20213301084/A

IT PROTOCOLLI DIGITALI PER IMPIANTI AUTOMATIZZATI WIN TIG CEBORA PAG. 2

Istruzioni originali

EN DIGITAL PROTOCOLS FOR CEBORA WIN TIG AUTOMATED SYSTEMS PAG. 29

Translation of the original instructions

ES PROTOCOLOS DIGITALES PARA SISTEMAS AUTOMATIZADOS

WIN TIG CEBORA PAG. 57

Traducción de las instrucciones originales

2/28

SOMMARIO

1 INT RODUZ ION E �� 4

1.1 QUESTO MANUALE .................................................................................................................................................................. 4

1.2 BUS DI CAMPO TRATTATI IN QUESTO MANUALE ................................................................................................................. 4

2 SEGNALI DIGITALI DA CONTROLLO ROBOT A GENERATORE (INPUT) �� 6

2.1 WELD START ............................................................................................................................................................................. 7

2.2 ROBOT READY .......................................................................................................................................................................... 7

2.3 OPERATING MODE (BIT 3 - 0) .................................................................................................................................................. 8

2.3.1 Job Mode (Mode 2) .................................................................................................................................................................. 8

2.3.2 Parameter Selection Internal (Mode 3) ..................................................................................................................................... 8

2.3.3 Modo TIG (Mode 0,1,4,5,8,9,12,13) ............................................................................................................................................ 8

2.4 PROTOCOL MODE .................................................................................................................................................................... 8

2.5 GAS TEST .................................................................................................................................................................................. 9

2.6 WIRE INCHING .......................................................................................................................................................................... 9

2.7 WIRE RETRACT ......................................................................................................................................................................... 9

2.8 SOURCE ERROR RESET .......................................................................................................................................................... 9

2.9 TOUCH SENSING ...................................................................................................................................................................... 9

2.10 GAS TEST SHIELD ................................................................................................................................................................. 10

2.11 JOB NUMBER (BIT 7 - 0) ......................................................................................................................................................... 10

2.12 WELDING SIMULATION .......................................................................................................................................................... 10

2.13 ABILITAZIONE INGRESSI ANALOGICI ................................................................................................................................... 10

2.14 PILOT ARC START ................................................................................................................................................................... 11

3 SEGNALI ANALOGICI DA CONTROLLO ROBOT A GENERATORE (INPUT) ��11

3.1 ANALOG SETPOINT (AI0) ....................................................................................................................................................... 11

3.2 ANALOG SETPOINT (AI1) ........................................................................................................................................................ 11

3.3 ANALOG SETPOINT (AI2) ........................................................................................................................................................ 11

3.4 ANALOG SETPOINT (AI3)........................................................................................................................................................ 11

3.5 ANALOG SETPOINT (AI4) ........................................................................................................................................................ 12

3.6 ANALOG SETPOINT (AI5)........................................................................................................................................................ 12

3.7 ANALOG SETPOINT (AI6) ....................................................................................................................................................... 12

3.8 ANALOG SETPOINT (AI7)........................................................................................................................................................ 12

4 SEGNALI DIGITALI DA GENERATORE A CONTROLLO ROBOT (OUTPUT) �� 13

4.1 CURRENT FLOW ..................................................................................................................................................................... 13

4.2 PROCESS ACTIVE ................................................................................................................................................................... 13

4.3 MAIN CURRENT ...................................................................................................................................................................... 14

4.4 COLLISION PROTECTION ...................................................................................................................................................... 14

4.5 POWER SOURCE READY ....................................................................................................................................................... 14

4.6 COMMUNICATION READY .................................................................................................................................................... 14

4.7 ERROR NUMBER (BIT 7 - 0) ................................................................................................................................................... 14

4.8 PULSE SYNC ........................................................................................................................................................................... 15

4.9 PILOT ARC ............................................................................................................................................................................... 15

4.10 WIRE AVAILABLE .................................................................................................................................................................... 15

4.11 DATA DOCUMENTATION READY ........................................................................................................................................... 15

4.12 HARD FAULT ........................................................................................................................................................................... 15

5 SEGNALI ANALOGICI DA GENERATORE A CONTROLLO ROBOT (OUTPUT) �� 15

5.1 ANALOG MEASURE (AO0) ..................................................................................................................................................... 15

5.2 ANALOG MEASURE (AO1) ..................................................................................................................................................... 16

5.3 ANALOG MEASURE (AO2) ..................................................................................................................................................... 16

5.4 ANALOG MEASURE (AO3) ..................................................................................................................................................... 16

5.5 ANALOG MEASURE (AO4) ..................................................................................................................................................... 16

5.6 ANALOG MEASURE (AO5) ..................................................................................................................................................... 16

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6 CANopen DATA PROCESS IMAGE �� 17

6.1 MESSAGGI CANopen TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE ........................................................... 17

6.2 MESSAGGI CANopen TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT ........................................................... 18

7 PROFIBUS DATA PROCESS IMAGE ART� 428�01 �� 19

7.1 MESSAGGI PROFIBUS TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE ........................................................... 19

7.2 MESSAGGI PROFIBUS TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT ........................................................... 20

8 DeviceNet DATA PROCESS IMAGE ART 428�02 �� 21

8.1 MESSAGGI DeviceNet TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE .......................................................... 21

8.2 MESSAGGI DeviceNet TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT .......................................................... 22

9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART� 428�03 - 428�04 �� 23

9.1 MESSAGGI EtherCAT-EtherNet/IP TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE ...................................... 23

9.2 MESSAGGI EtherCAT-EtherNet/IP TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT ..................................... 24

10 MODELLO DI SEGNALI �� 26

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1 INTRODUZIONE

1�1 Questo manuale

Questo manuale descrive la con gurazione dei messaggi dei bus di campo (Data Process Image) adottati negli im-

pianti di saldatura automatizzati TIG Cebora, inclusi Plasma Welding.

Sono elencati e descritti tutti i segnali scambiati fra il sistema di saldatura TIG Cebora ed il controllo dell’impianto

robotizzato (Robot Control).

Questo manuale deve essere inteso come parte integrante dei Manuali Istruzioni delle singole apparecchiature com-

ponenti il sistema di saldatura Cebora e pertanto potrà essere necessaria la contemporanea consultazione dei sud-

detti manuali. In Fig. 1 è riportato un esempio di impianto robot Cebora.

AUTOMATIONMIG

TIG

(7)

(1)

(3)

(8)

(9)

(2)

(11)

(10)

Fig. 1

Posizione Descrizione Articolo Opzionale

1 Generatore serie WIN TIG Robot 380-381-

394-395-

396.80

-

2 Interfaccia Robot 428.XX, 448 (X)

3 Connessione Generatore - Interfaccia Robot 2063 -

6 Carrello traina lo Robot 1649 X

7 Connessione Generatore - Carrello traina lo Robot 2067 X

8 Portabobina/attacco rapido 121/173 X

9 Guaina guida lo 1935 X

10 Pannello di controllo remoto TIG 438 X

11 Connessione Generatore - Pannello di controllo remoto TIG 2065 X

NOTA

Se il controllo robot dispone di una porta di comunicazione di tipo CANopen master l’interfaccia (2) non è necessaria

in quanto il generatore (1) può essere collegato direttamente tramite il cavo CANopen (3) piu' il cavo aggiuntivo CANo-

pen art. 2054, da richiedere separatamente a Cebora

1�2 Bus di campo trattati in questo manuale

− CANopen DS401;

− DeviceNet;

− Pro bus DP-V1;

− EtherCAT

− EtherNet/IP

5/28

Per ogni bus di campo Cebora fornisce il corrispondente le di congurazione.

A ne manuale (par. 6 ÷ 9) sono riportate le tabelle dei messaggi scambiati fra generatore e controllo robot (Data Pro-

cess Image), suddivise per tipologia di bus di campo. La Data Process Image è così composta :

INPUT OUTPUT

Digital [byte]

8 4

Analog [word]

8 8

Total Size [byte]

24 20

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2 SEGNALI DIGITALI DA CONTROLLO ROBOT A GENERATORE (INPUT)

Elenco segnali digitali ed analogici in ingresso al generatore.

n° bit Size [bit] Name Analog interface

Art� 448

Digital interface

Art� 428�XX

1 1 Weld Start X X

2 1 Robot Ready X X

3 - 6 4 Operating Modes (bit 3 - 0) X X

7 1 Reserved (set to 0) - 0

8 1 Protocol Mode - X

9 1 Gas Test/Gas Test Plasma X X

10 1 Wire Inching X X

11 1 Wire Retract X X

12 1 Source Error Reset X X

13 1 Touch Sensing X X

14 1 Gas Test Shield X X

15 1 Not used - -

16 1 Not used - -

17 - 23 7 Job Number (bit 6 - 0) X X

24 1 Job Number (bit 7 ) - X

25 - 31 7 Not used - -

32 1 Welding Simulation - -

33 1 Analog setpoint enable 0 - X

34 1 Analog setpoint enable 1 - X

35 1 Analog setpoint enable 2 - X

36 1 Analog setpoint enable 3 - X

37 1 Analog setpoint enable 4 - X

38 1 Analog setpoint enable 5 - X

39 1 Analog setpoint enable 6 - X

40 1 Analog setpoint enable 7 - X

41 - 48 8 Not used - -

49 - 55 7 Not used - -

56 1 Pilot Arc Start X X

57 - 64 8 Not used - -

65 - 80 16 Current Setpoint AI0 X X

81 - 96 16 Pulse Frequency/Wire Speed

High AI1

X X

97 - 112 16 Current pulse ratio AI2 - X

113 - 128 16 Pulse duty cycle AI3 - X

129 - 144 16 Gas Plasma Flow AI4 - X

I45 - 160 16 Gas Shield Flow AI5 - X

161 - 176 16 High speed CW AI6 - X

177 - 192 16

Low speed CW AI7 - X

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2�1 Weld Start

Il bit Weld Start comanda l’accensione e lo spegnimento dell’arco di saldatura.

Weld Start = (attivo alto.)

Weld Start Descrizione

0→ 1 Il controllo robot comanda l’accensione dell’arco. Questo segnale viene accettato se il

segnale di Power Source Ready è attivo.

1→ 0 Il controllo robot comanda lo spegnimento dell’arco.

NOTA

In modalità Robot con il bit Robot Ready attivo il generatore è automaticamente impostato in modalità 2-tempi.

2�2 Robot Ready

Il bit Robot Ready abilita la comunicazione tra generatore e controllo robot, una volta che la comunicazione è stabilita

il generatore è pronto ad inviare e ricevere i dati dal CNC esterno.

Se il bit è impostato a zero il generatore permane nello stato di errore Error 90-CNC non pronto e l’icona sulla barra

di stato del display lampeggia.

Se il bit Robot Ready non è attivo, nessun segnale digitale o analogico viene acquisito e le uscite del generatore sono

tutte non attive.

Robot Ready = Attivo alto

Robot Ready Descrizione

0 Il controllo Robot non è pronto

1 Il controllo robot è pronto per lo scambio dati con l’esterno

AVVERTENZA:

Il bit Robot Ready non può essere utilizzato per un arresto di emergenza. Per tale funzione è disponibile un kit appo-

sitamente realizzato (Art. 449).

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2�3 Operating Mode (bit 3 - 0)

La selezione della modalità operativa (Operating Mode) del generatore è effettuata tramite 4 bit:

Operating Mode MIG

Bit3 Bit2 Bit1 Bit0 Mode

0 0 0 0 0 DC

0 0 0 1 1 XP

0 0 1 0 2 JOB MODE

0 0 1 1 3 PAR� SEL� INT�

0 1 0 0 4 AC

0 1 0 1 5 MIX

0 1 1 0 6 /

0 1 1 1 7 /

1 0 0 0 8 DC PULSE

1 0 0 1 9 PULSE XP

1 0 1 0 10 /

1 0 1 1 11 /

1 1 0 0 12 AC PULSE

1 1 0 1 13 MIX PULSE

1 1 1 0 14 /

1 1 1 1 15 /

Tabella 1

2�3�1 Job Mode (Mode 2)

In questa modalità è possibile selezionare un Job precedentemente memorizzato nel generatore. E’ possibile memo-

rizzare nella macchina no a 99 Job (vedi par.2.10).

Job mode = Attivo alto

2�3�2 Parameter Selection Internal (Mode 3)

La modalità Parameter Selection Internal abilita la selezione dei parametri di saldatura tramite il pannello di controllo

del generatore. In tale modalità è possibile salvare i Job i quali potranno essere poi richiamati con l’opportuno numero

identicativo nella modalità Job mode.

2�3�3 Modo TIG (Mode 0,1,4,5,8,9,12,13)

Il processo è impostato in TIG.

Con questa impostazione sono presi in considerazione i segnali digitali ed analogici. In questa modalità vengono

accettati gli ingressi analogici AI0…AI7.

2�4 Protocol Mode

Il bit Protocol Mode consente di rappresentare le variabili dei setpoint analogici e delle misure analogiche (Analog

Set Point e Analog Measure) in due modi diversi, trasformando comunque sempre le variabili che ammettono valori

decimali in interi, tramite un fattore moltiplicatore 10 (es. 9.9 si considera come 99).

Protocol Mode Descrizione

0 Ogni segnale analogico (setpoint o misura) è trasformato in un valore numerico e riscala-

to fra il valore minimo e massimo utilizzando un campo a 16-bit senza segno (0 ÷ 65535)

1 I segnali analogici non subiscono alcuna messa in scala e quindi sono direttamente leg-

gibili. Il valore numerico è rappresentato direttamente in binario con un campo a 16-bit

con segno.

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2�5 Gas Test

Il segnale opzionale Gas Test attiva l’elettrovalvola del gas.

Può essere usato anche per un gas Pre-ow addizionale durante un posizionamento.

Gas Test = Attivo alto.

Gas Test Descrizione

0 Valvola gas chiusa.

1 Valvola gas aperta.

Con il processo di saldatura attivo, i tempi di gas Pre-ow e Post-ow sono controllati direttamente dal generatore.

Con l’accessorio Plasma Welding tale ingresso attiva la valvola del Gas di Plasma.

2�6 Wire Inching

Il segnale Wire Inching comanda l’avanzamento del lo di saldatura senza uscita di gas e senza generazione di cor-

rente. La velocità di avanzamento viene programmata tramite il pannello del generatore, nel menù Test Filo.

Wire Inching = Attivo alto.

Wire Inching Descrizione

0 Nessuna operazione

1 Avanzamento lo

AVVERTENZA:

Tenere la torcia lontano dal viso e dal corpo per evitare il rischio di ferite dovute alla fuoriuscita del lo di saldatura.

2�7 Wire Retract

Il segnale Wire Retract comanda l’arretramento del lo di una lunghezza ssa, dopo di che il motore si ferma.

La velocità di arretramento del lo è ssa a 1,0 m/min.

Wire Retract = Attivo alto.

Wire Retract Descrizione

0 Nessuna operazione

1 Ritiro lo

2�8 Source Error Reset

Il segnale Source Error Reset attivo sul fronte 0→ 1 cancella solo gli errori ripristinabili (Warning), per i quali il bit di

Hard Fault risulta essere non attivato (basso).

Source Error Reset Descrizione

0,1,1→ 0 Nessuna operazione

0→ 1 Reset di un errore ripristinabile (Warning)

Per l’elenco degli errori ripristinabili (Warning), fare riferimento al manuale d’uso del generatore WIN TIG.

2�9 Touch Sensing

Il segnale Touch Sensing ha il compito di individuare il cortocircuito del lo di saldatura con il pezzo e riportare l’infor-

mazione al controllo robot tramite il segnale Current Flow, con un ritardo di 10 ms max.

Touch Sensing = Attivo alto

Touch Sensing Descrizione

0 Nessuna operazione

1 Procedura di Touch Sensing attiva.

10/28

NOTA

Il segnale “Current Flow” è inviato all’uscita per 0,2 s oltre la durata del cortocircuito.

Per tutto il tempo in cui il segnale “Touch Sensing” rimane attivo, la saldatura non può avvenire.

Se il controllo robot inizializza il segnale “Touch Sensing” durante la saldatura, l’operazione di saldatura è abortita

2�10 Gas Test Shield

Disponibile solo in modalità P.W. esegue il test del gas di protezione "Gas_Shield_Test"= attivo alto

Gas_Shield_Test Descrizione

0 Valvola chiusa

1 Valvola aperta

2�11 Job Number (bit 7 - 0)

Tale byte è valido se è impostato il modo di funzionamento Job Mode (par. 2.3) e seleziona il numero del Job da ese-

guire.

Job Number Descrizione

0 Job selezionato in modo manuale dal pannello del generatore

1 - 99 Job valido.

100 - 255 Job non valido.

Se nel menù delle impostazioni del generatore la voce Consenti Modica Job è :

- OFF, allora nessun parametro dei job selezionati può essere modicato,

- ON, alcuni dei parametri dei Job possono essere variati run-time tramite i corrispondenti ingressi analogici abilitati

oppure dal pannello di controllo del generatore.

Se da controllo robot viene selezionata una posizione di memoria vuota o non valida, sulla barra di stato del pannello

principale appare l’icona evidenziata sotto:

Con interfaccia 448 i Bit a disposizione sono (bit 7 - 0)

2�12 Welding Simulation

Modalità di funzionamento non implementata.

2�13 Abilitazione Ingressi analogici

Byte di abilitazione degli ingressi analogici. Ogni bit corrisponde al relativo ingresso analogico secondo la tabella di

seguito riportata :

Analog Setpoint Enable bit / Function Value=0 Value=1

Analog Setpoint Enable AI0 (Current Setpoint) Disabilitato Abilitato

Analog Setpoint Enable AI1 (Pulse Frequency) Disabilitato Abilitato

Analog Setpoint Enable AI2 (Current Pulse Ratio) Disabilitato Abilitato

Analog Setpoint Enable AI3 (Pulse Duty Cycle) Disabilitato Abilitato

Analog Setpoint Enable AI4 (Gas Plasma Flow) Disabilitato Abilitato

Analog Setpoint Enable AI5 (Gas Shield Flow) Disabilitato Abilitato

Analog Setpoint Enable AI6 (High Speed CW) Disabilitato Abilitato

Analog Setpoint Enable AI7 (Low Speed CW) Disabilitato Abilitato

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2�14 Pilot Arc Start

È il comando di accensione dell’arco pilota nel processo plasma welding.

Nell’impianto deve essere presente la console plasma, impostata per il funzionamento automatico, cioè gestito dal

controllo robot: fare riferimento al manuale istruzioni della gas console digitale Art 465.01.

Funzione Pilot Arc Start = attivo alto.

Pilot Arc start Descrizione

0 Arco pilota spento

1 Accensione arco pilota, se entro 3 s non è presente corrente di arco pilota tale ingresso

viene ignorato dal generatore, anche se ancora attivo

3 SEGNALI ANALOGICI DA CONTROLLO ROBOT A GENERATORE (INPUT)

Il generatore è in grado di gestire 4 ingressi analogici per le regolazioni dei parametri di saldatura in tempo reale.

Ogni ingresso analogico è composto da 16 bit. Il formato di ogni singola analogica dipende dal bit Protocol Mode.

3�1 Analog Setpoint (AI0)

Analog Setpoint AI0 = Current Setpoint

E’ la velocità del lo di saldatura. Tale valore non ha effetto solamente nella modalità di funzionamento Mode 3 ( Pa-

rameter selection internal) e Mode 2 (Job Mode: vedere eccezione descritta al par. 2.10).

An� In0 Valore[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 500.0 0xFFFF 0x01F4

3�2 Analog Setpoint (AI1)

Analog Setpoint AI1 = Pulse Frequency

Questa regolazione si riferisce alla correzione della tensione di arco rispetto al valore di setpoint.

An� In1 Valore[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 2500 0xFFFF 0x09C4

3�3 Analog Setpoint (AI2)

Analog Setpoint AI2 = Current Pulse Ratio

Regola il valore dell’impedenza di uscita andando a modicare i fronti di salita e discesa della corrente di saldatura

An� In2 Valore[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

3�4 Analog Setpoint (AI3)

Analog Setpoint AI3 = Pulse Duty Cycle

Modica il valore della corrente di Burnback per regolare la lunghezza del lo al termine della saldatura.

An� In3 Valore[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

12/28

3�5 Analog Setpoint (AI4)

Analog Setpoint AI4 = Gas Plasma Flow. Tale parametro regola il usso di gas di plasma durante la saldatura ed è

denito dai seguenti valori di fondo scala:

An� In4 Valore[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 10.0 0xFFFF 0x0064

3�6 Analog Setpoint (AI5)

Analog Setpoint AI5 = Gas Shield Flow. Tale parametro regola il usso del gas di schermo durante la saldatura ed è

denito dai seguenti valori di fondo scala:

An� In5 Valore[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 30.0 0xFFFF 0x0120

3�7 Analog Setpoint (AI6)

Analog Setpoint AI6 = High Speed CW. Questa regolazione si riferisce alla velocità alta del motore durante il processo

“lo freddo” ed è denito dai seguenti valori di fondo scala:

An� In6 Valore[m/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max +12.5 0xFFFF 0x007D

3�8 Analog Setpoint (AI7)

Analog Setpoint AI7 = Low Speed CW. Questa regolazione si riferisce alla velocità bassa del motore durante il proces-

so “lo freddo” ed è denito dai seguenti valori di fondo scala:

An� In6 Valore[m/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max +12.5 0xFFFF 0x007D

13/28

4 SEGNALI DIGITALI DA GENERATORE A CONTROLLO ROBOT (OUTPUT)

Nella tabella vengono riportati i segnali digitali ed analogici in uscita dal generatore di saldatura

n° bit Size [bit] Name Analog interface

Art� 448

Digital interface

Art� 428�XX

1 1 Current Flow X X

2 1 Not used - -

3 1 Process Active X X

4 1 Main Current X X

5 1 Torch Collision Protection - X

6 1 Power Source Ready X X

7 1 Communication Ready X X

8 1 Protocol Mode - X

09 - 16 8 Error Number (bit 7 - 0) - X

17 1 Pulse Sync X -

18 - 23 6 Not used - -

24 1 Pilot Arc X X

25 1 Not used - -

26 - 27 2 Not used - -

28 1 Wire Available - X

29 1 Not used - -

30 1 Data documentation ready - -

31 1 Not used - -

32 1 Hard Fault - X

33 - 48 16 Welding Voltage AO0 X X

49 - 64 16 Welding Current AO1 X X

65 - 80 16 Motor Current AO2 - X

81 - 96 16 Motor Speed AO3 - X

97 - 112 16 Gas Plasma Flow AO4 - X

113 - 145 16 Gas Shield Flow AO5 -

X

146 - 161 16 Not used -

-

NOTA

Se il collegamento fra generatore e interfaccia robot è interrotto, tutti i segnali digitali ed analogici dall’interfaccia robot

verso il controllo robot vengono impostati a “0”.

4�1 Current Flow

Current Flow viene attivato appena la corrente di saldatura inizia a circolare sul pezzo da saldare.

Current Flow = attivo alto.

Current ow Descrizione

0 Non circola corrente sul pezzo da saldare

1 Circola corrente sul pezzo da saldare

4�2 Process Active

Dall’inizio del gas pre-ow no alla ne del gas post-ow, il generatore attiva il segnale Process Active.

Il segnale Process Active serve a garantire la protezione gassosa ottimale del bagno di saldatura, assicurando che il

robot stazioni sufcientemente a lungo all’inizio e alla ne del cordone di saldatura.

Process Active = attivo alto.

14/28

Process Active Descrizione

0 Processo di saldatura non in corso

1 Processo di saldatura in corso

4�3 Main Current

Il segnale Main Current è attivo durante il tratto di saldatura con corrente erogata pari al valore di setpoint impostato,

escluse quindi le fasi di innesco arco, corrente iniziale, rampe di salita e discesa e corrente di cratere.

Main Current = attivo alto.

Main Current Descrizione

0

Corrente circolante sul pezzo da saldare diversa dalla corrente di setpoint

1

Corrente circolante sul pezzo da saldare pari alla corrente di setpoint.

4�4 Collision Protection

Il robot può essere dotato di un sensore di collisione che, in caso di urto della torcia di saldatura, comanda basso il

segnale Collision Protection. In corrispondenza di tale evento il controllo robot arresta immediatamente il robot ed

interrompe il processo di saldatura disattivando il segnale Robot Ready.

Collision Protection = attivo basso.

Collision protection Descrizione

0

Collisione tra torcia e pezzo

1

Nessuna collisione rilevata tra torcia e pezzo

4�5 Power Source Ready

Il segnale Power Source Ready si attiva quando il generatore è pronto per saldare.

Appena interviene una condizione di errore nel generatore oppure il segnale Robot Ready è disattivato, il segnale

Power Source Ready viene immediatamente disattivato.

Power Source Ready = attivo alto.

Power Source Ready Descrizione

0 Il generatore non è abilitato alla saldatura.

1 Nessun errore rilevato: il generatore è pronto ad eseguire il processo di saldatura.

4�6 Communication Ready

Quando attivo indica che la comunicazione fra interfaccia robot e generatore è correttamente funzionante.

Quando non attivo indica la mancanza di comunicazione fra interfaccia robot e generatore.

Communication Ready = attivo alto.

Communication Ready Descrizione

0 Il generatore non è pronto per lo scambio dei dati (Es. si trova in stato di boot)

1 Il generatore è pronto per lo scambio dei dati.

4�7 Error Number (bit 7 - 0)

La congurazione dei bit corrisponde al codice di errore rilevato dal generatore (vedi paragrafo “Codici Errore” nel

Manuale Istruzioni del generatore).

Error Number Descrizione

0 Il generatore funziona correttamente.

1 - 99 Identica il codice errore rilevato.

15/28

4�8 Pulse Sync

Il segnale Pulse Sync è attivo e sincronizzato con ogni impulso di “corrente alta”, solo quando è impostato il processo

“TIG Pulsato” con una frequenza di pulsazione uguale o inferiore a 10 Hz.

Se il processo “TIG Pulsato” è impostato il segnale “Pulse Sync” è attivo:

− con frequenza di pulsazione uguale o inferiore a 10 Hz l’uscita “Pulse Sync” segue lo stato dell’impulso “alto” di

corrente;

− con frequenza di pulsazione superiore a 10 Hz l’uscita “Pulse Sync” rimane ssa a livello alto.

Se il processo “Tig Pulsato” non è impostato il segnale “Pulse Sync” è tenuto a livello basso.

Tale segnale è attivo solo se è presente l’intefaccia analogica Art. 448.

Pulse Sync = attivo alto.

Pulse Sync Descrizione

0

Impulso di corrente basso

1

Impulso di corrente alto

4�9 Pilot Arc

Segnala l’ accensione dell’arco pilota nel processo plasma welding, in conseguenza del comando Pilot Arc (par. 2.24).

Pilot Arc = attivo alto.

Pilot Arc Descrizione

0

Arco pilota spento

1

Arco pilota acceso

4�10 Wire Available

RESERVED

4�11 Data documentation ready

RESERVED

4�12 Hard Fault

Il segnale va alto quando si verica un errore non ripristinabile (vedi anche par. 2.8 Source error reset e par.4.7 Error

Number) mentre rimane basso in assenza di errore non ripristinabile oppure in presenza di warning.

Hard fault = attivo alto.

Hard Fault Descrizione

0 Nessun errore non ripristinabile presente o warning presente

1 Si è vericato un errore non ripristinabile ed è quindi necessario spegnere il generatore

di saldatura.

5 SEGNALI ANALOGICI DA GENERATORE A CONTROLLO ROBOT (OUTPUT)

Il generatore è in grado di gestire 4 uscite analogiche per le regolazioni dei parametri di saldatura in tempo reale. Ogni

uscita analogica è composto da 16 bit. Il formato di ogni singola analogica dipende dal bit Protocol Mode.

5�1 Analog Measure (AO0)

Analog Measure (AO0) = Welding Voltage.

E’ il segnale relativo alla tensione di uscita del generatore ed è denito dai seguenti valori di fondo scala:

AO0 Valore[V] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

16/28

5�2 Analog Measure (AO1)

Analog Measure (AO1) = Welding Current.

E’ il segnale della corrente di uscita del generatore ed è denito dai seguenti valori di fondo scala:

AO1 Valore[A] Protocol mode=0 Protocol mode=1

Min 0 0x0000 0x0000

Max 1000 0xFFFF 0x03E8

5�3 Analog Measure (AO2)

Analog Measure (AO2) = Motor Current.

E’ il segnale della corrente assorbita dal motore del trainalo ed è denito dai seguenti valori di fondo scala:

AO2 Valore[A] Protocol mode=0 Protocol mode=1

Min

0.0 0x0000 0x0000

Max

5.0 0xFFFF 0x0032

5�4 Analog Measure (AO3)

Analog Measure (AO3) = Motor Speed.

E’ il segnale della velocità del lo di saldatura ed è denito dai seguenti valori di fondo scala:

AO3 Valore[m/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max 12.5 0xFFFF 0x007D

5�5 Analog Measure (AO4)

Analog Measure (AO4) = Gas Plasma Flow.

E’ il segnale del usso di gas plasma ed è denito dai seguenti valori di fondo scala:

AO4 Valore[l/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 10.0 0xFFFF 0x0064

5�6 Analog Measure (AO5)

Analog Measure (AO5) = Gas Shield Flow.

E’ il segnale del usso di gas di protezione ed è denito dai seguenti valori di fondo scala:

AO5 Valore[l/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 30.0 0xFFFF 0x012C

17/28

6 CANopen DATA PROCESS IMAGE

IT I bit sono ordinati dal meno signicativo al più signicativo e ogni byte è delimitato da linea in grassetto.

EN The bit are ordered from less to most signicant and each byte is delimited by a bold line.

ES Los bit están ordenados de menos signicativo hacia más signicativo y cada byte se delimita de línea gruesa.

6�1 Messaggi CANopen trasmessi dal Controllo Robot al Generatore

6�1 CANopen messages transmitted from Robot Control to Power Source

6�1 Mensajes CANopen transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

COBID =0x200

n° bit Size Signal name

1 1 Weld Start

2 1 Robot Ready

3 - 6 4 Operating Mode bit (3 - 0)

7 1 Reserved (set to 0)

8 1 Protocol Mode

9 1 Gas Test Plasma

10 1 Wire Inching

11 1 Wire Retract

12 1 Source Error Reset

13 1 Touch Sensing

14 1 Gas Test Shield

15 1 Not Used

16 1 Not Used

17 - 24 8 Job Number (bit (7 - 0)

25 - 31 7 Not used

32 1 Not Used

33 - 40 8 Analog Setpoint Enable (7 - 0)

41 - 48 8 Not used

49 - 55 7 Not used

56 1 Pilot Arc On

57 - 64

8

Not Used

COBID =0x300

n° bit Size Signal name

1 - 16 16 Current Setpoint (AI0)

17 - 32 16 Pulse Frequency (AI1)

33 - 48 16 Current Pulse Ratio (AI2)

49 - 64 16 Pulse Duty Cycle (AI3)

COBID =0x400

n° bit Size Signal name

1 - 16 16 Gas Plasma Flow (AI4)

17 - 32 16 Gas Shield Flow (AI5)

33 - 48 16 High Speed CW (AI6)

49 - 64 16 Low Speed CW (AI7)

18/28

6�2 Messaggi CANopen trasmessi dal Generatore al Controllo Robot

6�2 CANopen messages transmitted from Power Source to Robot Control

6�2 Mensajes CANopen transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit)

EN The total data size is 20 bytes (160 bit)

ES El tamaño total de los datos es 20 bytes (160 bit)

COBID = 0x180

n° bit Size Signal name

1 1 Current Flow

2 1 Not used

3 1 Process Active

4 1 Main Current

5 1 Collision Protection

6 1 Power Source Ready

7 1 Communication Ready

8 1 Protocol mode

9 - 16 8 Error Number (bit 7 - 0)

17 1 Pulse Sync

18 - 23 6 Not used

24 1 Pilot Arc

25 1 Not used

26 - 27 2 Not used

28 1 Wire Available

29 1 Not used

30 1 Data documentation ready

31 1 Not used

32 1 Hard fault

COBID = 0x280

n° bit Size Signal name

1 - 16 16 Welding Voltage (AO0)

17 - 32 16 Welding Current (AO1)

33 - 48 16 Motor Current (AO2)

49 - 64 16 Motor Speed (AO3)

COBID = 0x380

n° bit Size Signal name

1 - 16 16 Plasma gas ow (AO4)

17 - 32 16 Shield gas ow (AO5)

33 - 48 16 Not Used

49 - 64 16 Not Used

19/28

7 PROFIBUS DATA PROCESS IMAGE ART� 428�01

IT I bit sono ordinati dal meno signicativo al più signicativo.

EN The bit are ordered from less to most signicant.

ES Los bit están ordenados de menos signicativo hacia más signicativo.

7�1 Messaggi PROFIBUS trasmessi dal Controllo Robot al Generatore

7�1 PROFIBUS messages transmitted from Robot Control to Power Source

7�1 Mensajes PROFIBUS transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit)

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit)

Field n° bit Size Signal name

8

I01 1 Gas Test

I02 1 Wire Inching

I03 1 Wire Retract

I04 1 Source Error Reset

I05 1 Touch Sensing

I06 1 Gas Test Shield

I07 1 Not used

I08 1 Not used

8

I09 1 Weld Start

I10 1 Robot Ready

I11 - I14 4 Operating Mode (bit 3- 0)

I15 1 Reserved (set to 0)

I16 1 Protocol Mode

8

I17 - I23 7 Not used

I24 1 Not used

8 I25 - I32 8 Job number

8 I33 - I40 8 Not used

8 I41 - I48 8 Analog Setpoint Enable (7 - 0)

8 I49 - I56 8 Not used

8

I57 - I63 7 Not used

I64 1 Pilot Arc Start

16

I65 - I172 8 low

Current set point (AI0)

I73 - I80 8 high

16

I81 - I88 8 low

Pulse frequency (AI1)

I89 - I96 8 high

16

I97 - I104 8 low

Current Pulse Ratio (AI2)

I105 - I112 8 high

16

I113 - I120 8 low

Pulse Duty Cycle (AI3)

I121 - I128 8 high

16

I129 - I136 8 low

Gas Plasma Flow (AI4)

I137 - I144 8 high

16

I145 - I152 8 low

Gas Shield Flow (AI5)

I153 - I160 8 high

20/28

7�2 Messaggi PROFIBUS trasmessi dal Generatore al Controllo Robot

7�2 PROFIBUS messages transmitted from Power Source to Robot Control

7�2 Mensajes Probus transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

Field n° bit Size Signal name

8 O01 - O08 8 Error Number (bit 7 - 0)

8

O09 1 Current Flow

O10 1 Not used

O11 1 Process Active

O12 1 Main Current

O13 1 Collision Protection

O14 1 Power Source Ready

O15 1 Communication Ready

O16 1 Protocol Mode

8

O17 1 Not used

O18 - 019 2 Not used

O20 1 Wire Available

O21 1 Not used

O22 1 Data documentation ready

O23 1 Not used

O24 2 Hard fault

8

O25 1 Pulse Sync

O26 - O31 6 Not used

O32 1 Pilot Arc

16

O33 - O40 8 low Welding Voltage (AO0)

O41 - O48 8 high

16

O49 - O56 8 low Welding Current (AO1)

O57 - O64 8 high

16

O65 - O72 8 low Motor Current (AO2)

O73 - O80 8 high

16

O81 - O88 8 low Motor Speed (AO3)

O89 - O96 8 high

16

O97 - O104 8 low Plasma Gas Flow (AO4)

O105 - O112 8 high

16

O113 - O120 8 low Shield Gas ow (AO5)

O121 - O128 8 high

16

O129 - O136 8 low Not used

O137 - O144 8 high Not used

16

O145 - O152 8 low Not used

O153 - O160 8 high Not used

21/28

8 DeviceNet DATA PROCESS IMAGE ART 428�02

IT I bit sono ordinati dal meno signicativo al più signicativo.

EN The bit are ordered from less to most signicant.

ES Los bit están ordenados de menos signicativo hacia más signicativo.

8�1 Messaggi DeviceNet trasmessi dal Controllo Robot al Generatore

8�1 DeviceNet messages transmitted from Robot Control to Power Source

8�1 Mensajes DeviceNet transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

Field n° bit Size Signal name

8

I01 1 Weld Start

I02 1 Robot Ready

I03 - I06 4 Operating Modes (bit 3 - 0)

I07 1 Reserved (set to 0)

I08 1 Protocol Mode

8

I09 1 Gas Test

I10 1 Wire Inching

I11 1 Wire Retract

I12 1 Source Error Reset

I13 1 Touch Sensing

I14 1 Gas Test Shield

I15 1 Not used

I16 1 Not used

8 I17 - I24 8 Job Number (bit 7 - 0)

8

I25 - I31 7 Not used

I32 1 Not Used

8 I33 - I40 8 Analog Setpoint Enable

8 I41 - I48 8 Not used

8

I49 - I55 7 Not used

I56 1 Pilot arc start

8 I57 - I64 8 Not used

16

I65 - I72 8 low Current Setpoint (AI0)

I73 - I80 8 high

16

I81 - I88 8 low Pulse Frequency (AI1)

I89 - I96 8 high

16

I97 - I104 8 low Current Pulse Ratio (AI2)

I105 - I112 8 high

16

I113 - I120 8 low Pulse Duty Cycle (AI3)

I121 - I128 8 high

16

I129 - 136 8 low Gas Plasma Flow (AI4)

I137 - I144 8 high

16

I145 - I152 8 low Gas Shield Flow (AI5)

I153- I160 8 high

16

I161 - I168 8 low High Speed CW A16

I169 - I176 8 high

16

I177 - I184 8 low Low Speed CW A17

I185 - I192 8 high

22/28

8�2 Messaggi DeviceNet trasmessi dal Generatore al Controllo Robot

8�2 DeviceNet messages transmitted from Power Source to Robot Control

8�2 Mensajes DeviceNet transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

Field n° bit Size Signal name

8

O01 1 Current Flow

O02 1 Not used

O03 1 Process Active

O04 1 Main Current

O05 1 Collision Protection

O06 1 Power Source Ready

O07 1 Communication Ready

O08 1 Protocol mode

8 O09 - O16 8 Error Number (bit 7 - 0)

8

O17 1 Pulse Sync

O18 - O23 6 Not used

O24 1 Pilot Arc

8

O25 1 Not Used

O26 - 027 2 Not used

O28 1 Wire Available

O29 1 Not used

O30 1 Data documentation ready

O31 1 Not used

O32 1 Hard Fault

16

O33 - O40 8 low Welding Voltage (AO0)

O41 - O48 8 high

16

O49 - O56 8 low Welding Current (AO1)

O57 - O64 8 high

16

O65 - O72 8 low Motor Current (AO2)

O73 - O80 8 high

16

O81 - O88 8 low Motor Speed (AO3)

O89 - O96 8 high

16

O97 - O104 8 low Plasma Gas Flow (AO4)

O105 - O112 8 high

16

O113 - O120 8 low Shield gas ow (AO5)

O121 - O128 8 high

16

O129 - O136 8 low Not used

O137 - O144 8 high

16

O145 - O152 8 low Not used

O153 - O160 8 high

23/28

9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART� 428�03 - 428�04

IT I bit sono ordinati dal meno signicativo al più signicativo e ogni byte è delimitato da linea in grassetto

EN The bit are ordered from less to most signicant and each byte is delimited by a bold line

ES Los bit están ordenados de menos signicativo hacia más signicativo y cada byte se delimita de línea gruesa

9�1 Messaggi EtherCAT-EtherNet/IP trasmessi dal Controllo Robot al Generatore

9�1 EtherCAT-EtherNet/IP messages transmitted from Robot Control to Power Source

9�1 Mensajes EtherCAT-EtherNet/IP transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

data n° bit Size Signal name

DIN0

1 1 Weld Start

2 1 Robot Ready

3 - 6 4 Operating Mode bit (3 - 0)

7 1 Reserved (set to 0)

8 1 Protocol Mode

DIN1

9 1 Gas Test

10 1 Wire Inching

11 1 Wire Retract

12 1 Source Error Reset

13 1 Touch Sensing

14 1 Gas Test Shield

15 1 Not used

16 1 Not used

DIN2 17 - 24 8 Job Number (bit 7 - 0)

DIN3

25 - 31 7 Not used

32 1 Not Used

DIN4 33 - 40 8 Analog Setpoint Enable

DIN5 41 - 48 8 Not used

DIN6

49 - 55 7 Not used

56 1 Pilot Arc start

DIN7 57 - 64 8 Not used

AIN0 65 - 80 16 Current Setpoint (AI0)

AIN1 81 - 96 16 Pulse Frequency (AI1)

AIN2 97 - 112 16 Current Pulse Ratio (AI2)

AIN3 113 - 128 16 Pulse Duty Cycle (AI3)

AIN4 129 - 144 16 Gas Plasma Flow (AI4)

AIN5 145 - 160 16 Gas Shield Flow (AI5)

24/28

9�2 Messaggi EtherCAT-EtherNet/IP trasmessi dal Generatore al Controllo Robot

9�2 EtherCAT-EtherNet/IP messages transmitted from Power Source to Robot Control

9�2 Mensajes EtherCAT-EtherNet/IP transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

data n° bit Size Signal name

DOUT0

1 1 Current Flow

2 1 Not used

3 1 Process Active

4 1 Main Current

5 1 Collision Protection

6 1 Power Source Ready

7 1 Communication Ready

8 1 Protocol mode

DOUT1 9 - 16 8 Error Number (bit 7 - 0)

DOUT2

17 1 Pulse Sync

18 - 23 6 Not used

24 1 Pilot Arc

DOUT3

25 1 Sticking Remedied

26 - 27 2 Not used

28 1 Wire available

29 1 Not used

30 1 Data documentation ready

31 1 Not used

32 1 Hard Fault

AOUT0 33 - 48 16 Welding Voltage (AO0)

AOUT1 49 - 64 16 Welding Current (AO1)

AOUT2 65 - 80 16 Motor Current (AO2)

AOUT3 81 - 96 16 Motor Speed (AO3)

AOUT4 97 - 112 16 Plasma Gas Flow (A04)

AOUT5 113 - 128 16 Shield Gas Flow (A05)

AOUT6 129 - 144 16 Not Used

AOUT7 145 - 160 16 Not Used

25/28

26/28

10 MODELLO DI SEGNALI

10 SIGNALS PATTERN

10 MODELO DE SEÑALES

Automation & Robotics

Output Current

Welding Current

Crater Level

First Level

Preflow

Time

0

t

First

Level

Time

First

Slope

Time

Welding Torch Movement

Crater

Slope

Time

Crater

Level

Time

Postflow

Time

Main Current

Current Flow

Process Active

Power Source Ready

Digital Outputs

(Power Source →

→

Robot)

Weld Start

Robot Ready

Digital Inputs

(Robot →

→

Power Source)

Digital Inputs for Operating Mode 2 (JOB Mode)

Job Number

(bit 0 – 7)

Protocollo segnali TIG Robot

27/28

Automation & Robotics

Output Current

Main Current

Current Flow

Process Active

Power Source Ready

Digital Outputs

(Power Source →

→

Robot)

Weld Start

Robot Ready

Digital Inputs

(Robot →

→

Power Source)

Preflow

Time

0

t

First

Level

Time

First

Slope

Time

Welding Torch Movement

Crater

Slope

Time

Crater

Level

Time

Postflow

Time

Welding Current

Crater Level

First Level

Analogue Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13

Digital Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13

Analogue Setpoint

Ain (AI0 – AI7)

Analogue Setpoint Enable

Ain (AI0 – AI7)

Protocollo segnali TIG Robot

28/28

CEBORA S.p.A - Via Andrea Costa, 24 - 40057 Cadriano di Granarolo - BOLOGNA - Italy

Tel. +39.051.765.000 - Fax. +39.051.765.222

www.cebora.it - e-mail: [email protected]

17/02/2021

3301084/A

EN DIGITAL PROTOCOLS FOR CEBORA WIN TIG AUTOMATED SYSTEMS

Translation of the original instructions

30/56

1 INTRODUCTION �� 32

1.1 THIS MANUAL ......................................................................................................................................................................... 32

1.2 FIELDBUSES COVERED IN THIS MANUAL ............................................................................................................................ 32

2 DIGITAL SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT) �� 34

2.1 WELD START ........................................................................................................................................................................... 35

2.2 ROBOT READY ........................................................................................................................................................................ 35

2.3 OPERATING MODE (BIT 3 - 0) ................................................................................................................................................ 36

2.3.1 Job Mode (Mode 2) ................................................................................................................................................................ 36

2.3.2 Parameter Selection Internal (Mode 3) ................................................................................................................................... 36

2.3.3 TIG Processes (Mode 0,1,4,5,8,9,12,13) .................................................................................................................................. 36

2.4 PROTOCOL MODE .................................................................................................................................................................. 36

2.5 GAS TEST ................................................................................................................................................................................ 37

2.6 WIRE INCHING ........................................................................................................................................................................ 37

2.7 WIRE RETRACT ....................................................................................................................................................................... 37

2.8 SOURCE ERROR RESET ........................................................................................................................................................ 37

2.9 TOUCH SENSING .................................................................................................................................................................... 37

2.10 GAS TEST SHIELD ................................................................................................................................................................. 38

2.11 JOB NUMBER (BIT 7 - 0) ......................................................................................................................................................... 38

2.12 WELDING SIMULATION .......................................................................................................................................................... 38

2.13 ANALOGUE INPUT ENABLEMENT ......................................................................................................................................... 38

2.14 PILOT ARC START ................................................................................................................................................................... 39

3 ANALOG SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT) �� 39

3.1 ANALOG SETPOINT (AI0) ....................................................................................................................................................... 39

3.2 ANALOG SETPOINT (AI1) ........................................................................................................................................................ 39

3.3 ANALOG SETPOINT (AI2) ........................................................................................................................................................ 39

3.4 ANALOG SETPOINT (AI3)........................................................................................................................................................ 39

3.5 ANALOG SETPOINT (AI4) ........................................................................................................................................................ 40

3.6 ANALOG SETPOINT (AI5)........................................................................................................................................................ 40

3.7 ANALOG SETPOINT (AI6) ....................................................................................................................................................... 40

3.8 ANALOG SETPOINT (AI7)........................................................................................................................................................ 40

4 DIGITAL SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT) �� 41

4.1 CURRENT FLOW ..................................................................................................................................................................... 41

4.2 PROCESS ACTIVE ................................................................................................................................................................... 41

4.3 MAIN CURRENT ...................................................................................................................................................................... 42

4.4 COLLISION PROTECTION ...................................................................................................................................................... 42

4.5 POWER SOURCE READY ....................................................................................................................................................... 42

4.6 COMMUNICATION READY .................................................................................................................................................... 42

4.7 ERROR NUMBER (BIT 7 - 0) ................................................................................................................................................... 42

4.8 PULSE SYNC ........................................................................................................................................................................... 43

4.9 PILOT ARC ............................................................................................................................................................................... 43

4.10 WIRE AVAILABLE .................................................................................................................................................................... 43

4.11 DATA DOCUMENTATION READY ........................................................................................................................................... 43

4.12 HARD FAULT ...........................................................................................................................................................................43

5 ANALOG SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT) �� 43

5.1 ANALOG MEASURE (AO0) ..................................................................................................................................................... 43

5.2 ANALOG MEASURE (AO1) ..................................................................................................................................................... 44

5.3 ANALOG MEASURE (AO2) ..................................................................................................................................................... 44

5.4 ANALOG MEASURE (AO3) ..................................................................................................................................................... 44

5.5 ANALOG MEASURE (AO4) ..................................................................................................................................................... 44

5.6 ANALOG MEASURE (AO5) ..................................................................................................................................................... 44

SUMMARY

31/56

6 CANopen DATA PROCESS IMAGE �� 45

6.1 CANopen MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE ................................................. 45

6.2 CANopen MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL ................................................. 46

7 PROFIBUS DATA PROCESS IMAGE ART�428�01 �� 47

7.1 PROFIBUS MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE ................................................. 47

7.2 PROFIBUS MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL ................................................. 48

8 DeviceNet DATA PROCESS IMAGE ART 428�02 �� 49

8.1 DeviceNet MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE ............................................... 49

8.2 DeviceNet MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL ............................................... 50

9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART� 428�03 - 428�04 �� 51

9.1 EtherCAT-EtherNet/IP MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE ............................ 51

9.2 EtherCAT-EtherNet/IP MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL ............................ 52

10 SIGNALS PATTERN �� 54

32/56

1 INTRODUCTION

1�1 This manual

This manual describes the con guration of  eldbus (Data Process Image) messages adopted in Cebora TIG automa-

ted welding systems.

All signals exchanged between the Cebora MIG welding system and the robotised system control (Robot Control) are

listed and described.

This manual must be seen as an integral part of the Instruction Manuals of individual devices comprising the Cebora

welding system and therefore simultaneous consultation of the above manuals may be necessary.

Fig. 1 shows an example of a Cebora robot system.

AUTOMATIONMIG

TIG

(7)

(1)

(3)

(8)

(9)

(2)

(11)

(10)

Fig. 1

Pos� Description Art� Optional

1 WIN TIG Robot Power source 380-381-

394-395-

396.80

-

2 Robot Interface 428.XX, 448 (X)

3 Power source – Robot Interface connection 2063 -

6 Robot wire feeder 1649 X

7 Power source – robot wire feeder connection 2067 X

8 Wire spool holder/quick  tting 121/173 X

9 Wire guide sheath 1935 X

10 TIG remote control panel 438 X

11 Power source – TIG remote control panel connection 2065 X

NOTE

If the robot control is  tted with a CANopen master communication port the interface (2) is unnecessary because

power source (1) can be connected directly via CANopen cable (3), which must be ordered separately from Cebora.

1�2 Fieldbuses covered in this manual

− CANopen DS401;

− DeviceNet;

− Pro bus DP-V1;

− EtherCAT

− EtherNet/IP

33/56

Cebora provides the corresponding conguration le for each eldbus.

At the end of the manual (sections 6 to 9) tables of messages exchanged between power source and robot control are

provided (Data Process Image). These are subdivided by eldbus type. A Data Process Image is made up as follows:

INPUT OUTPUT

Digital [byte]

8 4

Analog [word]

8 8

Total Size [byte]

24 20

34/56

2 DIGITAL SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT)

List of digital and analog signals entering the power source

n° bit Size [bit] Name Analog interface

Art� 448

Digital interface

Art� 428�XX

1 1 Weld Start X X

2 1 Robot Ready X X

3 - 6 4 Operating Mode (bit 3 - 0) X X

7 1 Reserved (set to 0) - 0

8 1 Protocol Mode - X

9 1 Gas Test X X

10 1 Wire Inching X X

11 1 Wire Retract X X

12 1 Source Error Reset X X

13 1 Touch Sensing X X

14 1 Blow Through X X

15 1 Not used. - -

16 1 Not used - -

17 - 23 7 Job Number (bit 6 - 0) X X

24 1 Job Number (bit 7 ) - X

25 - 31 7 Synergic Table (bit 6-0) X X

32 1 Not used - -

33 1 Analog Setpoint Enable 0 - X

34 1 Analog Setpoint Enable 1 - X

35 1 Analog Setpoint Enable 2 - X

36 1 Analog Setpoint Enable 3 - X

37 1 Not Used - -

38 1 Not Used - -

39 1 Not Used - -

40 1 Not Used - -

41 - 48 8 Not used - -

49 - 56 8 Not used - -

57 - 64 8 Not used - -

65 - 80 16 Speed Setpoint (AI0) X X

81 - 96 16 Arc. Length Corr. (AI1) X X

97 - 12 16 Inductance Corr. (AI2) - X

113 - 128 16 Burnback Corr. (AI3) - X

129 - 144 16 Not Used - -

I45 - 60 16 Not Used - -

161 - 176 16 Not Used - -

177 - 192 16 Not Used - -

35/56

2�1 Weld Start

The Weld Start bit controls weld arc start and stop.

Weld Start = (active high.)

Weld Start Description

0→ 1 The robot control controls arc start. This signal is accepted if the Power Source Ready

signal is active.

1→ 0 The robot control controls arc stop

NOTE

In Robot mode with the Robot Ready bit active, the power source is automatically set to 2-step mode.

2�2 Robot Ready

The Robot Ready bit enables communication between power source and robot control. Once communication is esta-

blished, the power source is ready to send and receive data from the external CNC.

If the bit is set to zero, the power source remains in error status Error 90-CNC not ready and the icon on the display

status bar ashes.

If the Robot Ready bit is inactive, no digital or analog signal is acquired and the power source outputs are all inactive.

Robot Ready = Active high

Robot Ready Description

0 The robot control is not ready

1 The robot control is ready to exchange data with the outside

WARNING:

The Robot Ready bit cannot be used for an emergency shut-down. A specially made kit is available for this purpose

(Item 449).

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2�3 Operating Mode (bit 3 - 0)

The power source operating mode is selected by means of 4 bits

Operating Mode MIG

Bit3 Bit2 Bit1 Bit0 Mode

0 0 0 0 0 DC

0 0 0 1 1 XP

0 0 1 0 2 JOB MODE

0 0 1 1 3 PAR� SEL� INT�

0 1 0 0 4 AC

0 1 0 1 5 MIX

0 1 1 0 6 /

0 1 1 1 7 /

1 0 0 0 8 DC PULSE

1 0 0 1 9 PULSE XP

1 0 1 0 10 /

1 0 1 1 11 /

1 1 0 0 12 AC PULSE

1 1 0 1 13 MIX PULSE

1 1 1 0 14 /

1 1 1 1 15 /

Table 1

2�3�1 Job Mode (Mode 2)

A job previously stored in the power source can be selected in this mode. Up to 99 jobs can be stored in the machine

(see section 2.10). Job Mode = Active high.

2�3�2 Parameter Selection Internal (Mode 3)

Parameter Selection Internal mode enables weld parameter selection by means of the power source control panel. In

this mode, jobs can be stored and then called up using the appropriate identication number in Job mode.

2�3�3 TIG Processes (Mode 0,1,4,5,8,9,12,13)

This process is set in TIG.

Digital and analogue signals are considered with this setting. Analogue inputs AI0…AI7 are accepted in this mode.

2�4 Protocol Mode

Protocol Mode can be used to represent analog setpoint and analog measurement variables in two different ways,

always converting variables that allow decimal values to integers by means of a multiplication factor of 10 (e.g. 9.9 is

considered to be 99).

Protocol Mode Description

0 Each analog signal (setpoint or measurement) is converted to a numerical value and re-

scaled between the minimum and maximum value using a 16-bit eld without a sign (0

through 65535)

1 Analog signals do not undergo any scale conversion and are therefore directly readable.

The numerical value is shown directly in binary with a 16-bit eld with a sign.

37/56

2�5 Gas Test

The optional Gas Test signal activates the gas solenoid.

It can also be used for additional pre-ow gas during positioning.

Gas Test = Active high.

Gas Test Description

0 Gas valve closed

1 Gas valve open

With the welding process active, the pre-ow and post-ow gas times are controlled directly by the power source.

With the Plasma Welding accessory this input activates the Plasma Gas valve.

2�6 Wire Inching

The Wire Inching signal allows the wire to slide in the torch sheath without gas emerging and without current genera-

tion. The incremental speed is set on the power source panel in the Wire Test menu.

Wire Inching = Active high.

Wire Inching Description

0 No Operation

1 Wire feed

WARNING:

Hold the torch well away from your face and body to avoid the risk of injury due to the emerging welding wire.

2�7 Wire Retract

The Wire Retract signal causes the wire to retract by a xed length, after which the motor stops.

Wire retraction speed is set at 1.0 m/min.

Wire Retract = Active high

Wire Retract Description

0 No Operation

1 Wire retraction

2�8 Source Error Reset

The Source Error Reset signal active on the 0→ 1 front only deletes resettable errors (warnings), for which the Hard

Fault bit is not activated (low).

Source Error Reset Description

0,1, 1→ 0 No Operation

0→ 1 Reset of a resettable error. (Warning)

Refer to the WIN TIG power source user manual for a list of resettable errors (warnings).

2�9 Touch Sensing

The Touch Sensing signal identies a short circuit in the weld wire with the workpiece and relays the information to the

robot control by means of the Current Flow signal with a delay of 10 ms max.

Touch Sensing = Active high

Touch Sensing Description

0 No operation

1 Touch Sensing procedure active.

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NOTE

The “Current Flow” signal is sent to the output for 0.2 s beyond the short-circuit duration.

Welding cannot take place as long as the “Touch Sensing” signal remains active.

If the “Touch Sensing” signal is activated during welding, this event is ignored and does not interrupt the welding

process in progress.

2�10 Gas Test Shield

Available only in P.W. mode, performs the shielding gas test "Gas_Shield_Test"= = active high

Gas_Shield_Test Description

0 Gas valve open

1 Gas valve open

2�11 Job Number (bit 7 - 0)

This byte is valid if Job Mode operating mode is set (section 2.3) and job number to be performed is selected.

Job Number Description

0 Job selected manually from the power source panel

1 - 99 Job valid

100 - 255 Job invalid

If the item Allow job change in the power source settings menu is:

- OFF, none of the selected job parameters can be changed,

- ON, the run-time of some of the job parameters can be changed by means of the analog inputs enabled or from the

power source control panel.

If an empty or invalid memory position is selected by robot control, the icon shown below appears on the main panel

status bar:

With interface 448 the available bits are (bit 7 - 0)

2�12 Welding Simulation

Operating mode not implemented.

2�13 Analogue input enablement

Analogue input enablement bytes. Each bit corresponds to the associated analogue input according to the following

table:

Analog Setpoint Enable bit / Function Value=0 Value=1

Analog Setpoint Enable AI0 (Current Setpoint) Disabled Enabled

Analog Setpoint Enable AI1 (Pulse Frequency) Disabled Enabled

Analog Setpoint Enable AI2 (Current Pulse Ratio) Disabled Enabled

Analog Setpoint Enable AI3 (Pulse Duty Cycle) Disabled Enabled

Analog Setpoint Enable AI4 (Gas Plasma Flow) Disabled Enabled

Analog Setpoint Enable AI5 (Gas Shield Flow) Disabled Enabled

Analog Setpoint Enable AI6 (High Speed CW) Disabled Enabled

Analog Setpoint Enable AI7 (Low Speed CW) Disabled Enabled

39/56

2�14 Pilot Arc Start

This is the pilot arc start command in the plasma welding process.

The plasma console set for automatic operation, i.e. managed by robot control, must be present in the system: refer

to digital console gas instruction manual item 465.01.

Pilot Arc Start function = active high

Pilot Arc start Description

0 Pilot arc off

1 Pilot arc start, if no pilot arc current is present within 3 s, this input is ignored by the po-

wer source, even if it is still active.

3 ANALOG SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT)

The power source is able to manage 4 analog inputs for weld parameter settings in real time.

Each analog input consists of 16 bits. The format of each analog signal depends on the Protocol Mode bit.

3�1 Analog Setpoint (AI0)

Analog Setpoint AI0 = Current Setpoint.

Welding wire speed. This value is not effective only in operating mode 3 (Parameter selection internal) and Mode 2

(Job Mode: see exception described in paragraph 2.10).

An� In0 Value[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 500.0 0xFFFF 0x01F4

3�2 Analog Setpoint (AI1)

Analog Setpoint AI1 = Pulse Frequency.

This setting refers to arc voltage correction in relation to the setpoint value

An� In1 Value[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 2500 0xFFFF 0x09C4

3�3 Analog Setpoint (AI2)

Analog Setpoint AI2 = Current Pulse Ratio.

This regulates the output impedance value in order to modify the welding current rising and falling edges

An� In2 Value[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

3�4 Analog Setpoint (AI3)

Analog Setpoint AI3 = Pulse Duty Cycle.

Changes the burnback current value to adjust wire length when welding is complete.

An� In3 Value[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

40/56

3�5 Analog Setpoint (AI4)

Analog Setpoint AI4 = Gas Plasma Flow.

This parameter regulates plasma gas ow during welding and is dened by the following full-scale deection values:

An� In4 Value[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 10.0 0xFFFF 0x0064

3�6 Analog Setpoint (AI5)

Analog Setpoint AI5 = Gas Shield Flow.

This parameter regulates plasma gas ow during welding and is dened by the following full-scale deection values:

An� In5 Value[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 30.0 0xFFFF 0x0120

3�7 Analog Setpoint (AI6)

Analog Setpoint AI6 = High Speed CW.

This setting refers to motor high speed during the “cold wire” process and is dened by the following full-scale de-

ection values:

An� In6 Value[m/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max +12.5 0xFFFF 0x007D

3�8 Analog Setpoint (AI7)

Analog Setpoint AI7 = Low Speed CW.

This setting refers to motor low speed during the “cold wire” process and is dened by the following full-scale deec-

tion values:

An� In6 Value[m/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max +12.5 0xFFFF 0x007D

41/56

4 DIGITAL SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT)

The following table shows digital and analogue signals leaving the welding power source

n° bit Size [bit] Name Analog interface

Art� 448

Digital interface

Art� 428�XX

1 1 Current Flow X X

2 1 Not used - -

3 1 Process Active X X

4 1 Main Current X X

5 1 Torch Collision Protection - X

6 1 Power Source Ready X X

7 1 Communication Ready X X

8 1 Protocol Mode - X

09 - 16 8 Error Number (bit 7 - 0) - X

17 1 Pulse Sync X -

18 - 23 6 Not used - -

24 1 Pilot Arc X X

25 1 Not used - -

26 - 27 2 Not used - -

28 1 Wire Available - X

29 1 Not used - -

30 1 Data documentation ready - -

31 1 Not used - -

32 1 Hard Fault - X

33 - 48 16 Welding Voltage AO0 X X

49 - 64 16 Welding Current AO1 X X

65 - 80 16 Motor Current AO2 - X

81 - 96 16 Motor Speed AO3 - X

97 - 112 16 Gas Plasma Flow AO4 - X

113 - 145 16 Gas Shield Flow AO5 -

X

146 - 161 16 Not used -

-

NOTE

If the connection between power source and robot interface is broken, all digital and analog signals from the robot

interface to the robot control are set to “0”.

4�1 Current Flow

Current Flow is activated as soon as the welding current begins to ow through the workpiece.

Current Flow = active high.

Current ow Description

0 No current ows through the workpiece

1 Current ows through the workpiece

4�2 Process Active

From the beginning of pre-ow gas to the end of post-ow gas, the power source activates the Process Active signal.

The Process Active signal is used to ensure optimal gas shielding of the weld pool, ensuring that the robot stops for

long enough at the beginning and end of the weld bead.

Process Active = active high.

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Process Active Description

0 Weld process not started

1 Weld process in progress

4�3 Main Current

The Main Current signal is activated during the weld section with current delivery equal to setpoint value, therefore

excluding the arc strike, start current, ramp up, ramp down and crater lling current stages.

Main Current = active high.

Main Current Description

0

Current owing through workpiece other than setpoint current

1

Current owing through workpiece same as setpoint current

4�4 Collision Protection

The robot can be equipped with a collision sensor that controls a low Collision Protection signal. If this happens the

robot control stops the robot immediately and interrupts the welding process by deactivating the Robot Ready signal.

Collision Protection = active low.

Collision protection Description

0

Collision between torch and workpiece

1

No collision between torch and workpiece detected

4�5 Power Source Ready

The Power Source Ready signal is activated when the power source is ready to weld.

As soon as an error status arises in the power source or the Robot Ready signal is deactivated, the Power Source

Ready signal is immediately deactivated.

Power Source Ready = active high.

Power Source Ready Description

0 The power source is not enabled for welding

1 No error detected: the power source is ready to perform the welding process

4�6 Communication Ready

When this is active, communication between robot interface and power source is working properly.

When this is inactive, it indicates a lack of communication between robot interface and power source.

Communication Ready = active high

Communication Ready Description

0 Power source not ready for data exchange (e.g. in boot status)

1 Power source ready for data exchange

4�7 Error Number (bit 7 - 0)

The bit conguration corresponds to the error code detected by the power source (see “Error Codes” section in power

source instruction manual).

Error Number Description

0 The power source is working properly

1 - 99 Identies the error code detected

43/56

4�8 Pulse Sync

The Pulse Sync signal is active and synchronised with each “high current” pulse, only when the “Pulsed TIG” proces-

ses is set, with a pulse frequency less than or equal to 10 Hz.

If the “Pulsed TIG” process is set, the “Pulse Sync” signal is active:

− With pulse frequency less than or equal to 10 Hz the “Pulse Sync” output follows the current “high” pulse

status;

− with pulse frequency greater than 10 Hz, the

“Pulse Sync” output remains xed at a high level.

If the “Pulsed Tig” process is not set, the “Pulse Sync” signal is kept at low-level.

This signal is active only if analogue interface Item 448 is present.

Pulse Sync = active high.

Pulse Sync Description

0 Low current pulse

1 High current pulse

4�9 Pilot Arc

Indicates start of pilot arc in plasma welding process, as a consequence of the Pilot Arc command (section 2.24).

Pilot Arc = active high.

Pilot Arc Description

0 Pilot arc off

1 Pilot arc on

4�10 Wire Available

RESERVED

4�11 Data documentation ready

RESERVED

4�12 Hard Fault

The signal becomes high when a non-resettable error occurs (see also section 2.8 Source error reset and section 4.7

Error Number) whereas it remains low in the absence of a non-resettable error or if a warning is present.

Hard fault = active high.

Hard Fault Description

0 No non-resettable error or warning present.

1 A non-resettable error has occurred, the weld power source must be turned off.

5 ANALOG SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT)

The power source is able to manage 4 analog outputs to adjust weld parameters in real time. Each analog output

consists of 16 bits. The format of each analog signal depends on the Protocol Mode bit.

5�1 Analog Measure (AO0)

Analog Measure (AO0) = Welding Voltage.

This is the power source output voltage signal and is dened by the following full-scale deection values:

AO0 Value[V] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

44/56

5�2 Analog Measure (AO1)

Analog Measure (AO1) = Welding Current.

This is the power source output current signal and is dened by the following full-scale deection values:

AO1 Value[A] Protocol mode=0 Protocol mode=1

Min 0 0x0000 0x0000

Max 1000 0xFFFF 0x03E8

5�3 Analog Measure (AO2)

Analog Measure (AO2) = Motor Current.

This is the signal of current taken up by the wire feed motor and is dened by the following full-scale deection values:

AO2 Value[A] Protocol mode=0 Protocol mode=1

Min

0.0 0x0000 0x0000

Max

5.0 0xFFFF 0x0032

5�4 Analog Measure (AO3)

Analog Measure (AO3) = Motor Speed.

This is the weld wire speed signal and is dened by the following full-scale deection values:

AO3 Value[l/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max 12.5 0xFFFF 0x007D

5�5 Analog Measure (AO4)

Analog Measure (AO2) = Gas Plasma Flow.

This is the console plasma gas ow measurement signal and is dened by the following full-scale deection values

AO4 Value[l/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 10.0 0xFFFF 0x0064

5�6 Analog Measure (AO5)

Analog Measure (AO3) = Gas Shield Flow.

This is the signal measured by the gas shield ow detector and is dened by the following full-scale deection values:

AO5 Value[l/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 30.0 0xFFFF 0x012C

45/56

6 CANopen DATA PROCESS IMAGE

IT I bit sono ordinati dal meno signicativo al più signicativo e ogni byte è delimitato da linea in grassetto.

EN The bit are ordered from less to most signicant and each byte is delimited by a bold line.

ES Los bit están ordenados de menos signicativo hacia más signicativo y cada byte se delimita de línea gruesa.

6�1 Messaggi CANopen trasmessi dal Controllo Robot al Generatore

6�1 CANopen messages transmitted from Robot Control to Power Source

6�1 Mensajes CANopen transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

COBID =0x200

n° bit Size Signal name

1 1 Weld Start

2 1 Robot Ready

3 - 6 4 Operating Mode bit (3 - 0)

7 1 Reserved (set to 0)

8 1 Protocol Mode

9 1 Gas Test Plasma

10 1 Wire Inching

11 1 Wire Retract

12 1 Source Error Reset

13 1 Touch Sensing

14 1 Gas Test Shield

15 1 Not Used

16 1 Not Used

17 - 24 8 Job Number (bit (7 - 0)

25 - 31 7 Not used

32 1 Not Used

33 - 40 8 Analog Setpoint Enable (7 - 0)

41 - 48 8 Not used

49 - 55 7 Not used

56 1 Pilot Arc On

57 - 64

8

Not Used

COBID =0x300

n° bit Size Signal name

1 - 16 16 Current Setpoint (AI0)

17 - 32 16 Pulse Frequency (AI1)

33 - 48 16 Current Pulse Ratio (AI2)

49 - 64 16 Pulse Duty Cycle (AI3)

COBID =0x400

n° bit Size Signal name

1 - 16 16 Gas Plasma Flow (AI4)

17 - 32 16 Gas Shield Flow (AI5)

33 - 48 16 High Speed CW (AI6)

49 - 64 16 Low Speed CW (AI7)

46/56

6�2 Messaggi CANopen trasmessi dal Generatore al Controllo Robot

6�2 CANopen messages transmitted from Power Source to Robot Control

6�2 Mensajes CANopen transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit)

EN The total data size is 20 bytes (160 bit)

ES El tamaño total de los datos es 20 bytes (160 bit)

COBID = 0x180

n° bit Size Signal name

1 1 Current Flow

2 1 Not used

3 1 Process Active

4 1 Main Current

5 1 Collision Protection

6 1 Power Source Ready

7 1 Communication Ready

8 1 Protocol mode

9 - 16 8 Error Number (bit 7 - 0)

17 1 Pulse Sync

18 - 23 6 Not used

24 1 Pilot Arc

25 1 Not used

26 - 27 2 Not used

28 1 Wire Available

29 1 Not used

30 1 Data documentation ready

31 1 Not used

32 1 Hard fault

COBID = 0x280

n° bit Size Signal name

1 - 16 16 Welding Voltage (AO0)

17 - 32 16 Welding Current (AO1)

33 - 48 16 Motor Current (AO2)

49 - 64 16 Motor Speed (AO3)

COBID = 0x380

n° bit Size Signal name

1 - 16 16 Plasma gas ow (AO4)

17 - 32 16 Shield gas ow (AO5)

33 - 48 16 Not Used

49 - 64 16 Not Used

47/56

7 PROFIBUS DATA PROCESS IMAGE ART�428�01

IT I bit sono ordinati dal meno signicativo al più signicativo.

EN The bit are ordered from less to most signicant.

ES Los bit están ordenados de menos signicativo hacia más signicativo.

7�1 Messaggi PROFIBUS trasmessi dal Controllo Robot al Generatore

7�1 PROFIBUS messages transmitted from Robot Control to Power Source

7�1 Mensajes PROFIBUS transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit)

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit)

Field n° bit Size Signal name

8

I01 1 Gas Test

I02 1 Wire Inching

I03 1 Wire Retract

I04 1 Source Error Reset

I05 1 Touch Sensing

I06 1 Gas Test Shield

I07 1 Not used

I08 1 Not used

8

I09 1 Weld Start

I10 1 Robot Ready

I11 - I14 4 Operating Mode (bit 3- 0)

I15 1 Reserved (set to 0)

I16 1 Protocol Mode

8

I17 - I23 7 Not used

I24 1 Not used

8 I25 - I32 8 Job number

8 I33 - I40 8 Not used

8 I41 - I48 8 Analog Setpoint Enable (7 - 0)

8 I49 - I56 8 Not used

8

I57 - I63 7 Not used

I64 1 Pilot Arc Start

16

I65 - I172 8 low

Current set point (AI0)

I73 - I80 8 high

16

I81 - I88 8 low

Pulse frequency (AI1)

I89 - I96 8 high

16

I97 - I104 8 low

Current Pulse Ratio (AI2)

I105 - I112 8 high

16

I113 - I120 8 low

Pulse Duty Cycle (AI3)

I121 - I128 8 high

16

I129 - I136 8 low

Gas Plasma Flow (AI4)

I137 - I144 8 high

16

I145 - I152 8 low

Gas Shield Flow (AI5)

I153 - I160 8 high

48/56

7�2 Messaggi PROFIBUS trasmessi dal Generatore al Controllo Robot

7�2 PROFIBUS messages transmitted from Power Source to Robot Control

7�2 Mensajes PROFIBUS transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

Field n° bit Size Signal name

8 O01 - O08 8 Error Number (bit 7 - 0)

8

O09 1 Current Flow

O10 1 Not used

O11 1 Process Active

O12 1 Main Current

O13 1 Collision Protection

O14 1 Power Source Ready

O15 1 Communication Ready

O16 1 Protocol Mode

8

O17 1 Not used

O18 - 019 2 Not used

O20 1 Wire Available

O21 1 Not used

O22 1 Data documentation ready

O23 1 Not used

O24 2 Hard fault

8

O25 1 Pulse Sync

O26 - O31 6 Not used

O32 1 Pilot Arc

16

O33 - O40 8 low Welding Voltage (AO0)

O41 - O48 8 high

16

O49 - O56 8 low Welding Current (AO1)

O57 - O64 8 high

16

O65 - O72 8 low Motor Current (AO2)

O73 - O80 8 high

16

O81 - O88 8 low Motor Speed (AO3)

O89 - O96 8 high

16

O97 - O104 8 low Plasma Gas Flow (AO4)

O105 - O112 8 high

16

O113 - O120 8 low Shield Gas ow (AO5)

O121 - O128 8 high

16

O129 - O136 8 low Not used

O137 - O144 8 high Not used

16

O145 - O152 8 low Not used

O153 - O160 8 high Not used

49/56

8 DeviceNet DATA PROCESS IMAGE ART 428�02

IT I bit sono ordinati dal meno signicativo al più signicativo.

EN The bit are ordered from less to most signicant.

ES Los bit están ordenados de menos signicativo hacia más signicativo.

8�1 Messaggi DeviceNet trasmessi dal Controllo Robot al Generatore

8�1 DeviceNet messages transmitted from Robot Control to Power Source

8�1 Mensajes DeviceNet transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

Field n° bit Size Signal name

8

I01 1 Weld Start

I02 1 Robot Ready

I03 - I06 4 Operating Modes (bit 3 - 0)

I07 1 Reserved (set to 0)

I08 1 Protocol Mode

8

I09 1 Gas Test

I10 1 Wire Inching

I11 1 Wire Retract

I12 1 Source Error Reset

I13 1 Touch Sensing

I14 1 Gas Test Shield

I15 1 Not used

I16 1 Not used

8 I17 - I24 8 Job Number (bit 7 - 0)

8

I25 - I31 7 Not used

I32 1 Not Used

8 I33 - I40 8 Analog Setpoint Enable

8 I41 - I48 8 Not used

8

I49 - I55 7 Not used

I56 1 Pilot arc start

8 I57 - I64 8 Not used

16

I65 - I72 8 low Current Setpoint (AI0)

I73 - I80 8 high

16

I81 - I88 8 low Pulse Frequency (AI1)

I89 - I96 8 high

16

I97 - I104 8 low Current Pulse Ratio (AI2)

I105 - I112 8 high

16

I113 - I120 8 low Pulse Duty Cycle (AI3)

I121 - I128 8 high

16

I129 - 136 8 low Gas Plasma Flow (AI4)

I137 - I144 8 high

16

I145 - I152 8 low Gas Shield Flow (AI5)

I153- I160 8 high

16

I161 - I168 8 low High Speed CW A16

I169 - I176 8 high

16

I177 - I184 8 low Low Speed CW A17

I185 - I192 8 high

50/56

8�2 Messaggi DeviceNet trasmessi dal Generatore al Controllo Robot

8�2 DeviceNet messages transmitted from Power Source to Robot Control

8�2 Mensajes DeviceNet transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

Field n° bit Size Signal name

8

O01 1 Current Flow

O02 1 Not used

O03 1 Process Active

O04 1 Main Current

O05 1 Collision Protection

O06 1 Power Source Ready

O07 1 Communication Ready

O08 1 Protocol mode

8 O09 - O16 8 Error Number (bit 7 - 0)

8

O17 1 Pulse Sync

O18 - O23 6 Not used

O24 1 Pilot Arc

8

O25 1 Not Used

O26 - 027 2 Not used

O28 1 Wire Available

O29 1 Not used

O30 1 Data documentation ready

O31 1 Not used

O32 1 Hard Fault

16

O33 - O40 8 low Welding Voltage (AO0)

O41 - O48 8 high

16

O49 - O56 8 low Welding Current (AO1)

O57 - O64 8 high

16

O65 - O72 8 low Motor Current (AO2)

O73 - O80 8 high

16

O81 - O88 8 low Motor Speed (AO3)

O89 - O96 8 high

16

O97 - O104 8 low Plasma Gas Flow (AO4)

O105 - O112 8 high

16

O113 - O120 8 low Shield gas ow (AO5)

O121 - O128 8 high

16

O129 - O136 8 low Not used

O137 - O144 8 high

16

O145 - O152 8 low Not used

O153 - O160 8 high

51/56

9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART� 428�03 - 428�04

IT I bit sono ordinati dal meno signicativo al più signicativo e ogni byte è delimitato da linea in grassetto

EN The bit are ordered from less to most signicant and each byte is delimited by a bold line

ES Los bit están ordenados de menos signicativo hacia más signicativo y cada byte se delimita de línea gruesa

9�1 Messaggi EtherCAT-EtherNet/IP trasmessi dal Controllo Robot al Generatore

9�1 EtherCAT-EtherNet/IP messages transmitted from Robot Control to Power Source

9�1 Mensajes EtherCAT-EtherNet/IP transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

data n° bit Size Signal name

DIN0

1 1 Weld Start

2 1 Robot Ready

3 - 6 4 Operating Mode bit (3 - 0)

7 1 Reserved (set to 0)

8 1 Protocol Mode

DIN1

9 1 Gas Test

10 1 Wire Inching

11 1 Wire Retract

12 1 Source Error Reset

13 1 Touch Sensing

14 1 Gas Test Shield

15 1 Not used

16 1 Not used

DIN2 17 - 24 8 Job Number (bit 7 - 0)

DIN3

25 - 31 7 Not used

32 1 Not Used

DIN4 33 - 40 8 Analog Setpoint Enable

DIN5 41 - 48 8 Not used

DIN6

49 - 55 7 Not used

56 1 Pilot Arc start

DIN7 57 - 64 8 Not used

AIN0 65 - 80 16 Current Setpoint (AI0)

AIN1 81 - 96 16 Pulse Frequency (AI1)

AIN2 97 - 112 16 Current Pulse Ratio (AI2)

AIN3 113 - 128 16 Pulse Duty Cycle (AI3)

AIN4 129 - 144 16 Gas Plasma Flow (AI4)

AIN5 145 - 160 16 Gas Shield Flow (AI5)

52/56

9�2 Messaggi EtherCAT-EtherNet/IP trasmessi dal Generatore al Controllo Robot

9�2 EtherCAT-EtherNet/IP messages transmitted from Power Source to Robot Control

9�2 Mensajes EtherCAT-EtherNet/IP transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

data n° bit Size Signal name

DOUT0

1 1 Current Flow

2 1 Not used

3 1 Process Active

4 1 Main Current

5 1 Collision Protection

6 1 Power Source Ready

7 1 Communication Ready

8 1 Protocol mode

DOUT1 9 - 16 8 Error Number (bit 7 - 0)

DOUT2

17 1 Pulse Sync

18 - 23 6 Not used

24 1 Pilot Arc

DOUT3

25 1 Sticking Remedied

26 - 27 2 Not used

28 1 Wire available

29 1 Not used

30 1 Data documentation ready

31 1 Not used

32 1 Hard Fault

AOUT0 33 - 48 16 Welding Voltage (AO0)

AOUT1 49 - 64 16 Welding Current (AO1)

AOUT2 65 - 80 16 Motor Current (AO2)

AOUT3 81 - 96 16 Motor Speed (AO3)

AOUT4 97 - 112 16 Plasma Gas Flow (A04)

AOUT5 113 - 128 16 Shield Gas Flow (A05)

AOUT6 129 - 144 16 Not Used

AOUT7 145 - 160 16 Not Used

53/56

54/56

10 MODELLO DI SEGNALI

10 SIGNALS PATTERN

10 MODELO DE SEÑALES

Automation & Robotics

Output Current

Welding Current

Crater Level

First Level

Preflow

Time

0

t

First

Level

Time

First

Slope

Time

Welding Torch Movement

Crater

Slope

Time

Crater

Level

Time

Postflow

Time

Main Current

Current Flow

Process Active

Power Source Ready

Digital Outputs

(Power Source →

→

Robot)

Weld Start

Robot Ready

Digital Inputs

(Robot →

→

Power Source)

Digital Inputs for Operating Mode 2 (JOB Mode)

Job Number

(bit 0 – 7)

Protocollo segnali TIG Robot

55/56

Automation & Robotics

Output Current

Main Current

Current Flow

Process Active

Power Source Ready

Digital Outputs

(Power Source →

→

Robot)

Weld Start

Robot Ready

Digital Inputs

(Robot →

→

Power Source)

Preflow

Time

0

t

First

Level

Time

First

Slope

Time

Welding Torch Movement

Crater

Slope

Time

Crater

Level

Time

Postflow

Time

Welding Current

Crater Level

First Level

Analogue Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13

Digital Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13

Analogue Setpoint

Ain (AI0 – AI7)

Analogue Setpoint Enable

Ain (AI0 – AI7)

Protocollo segnali TIG Robot

56/56

CEBORA S.p.A - Via Andrea Costa, 24 - 40057 Cadriano di Granarolo - BOLOGNA - Italy

Tel. +39.051.765.000 - Fax. +39.051.765.222

www.cebora.it - e-mail: [email protected]

17/02/2021

3301084/B

ES PROTOCOLOS DIGITALES PARA SISTEMAS AUTOMATIZADOS WIN TIG CEBORA

Traducción de las instrucciones originales

58/84

SUMARIO

1 INTRODUCCIÓN �� 60

1.1 ESTE MANUAL ........................................................................................................................................................................ 60

1.2 BUSES DE CAMPO TRATADOS EN ESTE MANUAL .............................................................................................................. 60

2 SEÑALES DIGITALES DESDE CONTROL ROBOT A GENERADOR (INPUT) �� 62

2.1 WELD START ........................................................................................................................................................................... 63

2.2 ROBOT READY ........................................................................................................................................................................ 63

2.3 OPERATING MODE (BIT 3 - 0) ................................................................................................................................................ 64

2.3.1 Job Mode (Mode 2) ................................................................................................................................................................. 64

2.3.2 Parameter Selection Internal (Mode 3) ................................................................................................................................... 64

2.3.3 Modo TIG (Modo 0, 1, 4, 5, 8, 9, 12, 13) ..................................................................................................................................64

2.4 PROTOCOL MODE .................................................................................................................................................................. 64

2.5 GAS TEST ................................................................................................................................................................................ 65

2.6 WIRE INCHING ........................................................................................................................................................................ 65

2.7 WIRE RETRACT ....................................................................................................................................................................... 65

2.8 SOURCE ERROR RESET ........................................................................................................................................................ 65

2.9 TOUCH SENSING .................................................................................................................................................................... 65

2.10 GAS TEST SHIELD .................................................................................................................................................................. 66

2.11 JOB NUMBER (BIT 7 - 0) ......................................................................................................................................................... 66

2.12 WELDING SIMULATION .......................................................................................................................................................... 66

2.13 HABILITACIÓN ENTRADAS ANALÓGICAS ............................................................................................................................ 66

2.14 PILOT ARC START ................................................................................................................................................................... 67

3 SEÑALES ANALÓGICAS DESDE CONTROL ROBOT A GENERADOR (INPUT) �� 67

3.1 ANALOG SETPOINT (AI0) ....................................................................................................................................................... 67

3.2 ANALOG SETPOINT (AI1) ........................................................................................................................................................ 67

3.3 ANALOG SETPOINT (AI2) ........................................................................................................................................................ 67

3.4 ANALOG SETPOINT (AI3)........................................................................................................................................................ 67

3.5 ANALOG SETPOINT (AI4) ........................................................................................................................................................68

3.6 ANALOG SETPOINT (AI5)........................................................................................................................................................ 68

3.7 ANALOG SETPOINT (AI6) ....................................................................................................................................................... 68

3.8 ANALOG SETPOINT (AI7)........................................................................................................................................................ 68

4 SEÑALES DIGITALES DE GENERADOR A CONTROL ROBOT (OUTPUT) �� 69

4.1 CURRENT FLOW ..................................................................................................................................................................... 69

4.2 PROCESS ACTIVE ................................................................................................................................................................... 69

4.3 MAIN CURRENT ...................................................................................................................................................................... 70

4.4 COLLISION PROTECTION ...................................................................................................................................................... 70

4.5 POWER SOURCE READY ....................................................................................................................................................... 70

4.6 COMMUNICATION READY .................................................................................................................................................... 70

4.7 ERROR NUMBER (BIT 7 - 0) ................................................................................................................................................... 70

4.8 PULSE SYNC ........................................................................................................................................................................... 71

4.9 PILOT ARC ............................................................................................................................................................................... 71

4.10 WIRE AVAILABLE .................................................................................................................................................................... 71

4.11 DATA DOCUMENTATION READY ........................................................................................................................................... 71

4.12 HARD FAULT ........................................................................................................................................................................... 71

5 SEÑALES ANALÓGICAS DESDE GENERADOR A CONTROL ROBOT (OUTPUT) �� 71

5.1 ANALOG MEASURE (AO0) ..................................................................................................................................................... 71

5.2 ANALOG MEASURE (AO1) ..................................................................................................................................................... 72

5.3 ANALOG MEASURE (AO2) ..................................................................................................................................................... 72

5.4 ANALOG MEASURE (AO3) ..................................................................................................................................................... 72

5.5 ANALOG MEASURE (AO4) ..................................................................................................................................................... 72

5.6 ANALOG MEASURE (AO5) ..................................................................................................................................................... 72

59/84

6 CANopen DATA PROCESS IMAGE �� 73

6.1 MENSAJES CANopen TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR ........................................................... 73

6.2 MENSAJES CANopen TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT ........................................................... 74

7 PROFIBUS DATA PROCESS IMAGE ART�428�01 �� 75

7.1 MENSAJES PROFIBUS TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR .......................................................... 75

7.2 MENSAJES PROFIBUS TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT .......................................................... 76

8 DeviceNet DATA PROCESS IMAGE ART 428�02 �� 77

8.1 MENSAJES DeviceNet TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR .......................................................... 77

8.2 MENSAJES DeviceNet TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT .......................................................... 78

9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART� 428�03 - 428�04 �� 79

9.1 MENSAJES EtherCAT-EtherNet/IP TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR ................................... 79

9.2 MENSAJES EtherCAT-EtherNet/IP TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT ..................................... 80

10 MODELO DE SEÑALES �� 82

60/84

1 INTRODUCCIÓN

1�1 Este manual

Este manual presenta la con guración de los mensajes de los buses de campo (Data Process Image) adoptados en

los sistemas de soldadura automatizados TIG Cebora, incluidos Plasma Welding.

Se indican y describen todas las señales intercambiadas entre el sistema de soldadura TIG Cebora y el control del

sistema robotizado (Robot Control).

Este manual ha de considerarse parte integrante de los manuales de instrucciones de cada uno de los aparatos que

componen el sistema de soldadura Cebora, por tanto podrá requerirse la consulta simultánea de los mismos.

En Fig. 1 se presenta un ejemplo de sistema robot Cebora.

AUTOMATIONMIG

TIG

(7)

(1)

(3)

(8)

(9)

(2)

(11)

(10)

Fig. 1

Posición Descripción Artículo Opcional

1 Generador serie WIN TIG Robot 380-381-

394-395-

396.80

-

2 Robot Interfaz 428.XX, 448 (X)

3 Conexión Generador - Robot Interfaz 2063 -

6 Carro arrastrahilo Robot 1649 X

7 Conexión generador - Carro arrastrahilo Robot 2067 X

8 Portabobinas/ acoplamiento rápido 121/173 X

9 Envoltura guíahilos 1935 X

10 Panel de control remoto TIG 438 X

11 Conexión Generador - Panel de control remoto TIG 2065 X

1�2 Buses de campo tratados en este manual

− CANopen DS401;

− DeviceNet;

− Pro bus DP-V1;

− EtherCAT

− EtherNet/IP

61/84

Para cada bus de campo Cebora suministra el correspondiente archivo de conguración.

Al nal del manual (apart. 6 ÷ 9) aparecen las tablas de los mensajes intercambiados entre generador y control robot

(Data Process Image), subdivididas según tipo de bus de campo. La Data Process Image está compuesta de la

siguiente forma:

INPUT OUTPUT

Digital [byte]

8 4

Analog [word]

8 8

Total Size [byte]

24 20

62/84

2 SEÑALES DIGITALES DESDE CONTROL ROBOT A GENERADOR (INPUT)

Lista de señales digitales y analógicas en entrada al generador.

n° bit Size [bit] Name Analog interface

Art� 448

Digital interface

Art� 428�XX

1 1 Weld Start X X

2 1 Robot Ready X X

3 - 6 4 Operating Modes (bit 3 - 0) X X

7 1 Reserved (set to 0) - 0

8 1 Protocol Mode - X

9 1 Gas Test/Gas Test Plasma X X

10 1 Wire Inching X X

11 1 Wire Retract X X

12 1 Source Error Reset X X

13 1 Touch Sensing X X

14 1 Gas Test Shield X X

15 1 Not used - -

16 1 Not used - -

17 - 23 7 Job Number (bit 6 - 0) X X

24 1 Job Number (bit 7 ) - X

25 - 31 7 Not used - -

32 1 Welding Simulation - -

33 1 Analog setpoint enable 0 - X

34 1 Analog setpoint enable 1 - X

35 1 Analog setpoint enable 2 - X

36 1 Analog setpoint enable 3 - X

37 1 Analog setpoint enable 4 - X

38 1 Analog setpoint enable 5 - X

39 1 Analog setpoint enable 6 - X

40 1 Analog setpoint enable 7 - X

41 - 48 8 Not used - -

49 - 55 7 Not used - -

56 1 Pilot Arc Start X X

57 - 64 8 Not used - -

65 - 80 16 Current Setpoint AI0 X X

81 - 96 16 Pulse Frequency/Wire Speed

High AI1

X X

97 - 112 16 Current pulse ratio AI2 - X

113 - 128 16 Pulse duty cycle AI3 - X

129 - 144 16 Gas Plasma Flow AI4 - X

I45 - 160 16 Gas Shield Flow AI5 - X

161 - 176 16 High speed CW AI6 - X

177 - 192 16

Low speed CW AI7 - X

63/84

2�1 Weld Start

El bit Weld Start manda el encendido y apagado del arco de soldadura.

Weld Start = (activo alto)

Weld Start Descripción

0→ 1 El control robot manda el encendido del arco. Esta señal es aceptada si la señal de

Power Source Ready está activada.

1→ 0 El control robot manda el apagado del arco.

NOTA

En modalidad Robot con el bit Robot Ready activo, el generador es automáticamente programado en modalidad

2-tiempos.

2�2 Robot Ready

El bit Robot Ready habilita la comunicación entre generador y control robot; una vez que la comunicación ha sido

establecida, el generador queda listo para enviar y recibir los datos desde el CNC externo.

Si el bit está programado en cero, el generador permanece en el estado de error Error 90 CNC no listo y el icono en

la barra de estado del display parpadea.

Si no está activado el bit Robot Ready, tampoco se adquiere alguna señal digital o analógica ni están activadas las

salidas del generador.

Robot Ready = Activo alto

Robot Ready Descripción

0 El control robot no está listo

1 El control robot está listo para el intercambio de datos con el exterior

ADVERTENCIA:

El bit Robot Ready no puede ser utilizado para efectuar una parada de emergencia. Para esta función hay un kit

especíco (Art. 449).

64/84

2�3 Operating Mode (bit 3 - 0)

La selección de la modalidad operativa (Operating Mode) del generador se efectúa mediante 4 bits:

Operating Mode MIG

Bit3 Bit2 Bit1 Bit0 Mode

0 0 0 0 0 DC

0 0 0 1 1 XP

0 0 1 0 2 JOB MODE

0 0 1 1 3 PAR� SEL� INT�

0 1 0 0 4 AC

0 1 0 1 5 MIX

0 1 1 0 6 /

0 1 1 1 7 /

1 0 0 0 8 DC PULSE

1 0 0 1 9 PULSE XP

1 0 1 0 10 /

1 0 1 1 11 /

1 1 0 0 12 AC PULSE

1 1 0 1 13 MIX PULSE

1 1 1 0 14 /

1 1 1 1 15 /

Tabla 1

2�3�1 Job Mode (Mode 2)

En esta modalidad es posible seleccionar un Job precedentemente memorizado en el generador. En la máquina es

posible memorizar hasta 99 Jobs (véase apartado 2.10).

Job Mode = Activo alto.

2�3�2 Parameter Selection Internal (Mode 3)

La modalidad Parameter Selection Internal habilita la selección de los parámetros de soldadura a través del panel

de control del generador. En esta modalidad es posible guardar los Jobs, los cuales podrán ser sucesivamente

convocados mediante el respectivo número identicativo en la modalidad Job mode.

2�3�3 Modo TIG (Modo 0, 1, 4, 5, 8, 9, 12, 13)

El proceso es programado en TIG.

Con esta programación son tomadas en consideración las señales digitales y analógicas. En esta modalidad son

aceptadas las entradas analógicas AI0…AI7.

2�4 Protocol Mode

El bit Protocol Mode permite representar las variables de los setpoints analógicos y de las medidas analógicas

(Analog Set Point y Analog Measure) de dos maneras diferentes, transformando de todas formas en enteros las

variables que admiten valores decimales, mediante un factor multiplicador 10 (por ej. 9.9 se considera como 99).

Protocol Mode Descripción

0 Cada señal analógica (setpoint o medida) es transformada en un valor numérico y

redeterminada entre los valores mínimo y máximo utilizando un campo de 16-bits sin

signo (0 ÷ 65535).

1 Las señales analógicas no se someten a ninguna conversión, por tanto se visualizan

directamente. El valor numérico es representado directamente en binario con un campo

de 16-bits con signo.

65/84

2�5 Gas Test

La señal opcional, Gas Test activa la electroválvula del gas.

También puede usarse para un gas Pre-ow adicional durante un posicionamiento.

Gas Test = Activo alto.

Gas Test Descripción

0 Válvula gas cerrada

1 Válvula gas abierta

Con el proceso de soldadura activo, los tiempos de gas Pre-ow y Post-ow son controlados directamente por el

generador. Con el accesorio Plasma Welding este ingreso esta entrada activa la válvula de gas plasma.

2�6 Wire Inching

La señal Wire Inching acciona el avance del hilo de soldadura sin salida de gas y sin que se genere corriente. La

velocidad de avance se programa en el panel del generador, mediante el menú Test hilo.

Wire Inching = Activo alto.

Wire Inching Descripción

0 Ninguna operación

1 Avance hilo

ADVERTENCIA:

Mantener la antorcha lejos del rostro y del cuerpo para evitar el riesgo de sufrir heridas debido a la salida del hilo de

soldadura.

2�7 Wire Retract

La señal Wire Retract acciona el retroceso del hilo por una longitud determinada, tras lo cual se para el motor.

La velocidad de retroceso del hilo está jada en 1,0 m/min.

Wire Retract = Activo alto.

Wire Retract Descripción

0 Ninguna operación

1 Retiro hilo

2�8 Source Error Reset

La señal Source Error Reset activada en el frente 0→ 1 elimina solo los errores recticables (Warning), para los cuales

no resulta activado (bajo) el bit de Hard Fault.

Source Error Reset Descripción

0,1,1→ 0 Ninguna operación

0→ 1 Reseteo de un error recticable. (Warning)

Para la lista de los errores recticables (Warning) véase el manual de uso del generador WIN TIG.

2�9 Touch Sensing

La señal Touch Sensing cumple la función de identicar el cortocircuito del hilo de soldadura con la pieza y pasar la

información al control robot mediante la señal Current Flow, con un retraso máximo de 10 ms.

Touch Sensing = Activo alto

Touch Sensing Descripción

0 Ninguna operación

1 Procedimiento de Touch Sensing activado

66/84

NOTA

La señal Current Flow se envía a la salida durante 0,2 s más que la duración del cortocircuito.

Durante todo el tiempo de activación de la señal “Touch Sensing” no es posible efectuar la soldadura.

Si la señal de “Touch Sensing” se activa durante la soldadura, se ignora el evento y no se interrumpe el proceso de

soldadura en acto.

2�10 Gas Test Shield

Disponible solo en modo P.W. realiza el test de gas de protección Gas_Shield_Test= activo alto

Gas_Shield_Test Descripción

0 Válvula cerrada

1 Válvula abierta

2�11 Job Number (bit 7 - 0)

Este byte es válido si está programado el modo de funcionamiento Job Mode (apart. 2.3) y selecciona el número de

Job a ejecutar.

Job Number Descripción

0 Job seleccionado de modo manual desde el panel del generador

1 - 99 Job válido.

100 - 255 Job no válido.

Si en el menú de las programaciones del generador la opción Permitir Modicación Job está:

- OFF entonces ningún parámetro de los jobs seleccionados puede ser modicado,

- ON, algunos de los parámetros de los Jobs pueden variarse run-time mediante las respectivas entradas analógicas

habilitadas o bien desde el panel de control del generador.

Si desde el control robot se selecciona una posición de memoria vacía o no válida, en la barra de estado del panel

principal se visualiza el siguiente icono:

2�12 Welding Simulation

Modalidad de funcionamiento no implementada.

2�13 Habilitación Entradas Analógicas

Byte de habilitación de las entradas analógicas. Cada bit corresponde a la respectiva entrada analógica según se

indica en la siguiente tabla:

Analog Setpoint Enable bit / Function Valor=0 Valor=1

Analog Setpoint Enable AI0 (Current Setpoint) Inhabilitado Habilitado

Analog Setpoint Enable AI1 (Pulse Frequency) Inhabilitado Habilitado

Analog Setpoint Enable AI2 (Current Pulse Ratio) Inhabilitado Habilitado

Analog Setpoint Enable AI3 (Pulse Duty Cycle) Inhabilitado Habilitado

Analog Setpoint Enable AI4 (Gas Plasma Flow) Inhabilitado Habilitado

Analog Setpoint Enable AI5 (Gas Shield Flow) Inhabilitado Habilitado

Analog Setpoint Enable AI6 (High Speed CW) Inhabilitado Habilitado

Analog Setpoint Enable AI7 (Low Speed CW) Inhabilitado Habilitado

67/84

2�14 Pilot Arc Start

Es el mando de encendido del arco piloto en el proceso plasma welding.

En el sistema debe estar presente la consola plasma, programada para el funcionamiento automático, es decir,

gestionada por el control robot: véase el manual de instrucciones de la consola digital gas Art 465.01.

Función Pilot Arc Start = activo alto.

Pilot Arc Start Descripción

0 Arco piloto apagado

1 Encendido arco piloto; si dentro de 3 s no hay presencia de corriente de arco piloto, ese

ingreso es ignorado por el generador, aunque esté aún activo.

3 SEÑALES ANALÓGICAS DESDE CONTROL ROBOT A GENERADOR (INPUT)

El generador está en condiciones de gestionar 4 entradas analógicas para las regulaciones de los parámetros de

soldadura en tiempo real.

Cada entrada analógica está compuesta por 16 bits. El formato de cada analógica depende del bit Protocol Mode.

3�1 Analog Setpoint (AI0)

Analog Setpoint AI0 = Current Setpoint.

Es la velocidad del hilo de soldadura. Este valor no es efectivo solo en las modalidades de funcionamiento Mode 3

(Parameter selection internal) y Mode 2 (Job Mode: vease la excepción descrita en el párrafo 2.10).

An� In0 Valor[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 500.0 0xFFFF 0x01F4

3�2 Analog Setpoint (AI1)

Analog Setpoint AI1 = Pulse Frequency.

Esta regulación se reere a la corrección de la tensión de arco respecto del valor de setpoint.

An� In1 Valor[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 2500 0xFFFF 0x09C4

3�3 Analog Setpoint (AI2)

Analog Setpoint AI2 = Current Pulse Ratio.

Ajuste el valor de la impedancia de salida modicando los bordes ascendente y descendente de la corriente de

soldadura

An� In2 Valor[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

3�4 Analog Setpoint (AI3)

Analog Setpoint AI3 = Pulse Duty Cycle.

Modica el valor de la corriente de Burnback para regular la longitud del hilo al término de la soldadura.

An� In3 Valor[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

68/84

3�5 Analog Setpoint (AI4)

Analog Setpoint AI4 = Gas Plasma Flow.

Este parámetro regula el ujo de gas plasma durante la soldadura y es denido por los siguientes valores de plena

escala:

An� In4 Valor[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 10.0 0xFFFF 0x0064

3�6 Analog Setpoint (AI5)

Analog Setpoint AI5 = Gas Shield Flow.

Este parámetro regula el ujo del gas de pantalla durante la soldadura y es denido por los siguientes valores de plena

escala:

An� In5 Valor[m/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 30.0 0xFFFF 0x0120

3�7 Analog Setpoint (AI6)

Analog Setpoint AI6 = High Speed CW.

Esta regulación se reere a la velocidad “alta” del motor durante el proceso “hilo frío” y es denida por los siguientes

valores de plena escala:

An� In6 Valor[m/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max +12.5 0xFFFF 0x007D

3�8 Analog Setpoint (AI7)

Analog Setpoint AI7 = Low Speed CW.

Esta regulación se reere a la velocidad baja del motor durante el proceso “hilo frío” y es denida por los siguientes

valores de plena escala:

An� In6 Valor[m/min] Protocol mode=0 Protocol mode=1

Min -12.5 0x0000 0xFF83

Max +12.5 0xFFFF 0x007D

69/84

4 SEÑALES DIGITALES DE GENERADOR A CONTROL ROBOT (OUTPUT)

En la tabla se indican las señales digitales y analógicas en salida desde el generador de soldadura

n° bit Size [bit] Name Analog interface

Art� 448

Digital interface

Art� 428�XX

1 1 Current Flow X X

2 1 Not used - -

3 1 Process Active X X

4 1 Main Current X X

5 1 Torch Collision Protection - X

6 1 Power Source Ready X X

7 1 Communication Ready X X

8 1 Protocol Mode - X

09 - 16 8 Error Number (bit 7 - 0) - X

17 1 Pulse Sync X -

18 - 23 6 Not used - -

24 1 Pilot Arc X X

25 1 Not used - -

26 - 27 2 Not used - -

28 1 Wire Available - X

29 1 Not used - -

30 1 Data documentation ready - -

31 1 Not used - -

32 1 Hard Fault - X

33 - 48 16 Welding Voltage AO0 X X

49 - 64 16 Welding Current AO1 X X

65 - 80 16 Motor Current AO2 - X

81 - 96 16 Motor Speed AO3 - X

97 - 112 16 Gas Plasma Flow AO4 - X

113 - 145 16 Gas Shield Flow AO5 -

X

146 - 161 16 Not used -

-

NOTA

Si la conexión entre generador e interfaz robot está interrumpida, todas las señales digitales y analógicas desde la

interfaz robot hacia el control robot quedan programadas en “0”.

4�1 Current Flow

Current Flow es activado apenas la corriente de soldadura comienza a circular en la pieza por soldar.

Current Flow = activo alto

Current ow Descripción

0 No hay presencia de corriente en la pieza de soldadura

1 Circula corriente en la pieza de soldadura.

4�2 Process Active

Desde el inicio del gas pre-ow hasta el n del gas post-ow, el generador activa la señal Process Active.

La señal Process Active sirve para garantizar la protección gaseosa ideal del baño de soldadura, asegurando que el

robot permanezca en medida sucientemente prolongada al principio y al n del cordón de soldadura.

Process Active = activo alto.

70/84

Process Active Descripción

0 Proceso de soldadura inactivo

1 Proceso de soldadura en acto.

4�3 Main Current

La señal Main Current permanece activa durante el tramo de soldadura con corriente suministrada igual al valor de

setpoint programado, excluidas por lo tanto las fases de activación arco, corriente inicial, rampas de subida y bajada

y corriente de cráter.

Main Current = activo alto.

Main Current Descripción

0

Corriente circulante en la pieza por soldar diferente de la corriente de setpoint

1

Corriente circulante en la pieza por soldar igual a la corriente de setpoint.

4�4 Collision Protection

El robot puede dotarse de un sensor de colisión que, en caso de impacto de la antorcha de soldadura, pone baja

la señal Collision Protection. En ese caso, el control robot para inmediatamente el robot e interrumpe el proceso de

soldadura desactivando la señal Robot Ready.

Collision Protection = activo bajo.

Collision protection Descripción

0

Colisión entre antorcha y pieza

1

No detectada colisión entre antorcha y pieza

4�5 Power Source Ready

La señal Power Source Ready se activa cuando el generador está listo para soldar.

Apenas se verica una situación de error en el generador o bien la señal Robot Ready es desactivada, la señal Power

Source Ready es desactivada inmediatamente.

Power Source Ready = activo alto.

Power Source Ready Descripción

0 El generador no está habilitado para soldar.

1 Ningún error detectado: el generador está listo para ejecutar el proceso de soldadura.

4�6 Communication Ready

Activado indica el funcionamiento correcto de la comunicación entre la interfaz robot y el generador.

Cuando no está activado, indica ausencia de comunicación entre la interfaz robot y el generador.

Communication Ready = activo alto

Communication Ready Descripción

0 El generador no está listo para el intercambio de los datos (por ej. se encuentra en estado de boot)

1 El generador está listo para el intercambio de los datos.

4�7 Error Number (bit 7 - 0)

La secuencia de bits comunica el código error del generador (véase el apartado “Códigos Error” en el Manual de

Instrucciones del generador).

Error Number Descripción

0 El generador funciona correctamente.

1 - 99 Identica el código del error detectado.

71/84

4�8 Pulse Sync

La señal Pulse Sync está activada y sincronizada con cada impulso de “corriente alta”, solo cuando está programado

el proceso “TIG Pulsado” con una frecuencia de pulsación igual o inferior a 10 Hz.

Si el proceso “TIG Pulsado” está programado, la señal “Pulse Sync” está activada:

− con frecuencia de pulsación igual o inferior a 10 Hz, la salida “Pulse Sync” sigue el estado del impulso “alto” de

corriente;

− con frecuencia de pulsación superior a 10 Hz la salida “Pulse Sync” permanece ja a nivel alto.

Si el proceso “Tig Pulsado” no está programado, la señal “Pulse Sync” es mantenida a nivel bajo.

Esta señal está activada solo si está presente la interfaz analógica Art. 448.

Pulse Sync = activo alto.

Pulse Sync Descripción

0

Impulso de corriente bajo

1

Impulso de corriente alto

4�9 Pilot Arc

Señala el encendido del arco piloto en el proceso plasma welding, como efecto del mando Pilot Arc (apart. 2.24).

Pilot Arc = activo alto.

Pilot Arc Descripción

0 Arco piloto apagado

1 Arco piloto encendido.

4�10 Wire Available

RESERVED

4�11 Data documentation ready

RESERVED

4�12 Hard Fault

La señal va alta cuando se verica un error no recticable (véase también apart. 2.8 Source error reset y apart. 4.7

Error Number) mientras que permanece baja en ausencia de error no recticable o bien en presencia de warning.

Hard fault = activo alto.

Hard Fault Descripción

0 Ningún error presente ni warning presente

1 Se ha vericado un error grave y es necesario apagar el generador de soldadura.

5 SEÑALES ANALÓGICAS DESDE GENERADOR A CONTROL ROBOT (OUTPUT)

El generador está en condiciones de gestionar 4 salidas analógicas para las regulaciones de los parámetros de

soldadura en tiempo real. Cada salida analógica está compuesta por 16 bits. El formato de cada analógica depende

del bit Protocol Mode.

5�1 Analog Measure (AO0)

Analog Measure (AO0) = Welding Voltage.

Es la señal relativa a la tensión de salida del generador, denida mediante los siguientes valores de fondo escala:

AO0 Valor[V] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 100.0 0xFFFF 0x0064

72/84

5�2 Analog Measure (AO1)

Analog Measure (AO1) = Welding Current.

Es la señal relativa a la tensión de salida del generador, denida mediante los siguientes valores de fondo escala:

AO1 Valor[A] Protocol mode=0 Protocol mode=1

Min 0 0x0000 0x0000

Max 1000 0xFFFF 0x03E8

5�3 Analog Measure (AO2)

Analog Measure (AO2) = Motor Current.

Es la señal de la corriente absorbida por el motor de arrastre hilo, denida por los siguientes valores de fondo escala:

AO2 Valor[A] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 5.0 0xFFFF 0x0032

5�4 Analog Measure (AO3)

Analog Measure (AO3) = Motor Speed.

Es la señal de la velocidad del hilo de soldadura, denida mediante los siguientes valores de fondo escala:

AO3 Valor[l/min] Protocol mode=0 Protocol mode=1

Min

-12.5 0x0000 0xFF83

Max

12.5 0xFFFF 0x007D

5�5 Analog Measure (AO4)

Analog Measure (AO4) = Gas Plasma Flow.

Es la señal del medidor de ujo del gas plasma en la consola, denida mediante los siguientes valores de plena escala:

AO4 Valor[l/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 10.0 0xFFFF 0x0064

5�6 Analog Measure (AO5)

Analog Measure (AO5) = Gas Shield Flow.

Es la señal medida por el detector de ujo del gas shield, denida mediante los siguientes valores de plena escala:

AO5 Valor[l/min] Protocol mode=0 Protocol mode=1

Min 0.0 0x0000 0x0000

Max 30.0 0xFFFF 0x012C

73/84

6 CANopen DATA PROCESS IMAGE

IT I bit sono ordinati dal meno signicativo al più signicativo e ogni byte è delimitato da linea in grassetto.

EN The bit are ordered from less to most signicant and each byte is delimited by a bold line.

ES Los bit están ordenados de menos signicativo hacia más signicativo y cada byte se delimita de línea gruesa.

6�1 Messaggi CANopen trasmessi dal Controllo Robot al Generatore

6�1 CANopen messages transmitted from Robot Control to Power Source

6�1 Mensajes CANopen transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

COBID =0x200

n° bit Size Signal name

1 1 Weld Start

2 1 Robot Ready

3 - 6 4 Operating Mode bit (3 - 0)

7 1 Reserved (set to 0)

8 1 Protocol Mode

9 1 Gas Test Plasma

10 1 Wire Inching

11 1 Wire Retract

12 1 Source Error Reset

13 1 Touch Sensing

14 1 Gas Test Shield

15 1 Not Used

16 1 Not Used

17 - 24 8 Job Number (bit (7 - 0)

25 - 31 7 Not used

32 1 Not Used

33 - 40 8 Analog Setpoint Enable (7 - 0)

41 - 48 8 Not used

49 - 55 7 Not used

56 1 Pilot Arc On

57 - 64

8

Not Used

COBID =0x300

n° bit Size Signal name

1 - 16 16 Current Setpoint (AI0)

17 - 32 16 Pulse Frequency (AI1)

33 - 48 16 Current Pulse Ratio (AI2)

49 - 64 16 Pulse Duty Cycle (AI3)

COBID =0x400

n° bit Size Signal name

1 - 16 16 Gas Plasma Flow (AI4)

17 - 32 16 Gas Shield Flow (AI5)

33 - 48 16 High Speed CW (AI6)

49 - 64 16 Low Speed CW (AI7)

74/84

6�2 Messaggi CANopen trasmessi dal Generatore al Controllo Robot

6�2 CANopen messages transmitted from Power Source to Robot Control

6�2 Mensajes CANopen transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit)

EN The total data size is 20 bytes (160 bit)

ES El tamaño total de los datos es 20 bytes (160 bit)

COBID = 0x180

n° bit Size Signal name

1 1 Current Flow

2 1 Not used

3 1 Process Active

4 1 Main Current

5 1 Collision Protection

6 1 Power Source Ready

7 1 Communication Ready

8 1 Protocol mode

9 - 16 8 Error Number (bit 7 - 0)

17 1 Pulse Sync

18 - 23 6 Not used

24 1 Pilot Arc

25 1 Not used

26 - 27 2 Not used

28 1 Wire Available

29 1 Not used

30 1 Data documentation ready

31 1 Not used

32 1 Hard fault

COBID = 0x280

n° bit Size Signal name

1 - 16 16 Welding Voltage (AO0)

17 - 32 16 Welding Current (AO1)

33 - 48 16 Motor Current (AO2)

49 - 64 16 Motor Speed (AO3)

COBID = 0x380

n° bit Size Signal name

1 - 16 16 Plasma gas ow (AO4)

17 - 32 16 Shield gas ow (AO5)

33 - 48 16 Not Used

49 - 64 16 Not Used

75/84

7 PROFIBUS DATA PROCESS IMAGE ART�428�01

IT I bit sono ordinati dal meno signicativo al più signicativo.

EN The bit are ordered from less to most signicant.

ES Los bit están ordenados de menos signicativo hacia más signicativo.

7�1 Messaggi PROFIBUS trasmessi dal Controllo Robot al Generatore

7�1 PROFIBUS messages transmitted from Robot Control to Power Source

7�1 Mensajes PROFIBUS transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit)

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit)

Field n° bit Size Signal name

8

I01 1 Gas Test

I02 1 Wire Inching

I03 1 Wire Retract

I04 1 Source Error Reset

I05 1 Touch Sensing

I06 1 Gas Test Shield

I07 1 Not used

I08 1 Not used

8

I09 1 Weld Start

I10 1 Robot Ready

I11 - I14 4 Operating Mode (bit 3- 0)

I15 1 Reserved (set to 0)

I16 1 Protocol Mode

8

I17 - I23 7 Not used

I24 1 Not used

8 I25 - I32 8 Job number

8 I33 - I40 8 Not used

8 I41 - I48 8 Analog Setpoint Enable (7 - 0)

8 I49 - I56 8 Not used

8

I57 - I63 7 Not used

I64 1 Pilot Arc Start

16

I65 - I172 8 low

Current set point (AI0)

I73 - I80 8 high

16

I81 - I88 8 low

Pulse frequency (AI1)

I89 - I96 8 high

16

I97 - I104 8 low

Current Pulse Ratio (AI2)

I105 - I112 8 high

16

I113 - I120 8 low

Pulse Duty Cycle (AI3)

I121 - I128 8 high

16

I129 - I136 8 low

Gas Plasma Flow (AI4)

I137 - I144 8 high

16

I145 - I152 8 low

Gas Shield Flow (AI5)

I153 - I160 8 high

76/84

7�2 Messaggi PROFIBUS trasmessi dal Generatore al Controllo Robot

7�2 PROFIBUS messages transmitted from Power Source to Robot Control

7�2 Mensajes Probus transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

Field n° bit Size Signal name

8 O01 - O08 8 Error Number (bit 7 - 0)

8

O09 1 Current Flow

O10 1 Not used

O11 1 Process Active

O12 1 Main Current

O13 1 Collision Protection

O14 1 Power Source Ready

O15 1 Communication Ready

O16 1 Protocol Mode

8

O17 1 Not used

O18 - 019 2 Not used

O20 1 Wire Available

O21 1 Not used

O22 1 Data documentation ready

O23 1 Not used

O24 2 Hard fault

8

O25 1 Pulse Sync

O26 - O31 6 Not used

O32 1 Pilot Arc

16

O33 - O40 8 low Welding Voltage (AO0)

O41 - O48 8 high

16

O49 - O56 8 low Welding Current (AO1)

O57 - O64 8 high

16

O65 - O72 8 low Motor Current (AO2)

O73 - O80 8 high

16

O81 - O88 8 low Motor Speed (AO3)

O89 - O96 8 high

16

O97 - O104 8 low Plasma Gas Flow (AO4)

O105 - O112 8 high

16

O113 - O120 8 low Shield Gas ow (AO5)

O121 - O128 8 high

16

O129 - O136 8 low Not used

O137 - O144 8 high Not used

16

O145 - O152 8 low Not used

O153 - O160 8 high Not used

77/84

8 DeviceNet DATA PROCESS IMAGE ART 428�02

ITI I bit sono ordinati dal meno signicativo al più signicativo.

EN The bit are ordered from less to most signicant.

ES Los bit están ordenados de menos signicativo hacia más signicativo.

8�1 Messaggi DeviceNet trasmessi dal Controllo Robot al Generatore

8�1 DeviceNet messages transmitted from Robot Control to Power Source

8�1 Mensajes DeviceNet transmitidos del Control Robot al Generador

IIT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

Field n° bit Size Signal name

8

I01 1 Weld Start

I02 1 Robot Ready

I03 - I06 4 Operating Modes (bit 3 - 0)

I07 1 Reserved (set to 0)

I08 1 Protocol Mode

8

I09 1 Gas Test

I10 1 Wire Inching

I11 1 Wire Retract

I12 1 Source Error Reset

I13 1 Touch Sensing

I14 1 Gas Test Shield

I15 1 Not used

I16 1 Not used

8 I17 - I24 8 Job Number (bit 7 - 0)

8

I25 - I31 7 Not used

I32 1 Not Used

8 I33 - I40 8 Analog Setpoint Enable

8 I41 - I48 8 Not used

8

I49 - I55 7 Not used

I56 1 Pilot arc start

8 I57 - I64 8 Not used

16

I65 - I72 8 low Current Setpoint (AI0)

I73 - I80 8 high

16

I81 - I88 8 low Pulse Frequency (AI1)

I89 - I96 8 high

16

I97 - I104 8 low Current Pulse Ratio (AI2)

I105 - I112 8 high

16

I113 - I120 8 low Pulse Duty Cycle (AI3)

I121 - I128 8 high

16

I129 - 136 8 low Gas Plasma Flow (AI4)

I137 - I144 8 high

16

I145 - I152 8 low Gas Shield Flow (AI5)

I153- I160 8 high

16

I161 - I168 8 low High Speed CW A16

I169 - I176 8 high

16

I177 - I184 8 low Low Speed CW A17

I185 - I192 8 high

78/84

8�2 Messaggi DeviceNet trasmessi dal Generatore al Controllo Robot

8�2 DeviceNet messages transmitted from Power Source to Robot Control

8�2 Mensajes DeviceNet transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

Field n° bit Size Signal name

8

O01 1 Current Flow

O02 1 Not used

O03 1 Process Active

O04 1 Main Current

O05 1 Collision Protection

O06 1 Power Source Ready

O07 1 Communication Ready

O08 1 Protocol mode

8 O09 - O16 8 Error Number (bit 7 - 0)

8

O17 1 Pulse Sync

O18 - O23 6 Not used

O24 1 Pilot Arc

8

O25 1 Not Used

O26 - 027 2 Not used

O28 1 Wire Available

O29 1 Not used

O30 1 Data documentation ready

O31 1 Not used

O32 1 Hard Fault

16

O33 - O40 8 low Welding Voltage (AO0)

O41 - O48 8 high

16

O49 - O56 8 low Welding Current (AO1)

O57 - O64 8 high

16

O65 - O72 8 low Motor Current (AO2)

O73 - O80 8 high

16

O81 - O88 8 low Motor Speed (AO3)

O89 - O96 8 high

16

O97 - O104 8 low Plasma Gas Flow (AO4)

O105 - O112 8 high

16

O113 - O120 8 low Shield gas ow (AO5)

O121 - O128 8 high

16

O129 - O136 8 low Not used

O137 - O144 8 high

16

O145 - O152 8 low Not used

O153 - O160 8 high

79/84

9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART� 428�03 - 428�04

IT I bit sono ordinati dal meno signicativo al più signicativo e ogni byte è delimitato da linea in grassetto

EN The bit are ordered from less to most signicant and each byte is delimited by a bold line

ES Los bit están ordenados de menos signicativo hacia más signicativo y cada byte se delimita de línea gruesa

9�1 Messaggi EtherCAT-EtherNet/IP trasmessi dal Controllo Robot al Generatore

9�1 EtherCAT-EtherNet/IP messages transmitted from Robot Control to Power Source

9�1 Mensajes EtherCAT-EtherNet/IP transmitidos del Control Robot al Generador

IT La dimensione totale dei dati è 24 byte (192 bit).

EN The total data size is 24 bytes (192 bit).

ES El tamaño total de los datos es 24 bytes (192 bit).

data n° bit Size Signal name

DIN0

1 1 Weld Start

2 1 Robot Ready

3 - 6 4 Operating Mode bit (3 - 0)

7 1 Reserved (set to 0)

8 1 Protocol Mode

DIN1

9 1 Gas Test

10 1 Wire Inching

11 1 Wire Retract

12 1 Source Error Reset

13 1 Touch Sensing

14 1 Gas Test Shield

15 1 Not used

16 1 Not used

DIN2 17 - 24 8 Job Number (bit 7 - 0)

DIN3

25 - 31 7 Not used

32 1 Not Used

DIN4 33 - 40 8 Analog Setpoint Enable

DIN5 41 - 48 8 Not used

DIN6

49 - 55 7 Not used

56 1 Pilot Arc start

DIN7 57 - 64 8 Not used

AIN0 65 - 80 16 Current Setpoint (AI0)

AIN1 81 - 96 16 Pulse Frequency (AI1)

AIN2 97 - 112 16 Current Pulse Ratio (AI2)

AIN3 113 - 128 16 Pulse Duty Cycle (AI3)

AIN4 129 - 144 16 Gas Plasma Flow (AI4)

AIN5 145 - 160 16 Gas Shield Flow (AI5)

80/84

9�2 Messaggi EtherCAT-EtherNet/IP trasmessi dal Generatore al Controllo Robot

9�2 EtherCAT-EtherNet/IP messages transmitted from Power Source to Robot Control

9�2 Mensajes EtherCAT-EtherNet/IP transmitidos del Generador al Control Robot

IT La dimensione totale dei dati è 20 byte (160 bit).

EN The total data size is 20 bytes (160 bit).

ES El tamaño total de los datos es 20 bytes (160 bit).

data n° bit Size Signal name

DOUT0

1 1 Current Flow

2 1 Not used

3 1 Process Active

4 1 Main Current

5 1 Collision Protection

6 1 Power Source Ready

7 1 Communication Ready

8 1 Protocol mode

DOUT1 9 - 16 8 Error Number (bit 7 - 0)

DOUT2

17 1 Pulse Sync

18 - 23 6 Not used

24 1 Pilot Arc

DOUT3

25 1 Sticking Remedied

26 - 27 2 Not used

28 1 Wire available

29 1 Not used

30 1 Data documentation ready

31 1 Not used

32 1 Hard Fault

AOUT0 33 - 48 16 Welding Voltage (AO0)

AOUT1 49 - 64 16 Welding Current (AO1)

AOUT2 65 - 80 16 Motor Current (AO2)

AOUT3 81 - 96 16 Motor Speed (AO3)

AOUT4 97 - 112 16 Plasma Gas Flow (A04)

AOUT5 113 - 128 16 Shield Gas Flow (A05)

AOUT6 129 - 144 16 Not Used

AOUT7 145 - 160 16 Not Used

81/84

82/84

10 MODELLO DI SEGNALI

10 SIGNALS PATTERN

10 MODELO DE SEÑALES

Automation & Robotics

Output Current

Welding Current

Crater Level

First Level

Preflow

Time

0

t

First

Level

Time

First

Slope

Time

Welding Torch Movement

Crater

Slope

Time

Crater

Level

Time

Postflow

Time

Main Current

Current Flow

Process Active

Power Source Ready

Digital Outputs

(Power Source →

→

Robot)

Weld Start

Robot Ready

Digital Inputs

(Robot →

→

Power Source)

Digital Inputs for Operating Mode 2 (JOB Mode)

Job Number

(bit 0 – 7)

Protocollo segnali TIG Robot

83/84

Automation & Robotics

Output Current

Main Current

Current Flow

Process Active

Power Source Ready

Digital Outputs

(Power Source →

→

Robot)

Weld Start

Robot Ready

Digital Inputs

(Robot →

→

Power Source)

Preflow

Time

0

t

First

Level

Time

First

Slope

Time

Welding Torch Movement

Crater

Slope

Time

Crater

Level

Time

Postflow

Time

Welding Current

Crater Level

First Level

Analogue Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13

Digital Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13

Analogue Setpoint

Ain (AI0 – AI7)

Analogue Setpoint Enable

Ain (AI0 – AI7)

Protocollo segnali TIG Robot

84/84

CEBORA S.p.A - Via Andrea Costa, 24 - 40057 Cadriano di Granarolo - BOLOGNA - Italy

Tel. +39.051.765.000 - Fax. +39.051.765.222

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IT PROTOCOLLI DIGITALI PER IMPIANTI AUTOMATIZZATI WIN TIG CEBORA Istruzioni originali PAG. 2 EN DIGITAL PROTOCOLS FOR CEBORA WIN TIG AUTOMATED SYSTEMS Translation of the original instructions PAG. 29 ES PROTOCOLOS DIGITALES PARA SISTEMAS AUTOMATIZADOS WIN TIG CEBORA Traducción de las instrucciones originales PAG. 57 3301084/A 31/03/2021 SOMMARIO 1 INTRODUZIONE�� 4 1.1 QUESTO MANUALE�� 4 1.2 BUS DI CAMPO TRATTATI IN QUESTO MANUALE�� 4 2 SEGNALI DIGITALI DA CONTROLLO ROBOT A GENERATORE (INPUT)�� 6 2.1 WELD START�� 7 2.2 ROBOT READY�� 7 2.3 2.3.1 2.3.2 2.3.3 OPERATING MODE (BIT 3 - 0)�� 8 Job Mode (Mode 2)�� 8 Parameter Selection Internal (Mode 3)�� 8 Modo TIG (Mode 0,1,4,5,8,9,12,13)�� 8 2.4 PROTOCOL MODE�� 8 2.5 GAS TEST�� 9 2.6 WIRE INCHING�� 9 2.7 WIRE RETRACT�� 9 2.8 SOURCE ERROR RESET�� 9 2.9 TOUCH SENSING�� 9 2.10 GAS TEST SHIELD �� 10 2.11 JOB NUMBER (BIT 7 - 0)�� 10 2.12 WELDING SIMULATION�� 10 2.13 ABILITAZIONE INGRESSI ANALOGICI�� 10 2.14 PILOT ARC START�� 11 3 SEGNALI ANALOGICI DA CONTROLLO ROBOT A GENERATORE (INPUT)��11 3.1 ANALOG SETPOINT (AI0)�� 11 3.2 ANALOG SETPOINT (AI1)�� 11 3.3 ANALOG SETPOINT (AI2)�� 11 3.4 ANALOG SETPOINT (AI3)�� 11 3.5 ANALOG SETPOINT (AI4)�� 12 3.6 ANALOG SETPOINT (AI5)�� 12 3.7 ANALOG SETPOINT (AI6)�� 12 3.8 ANALOG SETPOINT (AI7)�� 12 4 SEGNALI DIGITALI DA GENERATORE A CONTROLLO ROBOT (OUTPUT)�� 13 4.1 CURRENT FLOW�� 13 4.2 PROCESS ACTIVE�� 13 4.3 MAIN CURRENT�� 14 4.4 COLLISION PROTECTION�� 14 4.5 POWER SOURCE READY�� 14 4.6 COMMUNICATION READY �� 14 4.7 ERROR NUMBER (BIT 7 - 0)�� 14 4.8 PULSE SYNC�� 15 4.9 PILOT ARC�� 15 4.10 WIRE AVAILABLE�� 15 4.11 DATA DOCUMENTATION READY�� 15 4.12 HARD FAULT�� 15 5 SEGNALI ANALOGICI DA GENERATORE A CONTROLLO ROBOT (OUTPUT)�� 15 5.1 ANALOG MEASURE (AO0)�� 15 5.2 ANALOG MEASURE (AO1)�� 16 5.3 ANALOG MEASURE (AO2)�� 16 5.4 ANALOG MEASURE (AO3)�� 16 5.5 ANALOG MEASURE (AO4)�� 16 5.6 ANALOG MEASURE (AO5)�� 16 2/28 6 6.2 CANopen DATA PROCESS IMAGE�� 17 MESSAGGI CANopen TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE�� 17 MESSAGGI CANopen TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT�� 18 7 PROFIBUS DATA PROCESS IMAGE ART. 428.01�� 19 7.1 MESSAGGI PROFIBUS TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE�� 19 7.2 MESSAGGI PROFIBUS TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT�� 20 8 DeviceNet DATA PROCESS IMAGE ART 428.02�� 21 MESSAGGI DeviceNet TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE�� 21 MESSAGGI DeviceNet TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT�� 22 6.1 8.1 8.2 9 9.2 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART. 428.03 - 428.04�� 23 MESSAGGI EtherCAT-EtherNet/IP TRASMESSI DAL CONTROLLO ROBOT AL GENERATORE�� 23 MESSAGGI EtherCAT-EtherNet/IP TRASMESSI DAL GENERATORE AL CONTROLLO ROBOT�� 24 10 MODELLO DI SEGNALI�� 26 9.1 3/28 1 INTRODUZIONE 1�1 Questo manuale Questo manuale descrive la configurazione dei messaggi dei bus di campo (Data Process Image) adottati negli impianti di saldatura automatizzati TIG Cebora, inclusi Plasma Welding. Sono elencati e descritti tutti i segnali scambiati fra il sistema di saldatura TIG Cebora ed il controllo dell’impianto robotizzato (Robot Control). AUTOMATION Questo manuale deve essere intesoMIG come parte integrante dei Manuali Istruzioni delle singole apparecchiature componenti il sistema di saldatura Cebora e pertanto potrà essere necessaria la contemporanea consultazione dei suddetti manuali. In Fig. 1 è riportato un esempio di impianto robot Cebora. TIG (10) (11) (9) (7) (8) (1) (3) (2) Fig. 1 Posizione Descrizione Articolo Opzionale 1 Generatore serie WIN TIG Robot 380-381394-395396.80 2 Interfaccia Robot 428.XX, 448 3 Connessione Generatore - Interfaccia Robot 2063 - 6 Carrello trainafilo Robot 1649 X 7 Connessione Generatore - Carrello trainafilo Robot 2067 X 8 Portabobina/attacco rapido 121/173 X 9 Guaina guidafilo 1935 X 10 Pannello di controllo remoto TIG 438 X 11 Connessione Generatore - Pannello di controllo remoto TIG 2065 X - (X) NOTA Se il controllo robot dispone di una porta di comunicazione di tipo CANopen master l’interfaccia (2) non è necessaria in quanto il generatore (1) può essere collegato direttamente tramite il cavo CANopen (3) piu' il cavo aggiuntivo CANopen art. 2054, da richiedere separatamente a Cebora 1�2 Bus di campo trattati in questo manuale − CANopen DS401; − DeviceNet; − Profibus DP-V1; − EtherCAT − EtherNet/IP 4/28 Per ogni bus di campo Cebora fornisce il corrispondente file di configurazione. A fine manuale (par. 6 ÷ 9) sono riportate le tabelle dei messaggi scambiati fra generatore e controllo robot (Data Process Image), suddivise per tipologia di bus di campo. La Data Process Image è così composta : INPUT OUTPUT Digital [byte] 8 4 Analog [word] 8 8 Total Size [byte] 24 20 5/28 2 SEGNALI DIGITALI DA CONTROLLO ROBOT A GENERATORE (INPUT) Elenco segnali digitali ed analogici in ingresso al generatore. 6/28 n° bit Size [bit] Name Analog interface Art. 448 Digital interface Art. 428.XX 1 1 Weld Start X X 2 1 Robot Ready X X 3-6 4 Operating Modes (bit 3 - 0) X X 7 1 Reserved (set to 0) - 0 8 1 Protocol Mode - X 9 1 Gas Test/Gas Test Plasma X X 10 1 Wire Inching X X 11 1 Wire Retract X X 12 1 Source Error Reset X X 13 1 Touch Sensing X X 14 1 Gas Test Shield X X 15 1 Not used - - 16 1 Not used - - 17 - 23 7 Job Number (bit 6 - 0) X X 24 1 Job Number (bit 7 ) - X 25 - 31 7 Not used - - 32 1 Welding Simulation - - 33 1 Analog setpoint enable 0 - X 34 1 Analog setpoint enable 1 - X 35 1 Analog setpoint enable 2 - X 36 1 Analog setpoint enable 3 - X 37 1 Analog setpoint enable 4 - X 38 1 Analog setpoint enable 5 - X 39 1 Analog setpoint enable 6 - X 40 1 Analog setpoint enable 7 - X 41 - 48 8 Not used - - 49 - 55 7 Not used - - 56 1 Pilot Arc Start X X 57 - 64 8 Not used - - 65 - 80 16 Current Setpoint AI0 X X 81 - 96 16 Pulse Frequency/Wire Speed High AI1 X X 97 - 112 16 Current pulse ratio AI2 - X 113 - 128 16 Pulse duty cycle AI3 - X 129 - 144 16 Gas Plasma Flow AI4 - X I45 - 160 16 Gas Shield Flow AI5 - X 161 - 176 16 High speed CW AI6 - X 177 - 192 16 Low speed CW AI7 - X 2.1 Weld Start Il bit Weld Start comanda l’accensione e lo spegnimento dell’arco di saldatura. Weld Start = (attivo alto.) Weld Start Descrizione 0→ 1 Il controllo robot comanda l’accensione dell’arco. Questo segnale viene accettato se il segnale di Power Source Ready è attivo. 1→ 0 Il controllo robot comanda lo spegnimento dell’arco. NOTA In modalità Robot con il bit Robot Ready attivo il generatore è automaticamente impostato in modalità 2-tempi. 2.2 Robot Ready Il bit Robot Ready abilita la comunicazione tra generatore e controllo robot, una volta che la comunicazione è stabilita il generatore è pronto ad inviare e ricevere i dati dal CNC esterno. Se il bit è impostato a zero il generatore permane nello stato di errore Error 90-CNC non pronto e l’icona sulla barra di stato del display lampeggia. Se il bit Robot Ready non è attivo, nessun segnale digitale o analogico viene acquisito e le uscite del generatore sono tutte non attive. Robot Ready = Attivo alto Robot Ready Descrizione 0 Il controllo Robot non è pronto 1 Il controllo robot è pronto per lo scambio dati con l’esterno AVVERTENZA: Il bit Robot Ready non può essere utilizzato per un arresto di emergenza. Per tale funzione è disponibile un kit appositamente realizzato (Art. 449). 7/28 2.3 Operating Mode (bit 3 - 0) La selezione della modalità operativa (Operating Mode) del generatore è effettuata tramite 4 bit: Operating Mode MIG Bit3 Bit2 Bit1 Bit0 Mode 0 0 0 0 0 DC 0 0 0 1 1 XP 0 0 1 0 2 JOB MODE 0 0 1 1 3 PAR. SEL. INT. 0 1 0 0 4 AC 0 1 0 1 5 MIX 0 1 1 0 6 / 0 1 1 1 7 / 1 0 0 0 8 DC PULSE 1 0 0 1 9 PULSE XP 1 0 1 0 10 / 1 0 1 1 11 / 1 1 0 0 12 AC PULSE 1 1 0 1 13 MIX PULSE 1 1 1 0 14 / 1 1 1 1 15 / Tabella 1 2.3.1 Job Mode (Mode 2) In questa modalità è possibile selezionare un Job precedentemente memorizzato nel generatore. E’ possibile memorizzare nella macchina fino a 99 Job (vedi par.2.10). Job mode = Attivo alto 2.3.2 Parameter Selection Internal (Mode 3) La modalità Parameter Selection Internal abilita la selezione dei parametri di saldatura tramite il pannello di controllo del generatore. In tale modalità è possibile salvare i Job i quali potranno essere poi richiamati con l’opportuno numero identificativo nella modalità Job mode. 2.3.3 Modo TIG (Mode 0,1,4,5,8,9,12,13) Il processo è impostato in TIG. Con questa impostazione sono presi in considerazione i segnali digitali ed analogici. In questa modalità vengono accettati gli ingressi analogici AI0…AI7. 2.4 Protocol Mode Il bit Protocol Mode consente di rappresentare le variabili dei setpoint analogici e delle misure analogiche (Analog Set Point e Analog Measure) in due modi diversi, trasformando comunque sempre le variabili che ammettono valori decimali in interi, tramite un fattore moltiplicatore 10 (es. 9.9 si considera come 99). Protocol Mode 8/28 Descrizione 0 Ogni segnale analogico (setpoint o misura) è trasformato in un valore numerico e riscalato fra il valore minimo e massimo utilizzando un campo a 16-bit senza segno (0 ÷ 65535) 1 I segnali analogici non subiscono alcuna messa in scala e quindi sono direttamente leggibili. Il valore numerico è rappresentato direttamente in binario con un campo a 16-bit con segno. 2.5 Gas Test Il segnale opzionale Gas Test attiva l’elettrovalvola del gas. Può essere usato anche per un gas Pre-flow addizionale durante un posizionamento. Gas Test = Attivo alto. Gas Test Descrizione 0 Valvola gas chiusa. 1 Valvola gas aperta. Con il processo di saldatura attivo, i tempi di gas Pre-flow e Post-flow sono controllati direttamente dal generatore. Con l’accessorio Plasma Welding tale ingresso attiva la valvola del Gas di Plasma. 2.6 Wire Inching Il segnale Wire Inching comanda l’avanzamento del filo di saldatura senza uscita di gas e senza generazione di corrente. La velocità di avanzamento viene programmata tramite il pannello del generatore, nel menù Test Filo. Wire Inching = Attivo alto. Wire Inching Descrizione 0 Nessuna operazione 1 Avanzamento filo AVVERTENZA: Tenere la torcia lontano dal viso e dal corpo per evitare il rischio di ferite dovute alla fuoriuscita del filo di saldatura. 2.7 Wire Retract Il segnale Wire Retract comanda l’arretramento del filo di una lunghezza fissa, dopo di che il motore si ferma. La velocità di arretramento del filo è fissa a 1,0 m/min. Wire Retract = Attivo alto. Wire Retract 2.8 Descrizione 0 Nessuna operazione 1 Ritiro filo Source Error Reset Il segnale Source Error Reset attivo sul fronte 0→ 1 cancella solo gli errori ripristinabili (Warning), per i quali il bit di Hard Fault risulta essere non attivato (basso). Source Error Reset 0,1,1→ 0 0→ 1 Descrizione Nessuna operazione Reset di un errore ripristinabile (Warning) Per l’elenco degli errori ripristinabili (Warning), fare riferimento al manuale d’uso del generatore WIN TIG. 2.9 Touch Sensing Il segnale Touch Sensing ha il compito di individuare il cortocircuito del filo di saldatura con il pezzo e riportare l’informazione al controllo robot tramite il segnale Current Flow, con un ritardo di 10 ms max. Touch Sensing = Attivo alto Touch Sensing Descrizione 0 Nessuna operazione 1 Procedura di Touch Sensing attiva. 9/28 NOTA Il segnale “Current Flow” è inviato all’uscita per 0,2 s oltre la durata del cortocircuito. Per tutto il tempo in cui il segnale “Touch Sensing” rimane attivo, la saldatura non può avvenire. Se il controllo robot inizializza il segnale “Touch Sensing” durante la saldatura, l’operazione di saldatura è abortita 2.10 Gas Test Shield Disponibile solo in modalità P.W. esegue il test del gas di protezione "Gas_Shield_Test"= attivo alto Gas_Shield_Test Descrizione 0 Valvola chiusa 1 Valvola aperta 2.11 Job Number (bit 7 - 0) Tale byte è valido se è impostato il modo di funzionamento Job Mode (par. 2.3) e seleziona il numero del Job da eseguire. Job Number 0 1 - 99 100 - 255 Descrizione Job selezionato in modo manuale dal pannello del generatore Job valido. Job non valido. Se nel menù delle impostazioni del generatore la voce Consenti Modifica Job è : - OFF, allora nessun parametro dei job selezionati può essere modificato, - ON, alcuni dei parametri dei Job possono essere variati run-time tramite i corrispondenti ingressi analogici abilitati oppure dal pannello di controllo del generatore. Se da controllo robot viene selezionata una posizione di memoria vuota o non valida, sulla barra di stato del pannello principale appare l’icona evidenziata sotto: Con interfaccia 448 i Bit a disposizione sono (bit 7 - 0) 2.12 Welding Simulation Modalità di funzionamento non implementata. 2.13 Abilitazione Ingressi analogici Byte di abilitazione degli ingressi analogici. Ogni bit corrisponde al relativo ingresso analogico secondo la tabella di seguito riportata : 10/28 Analog Setpoint Enable bit / Function Value=0 Value=1 Analog Setpoint Enable AI0 (Current Setpoint) Disabilitato Abilitato Analog Setpoint Enable AI1 (Pulse Frequency) Disabilitato Abilitato Analog Setpoint Enable AI2 (Current Pulse Ratio) Disabilitato Abilitato Analog Setpoint Enable AI3 (Pulse Duty Cycle) Disabilitato Abilitato Analog Setpoint Enable AI4 (Gas Plasma Flow) Disabilitato Abilitato Analog Setpoint Enable AI5 (Gas Shield Flow) Disabilitato Abilitato Analog Setpoint Enable AI6 (High Speed CW) Disabilitato Abilitato Analog Setpoint Enable AI7 (Low Speed CW) Disabilitato Abilitato 2.14 Pilot Arc Start È il comando di accensione dell’arco pilota nel processo plasma welding. Nell’impianto deve essere presente la console plasma, impostata per il funzionamento automatico, cioè gestito dal controllo robot: fare riferimento al manuale istruzioni della gas console digitale Art 465.01. Funzione Pilot Arc Start = attivo alto. Pilot Arc start 3 Descrizione 0 Arco pilota spento 1 Accensione arco pilota, se entro 3 s non è presente corrente di arco pilota tale ingresso viene ignorato dal generatore, anche se ancora attivo SEGNALI ANALOGICI DA CONTROLLO ROBOT A GENERATORE (INPUT) Il generatore è in grado di gestire 4 ingressi analogici per le regolazioni dei parametri di saldatura in tempo reale. Ogni ingresso analogico è composto da 16 bit. Il formato di ogni singola analogica dipende dal bit Protocol Mode. 3.1 Analog Setpoint (AI0) Analog Setpoint AI0 = Current Setpoint E’ la velocità del filo di saldatura. Tale valore non ha effetto solamente nella modalità di funzionamento Mode 3 ( Parameter selection internal) e Mode 2 (Job Mode: vedere eccezione descritta al par. 2.10). An. In0 Valore[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 500.0 0xFFFF 0x01F4 3.2 Analog Setpoint (AI1) Analog Setpoint AI1 = Pulse Frequency Questa regolazione si riferisce alla correzione della tensione di arco rispetto al valore di setpoint. An. In1 Valore[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 2500 0xFFFF 0x09C4 3.3 Analog Setpoint (AI2) Analog Setpoint AI2 = Current Pulse Ratio Regola il valore dell’impedenza di uscita andando a modificare i fronti di salita e discesa della corrente di saldatura An. In2 Valore[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 3.4 Analog Setpoint (AI3) Analog Setpoint AI3 = Pulse Duty Cycle Modifica il valore della corrente di Burnback per regolare la lunghezza del filo al termine della saldatura. An. In3 Valore[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 11/28 3.5 Analog Setpoint (AI4) Analog Setpoint AI4 = Gas Plasma Flow. Tale parametro regola il flusso di gas di plasma durante la saldatura ed è definito dai seguenti valori di fondo scala: An. In4 Valore[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 10.0 0xFFFF 0x0064 3.6 Analog Setpoint (AI5) Analog Setpoint AI5 = Gas Shield Flow. Tale parametro regola il flusso del gas di schermo durante la saldatura ed è definito dai seguenti valori di fondo scala: An. In5 Valore[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 30.0 0xFFFF 0x0120 3.7 Analog Setpoint (AI6) Analog Setpoint AI6 = High Speed CW. Questa regolazione si riferisce alla velocità alta del motore durante il processo “filo freddo” ed è definito dai seguenti valori di fondo scala: An. In6 Valore[m/min] Protocol mode=0 Protocol mode=1 Min -12.5 0x0000 0xFF83 Max +12.5 0xFFFF 0x007D 3.8 Analog Setpoint (AI7) Analog Setpoint AI7 = Low Speed CW. Questa regolazione si riferisce alla velocità bassa del motore durante il processo “filo freddo” ed è definito dai seguenti valori di fondo scala: An. In6 Valore[m/min] Protocol mode=0 Protocol mode=1 Min -12.5 0x0000 0xFF83 Max +12.5 0xFFFF 0x007D 12/28 4 SEGNALI DIGITALI DA GENERATORE A CONTROLLO ROBOT (OUTPUT) Nella tabella vengono riportati i segnali digitali ed analogici in uscita dal generatore di saldatura n° bit Size [bit] Name Analog interface Art. 448 Digital interface Art. 428.XX 1 1 Current Flow X X 2 1 Not used - - 3 1 Process Active X X 4 1 Main Current X X 5 1 Torch Collision Protection - X 6 1 Power Source Ready X X 7 1 Communication Ready X X 8 1 Protocol Mode - X 09 - 16 8 Error Number (bit 7 - 0) - X 17 1 Pulse Sync X - 18 - 23 6 Not used - - 24 1 Pilot Arc X X 25 1 Not used - - 26 - 27 2 Not used - - 28 1 Wire Available - X 29 1 Not used - - 30 1 Data documentation ready - - 31 1 Not used - - 32 1 Hard Fault - X 33 - 48 16 Welding Voltage AO0 X X 49 - 64 16 Welding Current AO1 X X 65 - 80 16 Motor Current AO2 - X 81 - 96 16 Motor Speed AO3 - X 97 - 112 16 Gas Plasma Flow AO4 - X 113 - 145 16 Gas Shield Flow AO5 - X 146 - 161 16 Not used - - NOTA Se il collegamento fra generatore e interfaccia robot è interrotto, tutti i segnali digitali ed analogici dall’interfaccia robot verso il controllo robot vengono impostati a “0”. 4.1 Current Flow Current Flow viene attivato appena la corrente di saldatura inizia a circolare sul pezzo da saldare. Current Flow = attivo alto. Current flow 4.2 Descrizione 0 Non circola corrente sul pezzo da saldare 1 Circola corrente sul pezzo da saldare Process Active Dall’inizio del gas pre-flow fino alla fine del gas post-flow, il generatore attiva il segnale Process Active. Il segnale Process Active serve a garantire la protezione gassosa ottimale del bagno di saldatura, assicurando che il robot stazioni sufficientemente a lungo all’inizio e alla fine del cordone di saldatura. Process Active = attivo alto. 13/28 Process Active 4.3 Descrizione 0 Processo di saldatura non in corso 1 Processo di saldatura in corso Main Current Il segnale Main Current è attivo durante il tratto di saldatura con corrente erogata pari al valore di setpoint impostato, escluse quindi le fasi di innesco arco, corrente iniziale, rampe di salita e discesa e corrente di cratere. Main Current = attivo alto. Main Current 4.4 Descrizione 0 Corrente circolante sul pezzo da saldare diversa dalla corrente di setpoint 1 Corrente circolante sul pezzo da saldare pari alla corrente di setpoint. Collision Protection Il robot può essere dotato di un sensore di collisione che, in caso di urto della torcia di saldatura, comanda basso il segnale Collision Protection. In corrispondenza di tale evento il controllo robot arresta immediatamente il robot ed interrompe il processo di saldatura disattivando il segnale Robot Ready. Collision Protection = attivo basso. Collision protection 4.5 Descrizione 0 Collisione tra torcia e pezzo 1 Nessuna collisione rilevata tra torcia e pezzo Power Source Ready Il segnale Power Source Ready si attiva quando il generatore è pronto per saldare. Appena interviene una condizione di errore nel generatore oppure il segnale Robot Ready è disattivato, il segnale Power Source Ready viene immediatamente disattivato. Power Source Ready = attivo alto. Power Source Ready 4.6 Descrizione 0 Il generatore non è abilitato alla saldatura. 1 Nessun errore rilevato: il generatore è pronto ad eseguire il processo di saldatura. Communication Ready Quando attivo indica che la comunicazione fra interfaccia robot e generatore è correttamente funzionante. Quando non attivo indica la mancanza di comunicazione fra interfaccia robot e generatore. Communication Ready = attivo alto. Communication Ready Descrizione 4.7 0 Il generatore non è pronto per lo scambio dei dati (Es. si trova in stato di boot) 1 Il generatore è pronto per lo scambio dei dati. Error Number (bit 7 - 0) La configurazione dei bit corrisponde al codice di errore rilevato dal generatore (vedi paragrafo “Codici Errore” nel Manuale Istruzioni del generatore). Error Number 0 1 - 99 14/28 Descrizione Il generatore funziona correttamente. Identifica il codice errore rilevato. 4.8 Pulse Sync Il segnale Pulse Sync è attivo e sincronizzato con ogni impulso di “corrente alta”, solo quando è impostato il processo “TIG Pulsato” con una frequenza di pulsazione uguale o inferiore a 10 Hz. Se il processo “TIG Pulsato” è impostato il segnale “Pulse Sync” è attivo: − con frequenza di pulsazione uguale o inferiore a 10 Hz l’uscita “Pulse Sync” segue lo stato dell’impulso “alto” di corrente; − con frequenza di pulsazione superiore a 10 Hz l’uscita “Pulse Sync” rimane fissa a livello alto. Se il processo “Tig Pulsato” non è impostato il segnale “Pulse Sync” è tenuto a livello basso. Tale segnale è attivo solo se è presente l’intefaccia analogica Art. 448. Pulse Sync = attivo alto. Pulse Sync 4.9 Descrizione 0 Impulso di corrente basso 1 Impulso di corrente alto Pilot Arc Segnala l’ accensione dell’arco pilota nel processo plasma welding, in conseguenza del comando Pilot Arc (par. 2.24). Pilot Arc = attivo alto. Pilot Arc Descrizione 0 Arco pilota spento 1 Arco pilota acceso 4.10 Wire Available RESERVED 4.11 Data documentation ready RESERVED 4.12 Hard Fault Il segnale va alto quando si verifica un errore non ripristinabile (vedi anche par. 2.8 Source error reset e par.4.7 Error Number) mentre rimane basso in assenza di errore non ripristinabile oppure in presenza di warning. Hard fault = attivo alto. Hard Fault 5 Descrizione 0 Nessun errore non ripristinabile presente o warning presente 1 Si è verificato un errore non ripristinabile ed è quindi necessario spegnere il generatore di saldatura. SEGNALI ANALOGICI DA GENERATORE A CONTROLLO ROBOT (OUTPUT) Il generatore è in grado di gestire 4 uscite analogiche per le regolazioni dei parametri di saldatura in tempo reale. Ogni uscita analogica è composto da 16 bit. Il formato di ogni singola analogica dipende dal bit Protocol Mode. 5.1 Analog Measure (AO0) Analog Measure (AO0) = Welding Voltage. E’ il segnale relativo alla tensione di uscita del generatore ed è definito dai seguenti valori di fondo scala: AO0 Valore[V] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 15/28 5.2 Analog Measure (AO1) Analog Measure (AO1) = Welding Current. E’ il segnale della corrente di uscita del generatore ed è definito dai seguenti valori di fondo scala: AO1 Valore[A] Protocol mode=0 Protocol mode=1 Min 0 0x0000 0x0000 Max 1000 0xFFFF 0x03E8 5.3 Analog Measure (AO2) Analog Measure (AO2) = Motor Current. E’ il segnale della corrente assorbita dal motore del trainafilo ed è definito dai seguenti valori di fondo scala: AO2 Valore[A] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 5.0 0xFFFF 0x0032 5.4 Analog Measure (AO3) Analog Measure (AO3) = Motor Speed. E’ il segnale della velocità del filo di saldatura ed è definito dai seguenti valori di fondo scala: AO3 Valore[m/min] Protocol mode=0 Min -12.5 0x0000 0xFF83 Max 12.5 0xFFFF 0x007D 5.5 Protocol mode=1 Analog Measure (AO4) Analog Measure (AO4) = Gas Plasma Flow. E’ il segnale del flusso di gas plasma ed è definito dai seguenti valori di fondo scala: AO4 Valore[l/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 10.0 0xFFFF 0x0064 5.6 Analog Measure (AO5) Analog Measure (AO5) = Gas Shield Flow. E’ il segnale del flusso di gas di protezione ed è definito dai seguenti valori di fondo scala: AO5 Valore[l/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 30.0 0xFFFF 0x012C 16/28 CANopen DATA PROCESS IMAGE IT EN ES I bit sono ordinati dal meno significativo al più significativo e ogni byte è delimitato da linea in grassetto. The bit are ordered from less to most significant and each byte is delimited by a bold line. Los bit están ordenados de menos significativo hacia más significativo y cada byte se delimita de línea gruesa. 6.1 6.1 6.1 Messaggi CANopen trasmessi dal Controllo Robot al Generatore CANopen messages transmitted from Robot Control to Power Source Mensajes CANopen transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). COBID =0x400 COBID =0x300 COBID =0x200 6 n° bit Size Signal name 1 1 Weld Start 2 1 Robot Ready 3-6 4 Operating Mode bit (3 - 0) 7 1 Reserved (set to 0) 8 1 Protocol Mode 9 1 Gas Test Plasma 10 1 Wire Inching 11 1 Wire Retract 12 1 Source Error Reset 13 1 Touch Sensing 14 1 Gas Test Shield 15 1 Not Used 16 1 Not Used 17 - 24 8 Job Number (bit (7 - 0) 25 - 31 7 Not used 32 1 Not Used 33 - 40 8 Analog Setpoint Enable (7 - 0) 41 - 48 8 Not used 49 - 55 7 Not used 56 1 Pilot Arc On 57 - 64 8 Not Used n° bit Size Signal name 1 - 16 16 Current Setpoint (AI0) 17 - 32 16 Pulse Frequency (AI1) 33 - 48 16 Current Pulse Ratio (AI2) 49 - 64 16 Pulse Duty Cycle (AI3) n° bit Size Signal name 1 - 16 16 Gas Plasma Flow (AI4) 17 - 32 16 Gas Shield Flow (AI5) 33 - 48 16 High Speed CW (AI6) 49 - 64 16 Low Speed CW (AI7) 17/28 Messaggi CANopen trasmessi dal Generatore al Controllo Robot CANopen messages transmitted from Power Source to Robot Control Mensajes CANopen transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit) The total data size is 20 bytes (160 bit) El tamaño total de los datos es 20 bytes (160 bit) Size Signal name 1 1 Current Flow 2 1 Not used 3 1 Process Active 4 1 Main Current 5 1 Collision Protection 6 1 Power Source Ready 7 1 Communication Ready 8 1 Protocol mode 9 - 16 8 Error Number (bit 7 - 0) 17 1 Pulse Sync 18 - 23 6 Not used 24 1 Pilot Arc 25 1 Not used 26 - 27 2 Not used 28 1 Wire Available 29 1 Not used 30 1 Data documentation ready 31 1 Not used 32 1 Hard fault COBID = 0x280 n° bit n° bit Size Signal name 1 - 16 16 Welding Voltage (AO0) 17 - 32 16 Welding Current (AO1) 33 - 48 16 Motor Current (AO2) 49 - 64 16 Motor Speed (AO3) COBID = 0x380 COBID = 0x180 6.2 6.2 6.2 n° bit Size Signal name 1 - 16 16 Plasma gas flow (AO4) 17 - 32 16 Shield gas flow (AO5) 33 - 48 16 Not Used 49 - 64 16 Not Used 18/28 7 PROFIBUS DATA PROCESS IMAGE ART. 428.01 IT EN ES I bit sono ordinati dal meno significativo al più significativo. The bit are ordered from less to most significant. Los bit están ordenados de menos significativo hacia más significativo. 7.1 7.1 7.1 Messaggi PROFIBUS trasmessi dal Controllo Robot al Generatore PROFIBUS messages transmitted from Robot Control to Power Source Mensajes PROFIBUS transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit) The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit) Field 8 8 8 n° bit Size Signal name I01 1 Gas Test I02 1 Wire Inching I03 1 Wire Retract I04 1 Source Error Reset I05 1 Touch Sensing I06 1 Gas Test Shield I07 1 Not used I08 1 Not used I09 1 Weld Start I10 1 Robot Ready I11 - I14 4 Operating Mode (bit 3- 0) I15 1 Reserved (set to 0) I16 1 Protocol Mode I17 - I23 7 Not used I24 1 Not used 8 I25 - I32 8 Job number 8 I33 - I40 8 Not used 8 I41 - I48 8 Analog Setpoint Enable (7 - 0) 8 I49 - I56 8 Not used I57 - I63 7 Not used I64 1 Pilot Arc Start I65 - I172 8 low I73 - I80 8 high I81 - I88 8 low I89 - I96 8 high I97 - I104 8 low I105 - I112 8 high I113 - I120 8 low I121 - I128 8 high I129 - I136 8 low I137 - I144 8 high I145 - I152 8 low I153 - I160 8 high 8 16 16 16 16 16 16 Current set point (AI0) Pulse frequency (AI1) Current Pulse Ratio (AI2) Pulse Duty Cycle (AI3) Gas Plasma Flow (AI4) Gas Shield Flow (AI5) 19/28 7.2 7.2 7.2 Messaggi PROFIBUS trasmessi dal Generatore al Controllo Robot PROFIBUS messages transmitted from Power Source to Robot Control Mensajes Profibus transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). Field 8 8 8 8 16 16 16 16 16 16 16 16 20/28 n° bit Size Signal name O01 - O08 8 Error Number (bit 7 - 0) O09 1 Current Flow O10 1 Not used O11 1 Process Active O12 1 Main Current O13 1 Collision Protection O14 1 Power Source Ready O15 1 Communication Ready O16 1 Protocol Mode O17 1 Not used O18 - 019 2 Not used O20 1 Wire Available O21 1 Not used O22 1 Data documentation ready O23 1 Not used O24 2 Hard fault O25 1 Pulse Sync O26 - O31 6 Not used O32 1 Pilot Arc O33 - O40 8 low Welding Voltage (AO0) O41 - O48 8 high O49 - O56 8 low O57 - O64 8 high O65 - O72 8 low O73 - O80 8 high O81 - O88 8 low O89 - O96 8 high O97 - O104 8 low O105 - O112 8 high O113 - O120 8 low O121 - O128 8 high O129 - O136 8 low Not used O137 - O144 8 high Not used O145 - O152 8 low Not used O153 - O160 8 high Not used Welding Current (AO1) Motor Current (AO2) Motor Speed (AO3) Plasma Gas Flow (AO4) Shield Gas flow (AO5) 8 DeviceNet DATA PROCESS IMAGE ART 428.02 IT EN ES I bit sono ordinati dal meno significativo al più significativo. The bit are ordered from less to most significant. Los bit están ordenados de menos significativo hacia más significativo. 8.1 8.1 8.1 Messaggi DeviceNet trasmessi dal Controllo Robot al Generatore DeviceNet messages transmitted from Robot Control to Power Source Mensajes DeviceNet transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). Field 8 8 8 8 n° bit Size Signal name I01 1 Weld Start I02 1 Robot Ready I03 - I06 4 Operating Modes (bit 3 - 0) I07 1 Reserved (set to 0) I08 1 Protocol Mode I09 1 Gas Test I10 1 Wire Inching I11 1 Wire Retract I12 1 Source Error Reset I13 1 Touch Sensing I14 1 Gas Test Shield I15 1 Not used I16 1 Not used I17 - I24 8 Job Number (bit 7 - 0) I25 - I31 7 Not used I32 1 Not Used 8 I33 - I40 8 Analog Setpoint Enable 8 I41 - I48 8 Not used I49 - I55 7 Not used I56 1 Pilot arc start I57 - I64 8 Not used I65 - I72 8 low Current Setpoint (AI0) I73 - I80 8 high I81 - I88 8 low I89 - I96 8 high I97 - I104 8 low I105 - I112 8 high I113 - I120 8 low I121 - I128 8 high I129 - 136 8 low I137 - I144 8 high I145 - I152 8 low I153- I160 8 high I161 - I168 8 low I169 - I176 8 high I177 - I184 8 low I185 - I192 8 high 8 8 16 16 16 16 16 16 16 16 Pulse Frequency (AI1) Current Pulse Ratio (AI2) Pulse Duty Cycle (AI3) Gas Plasma Flow (AI4) Gas Shield Flow (AI5) High Speed CW A16 Low Speed CW A17 21/28 8.2 8.2 8.2 Messaggi DeviceNet trasmessi dal Generatore al Controllo Robot DeviceNet messages transmitted from Power Source to Robot Control Mensajes DeviceNet transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). Field 8 8 8 8 16 16 16 16 16 16 16 16 22/28 n° bit Size Signal name O01 1 Current Flow O02 1 Not used O03 1 Process Active O04 1 Main Current O05 1 Collision Protection O06 1 Power Source Ready O07 1 Communication Ready O08 1 Protocol mode O09 - O16 8 Error Number (bit 7 - 0) O17 1 Pulse Sync O18 - O23 6 Not used O24 1 Pilot Arc O25 1 Not Used O26 - 027 2 Not used O28 1 Wire Available O29 1 Not used O30 1 Data documentation ready O31 1 Not used O32 1 Hard Fault O33 - O40 8 low Welding Voltage (AO0) O41 - O48 8 high O49 - O56 8 low O57 - O64 8 high O65 - O72 8 low O73 - O80 8 high O81 - O88 8 low O89 - O96 8 high O97 - O104 8 low O105 - O112 8 high O113 - O120 8 low O121 - O128 8 high O129 - O136 8 low O137 - O144 8 high O145 - O152 8 low O153 - O160 8 high Welding Current (AO1) Motor Current (AO2) Motor Speed (AO3) Plasma Gas Flow (AO4) Shield gas flow (AO5) Not used Not used 9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART. 428.03 - 428.04 IT EN ES I bit sono ordinati dal meno significativo al più significativo e ogni byte è delimitato da linea in grassetto The bit are ordered from less to most significant and each byte is delimited by a bold line Los bit están ordenados de menos significativo hacia más significativo y cada byte se delimita de línea gruesa 9.1 9.1 9.1 Messaggi EtherCAT-EtherNet/IP trasmessi dal Controllo Robot al Generatore EtherCAT-EtherNet/IP messages transmitted from Robot Control to Power Source Mensajes EtherCAT-EtherNet/IP transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). data DIN0 DIN1 DIN2 DIN3 n° bit Size Signal name 1 1 Weld Start 2 1 Robot Ready 3-6 4 Operating Mode bit (3 - 0) 7 1 Reserved (set to 0) 8 1 Protocol Mode 9 1 Gas Test 10 1 Wire Inching 11 1 Wire Retract 12 1 Source Error Reset 13 1 Touch Sensing 14 1 Gas Test Shield 15 1 Not used 16 1 Not used 17 - 24 8 Job Number (bit 7 - 0) 25 - 31 7 Not used 32 1 Not Used DIN4 33 - 40 8 Analog Setpoint Enable DIN5 41 - 48 8 Not used 49 - 55 7 Not used 56 1 Pilot Arc start DIN7 57 - 64 8 Not used AIN0 65 - 80 16 Current Setpoint (AI0) DIN6 AIN1 81 - 96 16 Pulse Frequency (AI1) AIN2 97 - 112 16 Current Pulse Ratio (AI2) AIN3 113 - 128 16 Pulse Duty Cycle (AI3) AIN4 129 - 144 16 Gas Plasma Flow (AI4) AIN5 145 - 160 16 Gas Shield Flow (AI5) 23/28 9.2 9.2 9.2 Messaggi EtherCAT-EtherNet/IP trasmessi dal Generatore al Controllo Robot EtherCAT-EtherNet/IP messages transmitted from Power Source to Robot Control Mensajes EtherCAT-EtherNet/IP transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). data n° bit Size Signal name 1 1 Current Flow 2 1 Not used 3 1 Process Active 4 1 Main Current 5 1 Collision Protection 6 1 Power Source Ready 7 1 Communication Ready 8 1 Protocol mode 9 - 16 8 Error Number (bit 7 - 0) 17 1 Pulse Sync 18 - 23 6 Not used 24 1 Pilot Arc 25 1 Sticking Remedied 26 - 27 2 Not used 28 1 Wire available 29 1 Not used 30 1 Data documentation ready 31 1 Not used 32 1 Hard Fault AOUT0 33 - 48 16 Welding Voltage (AO0) DOUT0 DOUT1 DOUT2 DOUT3 AOUT1 49 - 64 16 Welding Current (AO1) AOUT2 65 - 80 16 Motor Current (AO2) AOUT3 81 - 96 16 Motor Speed (AO3) AOUT4 97 - 112 16 Plasma Gas Flow (A04) AOUT5 113 - 128 16 Shield Gas Flow (A05) AOUT6 129 - 144 16 Not Used AOUT7 145 - 160 16 Not Used 24/28 25/28 Automation & Robotics 10 10 10 MODELLO DI SEGNALI SIGNALS PATTERN MODELO DE SEÑALES Protocollo segnali TIG Robot Digital Inputs for Operating Mode 2 (JOB Mode) Job Number (bit 0 – 7) Digital Inputs (Robot → Power Source) Robot Ready Weld Start Digital Outputs (Power Source → Robot) Power Source Ready Process Active Current Flow Main Current Welding Current First Level Crater Level Output Current 0 26/28 Preflow Time First Level Time First Slope Time Welding Torch Movement Crater Slope Time Crater Level Time Postflow Time t Automation & Robotics Protocollo segnali TIG Robot Digital Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13 Analogue Setpoint Enable Ain (AI0 – AI7) Analogue Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13 Analogue Setpoint Ain (AI0 – AI7) Digital Inputs (Robot → Power Source) Robot Ready Weld Start Digital Outputs (Power Source → Robot) Power Source Ready Process Active Current Flow Main Current Welding Current First Level Crater Level Output Current 0 Preflow Time First Level Time First Slope Time Welding Torch Movement Crater Slope Time Crater Level Time Postflow Time t 27/28 CEBORA S.p.A - Via Andrea Costa, 24 - 40057 Cadriano di Granarolo - BOLOGNA - Italy Tel. +39.051.765.000 - Fax. +39.051.765.222 www.cebora.it - e-mail: [email protected] 28/28 EN DIGITAL PROTOCOLS FOR CEBORA WIN TIG AUTOMATED SYSTEMS Translation of the original instructions 3301084/A 17/02/2021 SUMMARY 1 INTRODUCTION�� 32 1.1 THIS MANUAL�� 32 1.2 FIELDBUSES COVERED IN THIS MANUAL�� 32 2 DIGITAL SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT)�� 34 2.1 WELD START�� 35 2.2 ROBOT READY�� 35 2.3 2.3.1 2.3.2 2.3.3 OPERATING MODE (BIT 3 - 0)�� 36 Job Mode (Mode 2)�� 36 Parameter Selection Internal (Mode 3)�� 36 TIG Processes (Mode 0,1,4,5,8,9,12,13)�� 36 2.4 PROTOCOL MODE�� 36 2.5 GAS TEST�� 37 2.6 WIRE INCHING�� 37 2.7 WIRE RETRACT�� 37 2.8 SOURCE ERROR RESET�� 37 2.9 TOUCH SENSING�� 37 2.10 GAS TEST SHIELD �� 38 2.11 JOB NUMBER (BIT 7 - 0)�� 38 2.12 WELDING SIMULATION�� 38 2.13 ANALOGUE INPUT ENABLEMENT�� 38 2.14 PILOT ARC START�� 39 3 ANALOG SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT)�� 39 3.1 ANALOG SETPOINT (AI0)�� 39 3.2 ANALOG SETPOINT (AI1)�� 39 3.3 ANALOG SETPOINT (AI2)�� 39 3.4 ANALOG SETPOINT (AI3)�� 39 3.5 ANALOG SETPOINT (AI4)�� 40 3.6 ANALOG SETPOINT (AI5)�� 40 3.7 ANALOG SETPOINT (AI6)�� 40 3.8 ANALOG SETPOINT (AI7)�� 40 4 DIGITAL SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT)�� 41 4.1 CURRENT FLOW�� 41 4.2 PROCESS ACTIVE�� 41 4.3 MAIN CURRENT�� 42 4.4 COLLISION PROTECTION�� 42 4.5 POWER SOURCE READY�� 42 4.6 COMMUNICATION READY �� 42 4.7 ERROR NUMBER (BIT 7 - 0)�� 42 4.8 PULSE SYNC�� 43 4.9 PILOT ARC�� 43 4.10 WIRE AVAILABLE�� 43 4.11 DATA DOCUMENTATION READY�� 43 4.12 HARD FAULT�� 43 5 ANALOG SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT)�� 43 5.1 ANALOG MEASURE (AO0)�� 43 5.2 ANALOG MEASURE (AO1)�� 44 5.3 ANALOG MEASURE (AO2)�� 44 5.4 ANALOG MEASURE (AO3)�� 44 5.5 ANALOG MEASURE (AO4)�� 44 5.6 ANALOG MEASURE (AO5)�� 44 30/56 6 6.2 CANopen DATA PROCESS IMAGE�� 45 CANopen MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE�� 45 CANopen MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL�� 46 7 PROFIBUS DATA PROCESS IMAGE ART.428.01�� 47 7.1 PROFIBUS MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE�� 47 7.2 PROFIBUS MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL�� 48 8 DeviceNet DATA PROCESS IMAGE ART 428.02�� 49 DeviceNet MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE�� 49 DeviceNet MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL�� 50 6.1 8.1 8.2 9 9.2 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART. 428.03 - 428.04�� 51 EtherCAT-EtherNet/IP MESSAGES TRANSMITTED FROM ROBOT CONTROL TO POWER SOURCE�� 51 EtherCAT-EtherNet/IP MESSAGES TRANSMITTED FROM POWER SOURCE TO ROBOT CONTROL�� 52 10 SIGNALS PATTERN�� 54 9.1 31/56 1 INTRODUCTION 1�1 This manual This manual describes the configuration of fieldbus (Data Process Image) messages adopted in Cebora TIG automated welding systems. All signals exchanged between the Cebora MIG welding system and the robotised system control (Robot Control) are listed and described. MIG part of the Instruction ManualsAUTOMATION This manual must be seen as an integral of individual devices comprising the Cebora welding system and therefore simultaneous consultation of the above manuals may be necessary. Fig. 1 shows an example of a Cebora robot system. TIG (10) (11) (9) (7) (8) (1) (3) (2) Fig. 1 Pos� Description Art� Optional 1 WIN TIG Robot Power source 380-381394-395396.80 2 Robot Interface 428.XX, 448 3 Power source – Robot Interface connection 2063 - 6 Robot wire feeder 1649 X 7 Power source – robot wire feeder connection 2067 X 8 Wire spool holder/quick fitting 121/173 X 9 Wire guide sheath 1935 X 10 TIG remote control panel 438 X 11 Power source – TIG remote control panel connection 2065 X - (X) NOTE If the robot control is fitted with a CANopen master communication port the interface (2) is unnecessary because power source (1) can be connected directly via CANopen cable (3), which must be ordered separately from Cebora. 1�2 Fieldbuses covered in this manual − CANopen DS401; − DeviceNet; − Profibus DP-V1; − EtherCAT − EtherNet/IP 32/56 Cebora provides the corresponding configuration file for each fieldbus. At the end of the manual (sections 6 to 9) tables of messages exchanged between power source and robot control are provided (Data Process Image). These are subdivided by fieldbus type. A Data Process Image is made up as follows: INPUT OUTPUT Digital [byte] 8 4 Analog [word] 8 8 Total Size [byte] 24 20 33/56 2 DIGITAL SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT) List of digital and analog signals entering the power source 34/56 n° bit Size [bit] Name Analog interface Art. 448 Digital interface Art. 428.XX 1 2 1 Weld Start X X 1 Robot Ready X X 3-6 4 Operating Mode (bit 3 - 0) X X 7 1 Reserved (set to 0) - 0 8 1 Protocol Mode - X 9 1 Gas Test X X 10 1 Wire Inching X X 11 1 Wire Retract X X 12 1 Source Error Reset X X 13 1 Touch Sensing X X 14 1 Blow Through X X 15 1 Not used. - - 16 1 Not used - - 17 - 23 7 Job Number (bit 6 - 0) X X 24 1 Job Number (bit 7 ) - X 25 - 31 7 Synergic Table (bit 6-0) X X 32 1 Not used - - 33 1 Analog Setpoint Enable 0 - X 34 1 Analog Setpoint Enable 1 - X 35 1 Analog Setpoint Enable 2 - X 36 1 Analog Setpoint Enable 3 - X 37 1 Not Used - - 38 1 Not Used - - 39 1 Not Used - - 40 1 Not Used - - 41 - 48 8 Not used - - 49 - 56 8 Not used - - 57 - 64 8 Not used - - 65 - 80 16 Speed Setpoint (AI0) X X 81 - 96 16 Arc. Length Corr. (AI1) X X 97 - 12 16 Inductance Corr. (AI2) - X 113 - 128 16 Burnback Corr. (AI3) - X 129 - 144 16 Not Used - - I45 - 60 16 Not Used - - 161 - 176 16 Not Used - - 177 - 192 16 Not Used - - 2.1 Weld Start The Weld Start bit controls weld arc start and stop. Weld Start = (active high.) Weld Start Description 0→ 1 The robot control controls arc start. This signal is accepted if the Power Source Ready signal is active. 1→ 0 The robot control controls arc stop NOTE In Robot mode with the Robot Ready bit active, the power source is automatically set to 2-step mode. 2.2 Robot Ready The Robot Ready bit enables communication between power source and robot control. Once communication is established, the power source is ready to send and receive data from the external CNC. If the bit is set to zero, the power source remains in error status Error 90-CNC not ready and the icon on the display status bar flashes. If the Robot Ready bit is inactive, no digital or analog signal is acquired and the power source outputs are all inactive. Robot Ready = Active high Robot Ready Description 0 The robot control is not ready 1 The robot control is ready to exchange data with the outside WARNING: The Robot Ready bit cannot be used for an emergency shut-down. A specially made kit is available for this purpose (Item 449). 35/56 2.3 Operating Mode (bit 3 - 0) The power source operating mode is selected by means of 4 bits Operating Mode MIG Bit3 Bit2 Bit1 Bit0 Mode 0 0 0 0 0 DC 0 0 0 1 1 XP 0 0 1 0 2 JOB MODE 0 0 1 1 3 PAR. SEL. INT. 0 1 0 0 4 AC 0 1 0 1 5 MIX 0 1 1 0 6 / 0 1 1 1 7 / 1 0 0 0 8 DC PULSE 1 0 0 1 9 PULSE XP 1 0 1 0 10 / 1 0 1 1 11 / 1 1 0 0 12 AC PULSE 1 1 0 1 13 MIX PULSE 1 1 1 0 14 / 1 1 1 1 15 / Table 1 2.3.1 Job Mode (Mode 2) A job previously stored in the power source can be selected in this mode. Up to 99 jobs can be stored in the machine (see section 2.10). Job Mode = Active high. 2.3.2 Parameter Selection Internal (Mode 3) Parameter Selection Internal mode enables weld parameter selection by means of the power source control panel. In this mode, jobs can be stored and then called up using the appropriate identification number in Job mode. 2.3.3 TIG Processes (Mode 0,1,4,5,8,9,12,13) This process is set in TIG. Digital and analogue signals are considered with this setting. Analogue inputs AI0…AI7 are accepted in this mode. 2.4 Protocol Mode Protocol Mode can be used to represent analog setpoint and analog measurement variables in two different ways, always converting variables that allow decimal values to integers by means of a multiplication factor of 10 (e.g. 9.9 is considered to be 99). Protocol Mode 36/56 Description 0 Each analog signal (setpoint or measurement) is converted to a numerical value and rescaled between the minimum and maximum value using a 16-bit field without a sign (0 through 65535) 1 Analog signals do not undergo any scale conversion and are therefore directly readable. The numerical value is shown directly in binary with a 16-bit field with a sign. 2.5 Gas Test The optional Gas Test signal activates the gas solenoid. It can also be used for additional pre-flow gas during positioning. Gas Test = Active high. Gas Test Description 0 Gas valve closed 1 Gas valve open With the welding process active, the pre-flow and post-flow gas times are controlled directly by the power source. With the Plasma Welding accessory this input activates the Plasma Gas valve. 2.6 Wire Inching The Wire Inching signal allows the wire to slide in the torch sheath without gas emerging and without current generation. The incremental speed is set on the power source panel in the Wire Test menu. Wire Inching = Active high. Wire Inching Description 0 No Operation 1 Wire feed WARNING: Hold the torch well away from your face and body to avoid the risk of injury due to the emerging welding wire. 2.7 Wire Retract The Wire Retract signal causes the wire to retract by a fixed length, after which the motor stops. Wire retraction speed is set at 1.0 m/min. Wire Retract = Active high 2.8 Wire Retract Description 0 No Operation 1 Wire retraction Source Error Reset The Source Error Reset signal active on the 0→ 1 front only deletes resettable errors (warnings), for which the Hard Fault bit is not activated (low). Source Error Reset Description 0,1, 1→ 0 No Operation 0→ 1 Reset of a resettable error. (Warning) Refer to the WIN TIG power source user manual for a list of resettable errors (warnings). 2.9 Touch Sensing The Touch Sensing signal identifies a short circuit in the weld wire with the workpiece and relays the information to the robot control by means of the Current Flow signal with a delay of 10 ms max. Touch Sensing = Active high Touch Sensing Description 0 No operation 1 Touch Sensing procedure active. 37/56 NOTE The “Current Flow” signal is sent to the output for 0.2 s beyond the short-circuit duration. Welding cannot take place as long as the “Touch Sensing” signal remains active. If the “Touch Sensing” signal is activated during welding, this event is ignored and does not interrupt the welding process in progress. 2.10 Gas Test Shield Available only in P.W. mode, performs the shielding gas test "Gas_Shield_Test"= = active high Gas_Shield_Test Description 0 Gas valve open 1 Gas valve open 2.11 Job Number (bit 7 - 0) This byte is valid if Job Mode operating mode is set (section 2.3) and job number to be performed is selected. Job Number 0 1 - 99 100 - 255 Description Job selected manually from the power source panel Job valid Job invalid If the item Allow job change in the power source settings menu is: - OFF, none of the selected job parameters can be changed, - ON, the run-time of some of the job parameters can be changed by means of the analog inputs enabled or from the power source control panel. If an empty or invalid memory position is selected by robot control, the icon shown below appears on the main panel status bar: With interface 448 the available bits are (bit 7 - 0) 2.12 Welding Simulation Operating mode not implemented. 2.13 Analogue input enablement Analogue input enablement bytes. Each bit corresponds to the associated analogue input according to the following table: 38/56 Analog Setpoint Enable bit / Function Value=0 Value=1 Analog Setpoint Enable AI0 (Current Setpoint) Disabled Enabled Analog Setpoint Enable AI1 (Pulse Frequency) Disabled Enabled Analog Setpoint Enable AI2 (Current Pulse Ratio) Disabled Enabled Analog Setpoint Enable AI3 (Pulse Duty Cycle) Disabled Enabled Analog Setpoint Enable AI4 (Gas Plasma Flow) Disabled Enabled Analog Setpoint Enable AI5 (Gas Shield Flow) Disabled Enabled Analog Setpoint Enable AI6 (High Speed CW) Disabled Enabled Analog Setpoint Enable AI7 (Low Speed CW) Disabled Enabled 2.14 Pilot Arc Start This is the pilot arc start command in the plasma welding process. The plasma console set for automatic operation, i.e. managed by robot control, must be present in the system: refer to digital console gas instruction manual item 465.01. Pilot Arc Start function = active high 3 Pilot Arc start Description 0 Pilot arc off 1 Pilot arc start, if no pilot arc current is present within 3 s, this input is ignored by the power source, even if it is still active. ANALOG SIGNALS FROM ROBOT CONTROL TO POWER SOURCE (INPUT) The power source is able to manage 4 analog inputs for weld parameter settings in real time. Each analog input consists of 16 bits. The format of each analog signal depends on the Protocol Mode bit. 3.1 Analog Setpoint (AI0) Analog Setpoint AI0 = Current Setpoint. Welding wire speed. This value is not effective only in operating mode 3 (Parameter selection internal) and Mode 2 (Job Mode: see exception described in paragraph 2.10). An. In0 Value[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 500.0 0xFFFF 0x01F4 3.2 Analog Setpoint (AI1) Analog Setpoint AI1 = Pulse Frequency. This setting refers to arc voltage correction in relation to the setpoint value An. In1 Value[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 2500 0xFFFF 0x09C4 3.3 Analog Setpoint (AI2) Analog Setpoint AI2 = Current Pulse Ratio. This regulates the output impedance value in order to modify the welding current rising and falling edges An. In2 Value[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 3.4 Analog Setpoint (AI3) Analog Setpoint AI3 = Pulse Duty Cycle. Changes the burnback current value to adjust wire length when welding is complete. An. In3 Value[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 39/56 3.5 Analog Setpoint (AI4) Analog Setpoint AI4 = Gas Plasma Flow. This parameter regulates plasma gas flow during welding and is defined by the following full-scale deflection values: An. In4 Value[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 10.0 0xFFFF 0x0064 3.6 Analog Setpoint (AI5) Analog Setpoint AI5 = Gas Shield Flow. This parameter regulates plasma gas flow during welding and is defined by the following full-scale deflection values: An. In5 Value[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 30.0 0xFFFF 0x0120 3.7 Analog Setpoint (AI6) Analog Setpoint AI6 = High Speed CW. This setting refers to motor high speed during the “cold wire” process and is defined by the following full-scale deflection values: An. In6 Value[m/min] Protocol mode=0 Protocol mode=1 Min -12.5 0x0000 0xFF83 Max +12.5 0xFFFF 0x007D 3.8 Analog Setpoint (AI7) Analog Setpoint AI7 = Low Speed CW. This setting refers to motor low speed during the “cold wire” process and is defined by the following full-scale deflection values: An. In6 Value[m/min] Protocol mode=0 Min -12.5 0x0000 0xFF83 Max +12.5 0xFFFF 0x007D 40/56 Protocol mode=1 4 DIGITAL SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT) The following table shows digital and analogue signals leaving the welding power source n° bit Size [bit] Name Analog interface Art. 448 Digital interface Art. 428.XX 1 1 Current Flow X X 2 1 Not used - - 3 1 Process Active X X 4 1 Main Current X X 5 1 Torch Collision Protection - X 6 1 Power Source Ready X X 7 1 Communication Ready X X 8 1 Protocol Mode - X 09 - 16 8 Error Number (bit 7 - 0) - X 17 1 Pulse Sync X - 18 - 23 6 Not used - - 24 1 Pilot Arc X X 25 1 Not used - - 26 - 27 2 Not used - - 28 1 Wire Available - X 29 1 Not used - - 30 1 Data documentation ready - - 31 1 Not used - - 32 1 Hard Fault - X 33 - 48 16 Welding Voltage AO0 X X 49 - 64 16 Welding Current AO1 X X 65 - 80 16 Motor Current AO2 - X 81 - 96 16 Motor Speed AO3 - X 97 - 112 16 Gas Plasma Flow AO4 - X 113 - 145 16 Gas Shield Flow AO5 - X 146 - 161 16 Not used - - NOTE If the connection between power source and robot interface is broken, all digital and analog signals from the robot interface to the robot control are set to “0”. 4.1 Current Flow Current Flow is activated as soon as the welding current begins to flow through the workpiece. Current Flow = active high. Current flow 4.2 Description 0 No current flows through the workpiece 1 Current flows through the workpiece Process Active From the beginning of pre-flow gas to the end of post-flow gas, the power source activates the Process Active signal. The Process Active signal is used to ensure optimal gas shielding of the weld pool, ensuring that the robot stops for long enough at the beginning and end of the weld bead. Process Active = active high. 41/56 Process Active 4.3 Description 0 Weld process not started 1 Weld process in progress Main Current The Main Current signal is activated during the weld section with current delivery equal to setpoint value, therefore excluding the arc strike, start current, ramp up, ramp down and crater filling current stages. Main Current = active high. Main Current 4.4 Description 0 Current flowing through workpiece other than setpoint current 1 Current flowing through workpiece same as setpoint current Collision Protection The robot can be equipped with a collision sensor that controls a low Collision Protection signal. If this happens the robot control stops the robot immediately and interrupts the welding process by deactivating the Robot Ready signal. Collision Protection = active low. Collision protection 4.5 Description 0 Collision between torch and workpiece 1 No collision between torch and workpiece detected Power Source Ready The Power Source Ready signal is activated when the power source is ready to weld. As soon as an error status arises in the power source or the Robot Ready signal is deactivated, the Power Source Ready signal is immediately deactivated. Power Source Ready = active high. Power Source Ready 4.6 Description 0 The power source is not enabled for welding 1 No error detected: the power source is ready to perform the welding process Communication Ready When this is active, communication between robot interface and power source is working properly. When this is inactive, it indicates a lack of communication between robot interface and power source. Communication Ready = active high Communication Ready Description 4.7 0 Power source not ready for data exchange (e.g. in boot status) 1 Power source ready for data exchange Error Number (bit 7 - 0) The bit configuration corresponds to the error code detected by the power source (see “Error Codes” section in power source instruction manual). Error Number 0 1 - 99 42/56 Description The power source is working properly Identifies the error code detected 4.8 Pulse Sync The Pulse Sync signal is active and synchronised with each “high current” pulse, only when the “Pulsed TIG” processes is set, with a pulse frequency less than or equal to 10 Hz. If the “Pulsed TIG” process is set, the “Pulse Sync” signal is active: − With pulse frequency less than or equal to 10 Hz the “Pulse Sync” output follows the current “high” pulse status; − with pulse frequency greater than 10 Hz, the “Pulse Sync” output remains fixed at a high level. If the “Pulsed Tig” process is not set, the “Pulse Sync” signal is kept at low-level. This signal is active only if analogue interface Item 448 is present. Pulse Sync = active high. Pulse Sync 4.9 Description 0 Low current pulse 1 High current pulse Pilot Arc Indicates start of pilot arc in plasma welding process, as a consequence of the Pilot Arc command (section 2.24). Pilot Arc = active high. Pilot Arc Description 0 Pilot arc off 1 Pilot arc on 4.10 Wire Available RESERVED 4.11 Data documentation ready RESERVED 4.12 Hard Fault The signal becomes high when a non-resettable error occurs (see also section 2.8 Source error reset and section 4.7 Error Number) whereas it remains low in the absence of a non-resettable error or if a warning is present. Hard fault = active high. Hard Fault 5 Description 0 No non-resettable error or warning present. 1 A non-resettable error has occurred, the weld power source must be turned off. ANALOG SIGNALS FROM POWER SOURCE TO ROBOT CONTROL (OUTPUT) The power source is able to manage 4 analog outputs to adjust weld parameters in real time. Each analog output consists of 16 bits. The format of each analog signal depends on the Protocol Mode bit. 5.1 Analog Measure (AO0) Analog Measure (AO0) = Welding Voltage. This is the power source output voltage signal and is defined by the following full-scale deflection values: AO0 Value[V] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 43/56 5.2 Analog Measure (AO1) Analog Measure (AO1) = Welding Current. This is the power source output current signal and is defined by the following full-scale deflection values: AO1 Value[A] Protocol mode=0 Protocol mode=1 Min 0 0x0000 0x0000 Max 1000 0xFFFF 0x03E8 5.3 Analog Measure (AO2) Analog Measure (AO2) = Motor Current. This is the signal of current taken up by the wire feed motor and is defined by the following full-scale deflection values: AO2 Value[A] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 5.0 0xFFFF 0x0032 5.4 Analog Measure (AO3) Analog Measure (AO3) = Motor Speed. This is the weld wire speed signal and is defined by the following full-scale deflection values: AO3 Value[l/min] Protocol mode=0 Protocol mode=1 Min -12.5 0x0000 0xFF83 Max 12.5 0xFFFF 0x007D 5.5 Analog Measure (AO4) Analog Measure (AO2) = Gas Plasma Flow. This is the console plasma gas flow measurement signal and is defined by the following full-scale deflection values AO4 Value[l/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 10.0 0xFFFF 0x0064 5.6 Analog Measure (AO5) Analog Measure (AO3) = Gas Shield Flow. This is the signal measured by the gas shield flow detector and is defined by the following full-scale deflection values: AO5 Value[l/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 30.0 0xFFFF 0x012C 44/56 CANopen DATA PROCESS IMAGE IT EN ES I bit sono ordinati dal meno significativo al più significativo e ogni byte è delimitato da linea in grassetto. The bit are ordered from less to most significant and each byte is delimited by a bold line. Los bit están ordenados de menos significativo hacia más significativo y cada byte se delimita de línea gruesa. 6.1 6.1 6.1 Messaggi CANopen trasmessi dal Controllo Robot al Generatore CANopen messages transmitted from Robot Control to Power Source Mensajes CANopen transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). COBID =0x400 COBID =0x300 COBID =0x200 6 n° bit Size Signal name 1 1 Weld Start 2 1 Robot Ready 3-6 4 Operating Mode bit (3 - 0) 7 1 Reserved (set to 0) 8 1 Protocol Mode 9 1 Gas Test Plasma 10 1 Wire Inching 11 1 Wire Retract 12 1 Source Error Reset 13 1 Touch Sensing 14 1 Gas Test Shield 15 1 Not Used 16 1 Not Used 17 - 24 8 Job Number (bit (7 - 0) 25 - 31 7 Not used 32 1 Not Used 33 - 40 8 Analog Setpoint Enable (7 - 0) 41 - 48 8 Not used 49 - 55 7 Not used 56 1 Pilot Arc On 57 - 64 8 Not Used n° bit Size Signal name 1 - 16 16 Current Setpoint (AI0) 17 - 32 16 Pulse Frequency (AI1) 33 - 48 16 Current Pulse Ratio (AI2) 49 - 64 16 Pulse Duty Cycle (AI3) n° bit Size Signal name 1 - 16 16 Gas Plasma Flow (AI4) 17 - 32 16 Gas Shield Flow (AI5) 33 - 48 16 High Speed CW (AI6) 49 - 64 16 Low Speed CW (AI7) 45/56 Messaggi CANopen trasmessi dal Generatore al Controllo Robot CANopen messages transmitted from Power Source to Robot Control Mensajes CANopen transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit) The total data size is 20 bytes (160 bit) El tamaño total de los datos es 20 bytes (160 bit) Size Signal name 1 1 Current Flow 2 1 Not used 3 1 Process Active 4 1 Main Current 5 1 Collision Protection 6 1 Power Source Ready 7 1 Communication Ready 8 1 Protocol mode 9 - 16 8 Error Number (bit 7 - 0) 17 1 Pulse Sync 18 - 23 6 Not used 24 1 Pilot Arc 25 1 Not used 26 - 27 2 Not used 28 1 Wire Available 29 1 Not used 30 1 Data documentation ready 31 1 Not used 32 1 Hard fault COBID = 0x280 n° bit n° bit Size Signal name 1 - 16 16 Welding Voltage (AO0) 17 - 32 16 Welding Current (AO1) 33 - 48 16 Motor Current (AO2) 49 - 64 16 Motor Speed (AO3) COBID = 0x380 COBID = 0x180 6.2 6.2 6.2 n° bit Size Signal name 1 - 16 16 Plasma gas flow (AO4) 17 - 32 16 Shield gas flow (AO5) 33 - 48 16 Not Used 49 - 64 16 Not Used 46/56 7 PROFIBUS DATA PROCESS IMAGE ART.428.01 IT EN ES I bit sono ordinati dal meno significativo al più significativo. The bit are ordered from less to most significant. Los bit están ordenados de menos significativo hacia más significativo. 7.1 7.1 7.1 Messaggi PROFIBUS trasmessi dal Controllo Robot al Generatore PROFIBUS messages transmitted from Robot Control to Power Source Mensajes PROFIBUS transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit) The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit) Field n° bit Size Signal name I01 1 Gas Test I02 1 Wire Inching I03 1 Wire Retract I04 1 Source Error Reset I05 1 Touch Sensing I06 1 Gas Test Shield I07 1 Not used I08 1 Not used I09 1 Weld Start I10 1 Robot Ready I11 - I14 4 Operating Mode (bit 3- 0) I15 1 Reserved (set to 0) I16 1 Protocol Mode I17 - I23 7 Not used I24 1 Not used 8 I25 - I32 8 Job number 8 I33 - I40 8 Not used 8 I41 - I48 8 Analog Setpoint Enable (7 - 0) 8 I49 - I56 8 Not used I57 - I63 7 Not used I64 1 Pilot Arc Start I65 - I172 8 low I73 - I80 8 high I81 - I88 8 low I89 - I96 8 high I97 - I104 8 low I105 - I112 8 high I113 - I120 8 low I121 - I128 8 high I129 - I136 8 low I137 - I144 8 high I145 - I152 8 low I153 - I160 8 high 8 8 8 8 16 16 16 16 16 16 Current set point (AI0) Pulse frequency (AI1) Current Pulse Ratio (AI2) Pulse Duty Cycle (AI3) Gas Plasma Flow (AI4) Gas Shield Flow (AI5) 47/56 7.2 7.2 7.2 Messaggi PROFIBUS trasmessi dal Generatore al Controllo Robot PROFIBUS messages transmitted from Power Source to Robot Control Mensajes PROFIBUS transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). Field 8 8 8 8 16 16 16 16 16 16 16 16 48/56 n° bit Size Signal name O01 - O08 8 Error Number (bit 7 - 0) O09 1 Current Flow O10 1 Not used O11 1 Process Active O12 1 Main Current O13 1 Collision Protection O14 1 Power Source Ready O15 1 Communication Ready O16 1 Protocol Mode O17 1 Not used O18 - 019 2 Not used O20 1 Wire Available O21 1 Not used O22 1 Data documentation ready O23 1 Not used O24 2 Hard fault O25 1 Pulse Sync O26 - O31 6 Not used O32 1 Pilot Arc O33 - O40 8 low Welding Voltage (AO0) O41 - O48 8 high O49 - O56 8 low O57 - O64 8 high O65 - O72 8 low O73 - O80 8 high O81 - O88 8 low O89 - O96 8 high O97 - O104 8 low O105 - O112 8 high O113 - O120 8 low O121 - O128 8 high O129 - O136 8 low Not used O137 - O144 8 high Not used O145 - O152 8 low Not used O153 - O160 8 high Not used Welding Current (AO1) Motor Current (AO2) Motor Speed (AO3) Plasma Gas Flow (AO4) Shield Gas flow (AO5) 8 DeviceNet DATA PROCESS IMAGE ART 428.02 IT EN ES I bit sono ordinati dal meno significativo al più significativo. The bit are ordered from less to most significant. Los bit están ordenados de menos significativo hacia más significativo. 8.1 8.1 8.1 Messaggi DeviceNet trasmessi dal Controllo Robot al Generatore DeviceNet messages transmitted from Robot Control to Power Source Mensajes DeviceNet transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). Field n° bit Size Signal name I01 1 Weld Start I02 1 Robot Ready I03 - I06 4 Operating Modes (bit 3 - 0) I07 1 Reserved (set to 0) I08 1 Protocol Mode I09 1 Gas Test I10 1 Wire Inching I11 1 Wire Retract I12 1 Source Error Reset I13 1 Touch Sensing I14 1 Gas Test Shield I15 1 Not used I16 1 Not used I17 - I24 8 Job Number (bit 7 - 0) I25 - I31 7 Not used I32 1 Not Used 8 I33 - I40 8 Analog Setpoint Enable 8 I41 - I48 8 Not used I49 - I55 7 Not used I56 1 Pilot arc start I57 - I64 8 Not used I65 - I72 8 low Current Setpoint (AI0) I73 - I80 8 high I81 - I88 8 low I89 - I96 8 high I97 - I104 8 low I105 - I112 8 high I113 - I120 8 low I121 - I128 8 high I129 - 136 8 low I137 - I144 8 high I145 - I152 8 low I153- I160 8 high I161 - I168 8 low I169 - I176 8 high I177 - I184 8 low I185 - I192 8 high 8 8 8 8 8 8 16 16 16 16 16 16 16 16 Pulse Frequency (AI1) Current Pulse Ratio (AI2) Pulse Duty Cycle (AI3) Gas Plasma Flow (AI4) Gas Shield Flow (AI5) High Speed CW A16 Low Speed CW A17 49/56 8.2 8.2 8.2 Messaggi DeviceNet trasmessi dal Generatore al Controllo Robot DeviceNet messages transmitted from Power Source to Robot Control Mensajes DeviceNet transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). Field 8 8 8 8 16 16 16 16 16 16 16 16 50/56 n° bit Size Signal name O01 1 Current Flow O02 1 Not used O03 1 Process Active O04 1 Main Current O05 1 Collision Protection O06 1 Power Source Ready O07 1 Communication Ready O08 1 Protocol mode O09 - O16 8 Error Number (bit 7 - 0) O17 1 Pulse Sync O18 - O23 6 Not used O24 1 Pilot Arc O25 1 Not Used O26 - 027 2 Not used O28 1 Wire Available O29 1 Not used O30 1 Data documentation ready O31 1 Not used O32 1 Hard Fault O33 - O40 8 low Welding Voltage (AO0) O41 - O48 8 high O49 - O56 8 low O57 - O64 8 high O65 - O72 8 low O73 - O80 8 high O81 - O88 8 low O89 - O96 8 high O97 - O104 8 low O105 - O112 8 high O113 - O120 8 low O121 - O128 8 high O129 - O136 8 low O137 - O144 8 high O145 - O152 8 low O153 - O160 8 high Welding Current (AO1) Motor Current (AO2) Motor Speed (AO3) Plasma Gas Flow (AO4) Shield gas flow (AO5) Not used Not used 9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART. 428.03 - 428.04 IT EN ES I bit sono ordinati dal meno significativo al più significativo e ogni byte è delimitato da linea in grassetto The bit are ordered from less to most significant and each byte is delimited by a bold line Los bit están ordenados de menos significativo hacia más significativo y cada byte se delimita de línea gruesa 9.1 9.1 9.1 Messaggi EtherCAT-EtherNet/IP trasmessi dal Controllo Robot al Generatore EtherCAT-EtherNet/IP messages transmitted from Robot Control to Power Source Mensajes EtherCAT-EtherNet/IP transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). data n° bit Size Signal name 1 1 Weld Start 2 1 Robot Ready 3-6 4 Operating Mode bit (3 - 0) 7 1 Reserved (set to 0) 8 1 Protocol Mode 9 1 Gas Test 10 1 Wire Inching 11 1 Wire Retract 12 1 Source Error Reset 13 1 Touch Sensing 14 1 Gas Test Shield 15 1 Not used 16 1 Not used 17 - 24 8 Job Number (bit 7 - 0) 25 - 31 7 Not used 32 1 Not Used DIN4 33 - 40 8 Analog Setpoint Enable DIN5 41 - 48 8 Not used 49 - 55 7 Not used DIN0 DIN1 DIN2 DIN3 DIN6 56 1 Pilot Arc start DIN7 57 - 64 8 Not used AIN0 65 - 80 16 Current Setpoint (AI0) AIN1 81 - 96 16 Pulse Frequency (AI1) AIN2 97 - 112 16 Current Pulse Ratio (AI2) AIN3 113 - 128 16 Pulse Duty Cycle (AI3) AIN4 129 - 144 16 Gas Plasma Flow (AI4) AIN5 145 - 160 16 Gas Shield Flow (AI5) 51/56 9.2 9.2 9.2 Messaggi EtherCAT-EtherNet/IP trasmessi dal Generatore al Controllo Robot EtherCAT-EtherNet/IP messages transmitted from Power Source to Robot Control Mensajes EtherCAT-EtherNet/IP transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). data DOUT0 DOUT1 DOUT2 DOUT3 n° bit Size Signal name 1 1 Current Flow 2 1 Not used 3 1 Process Active 4 1 Main Current 5 1 Collision Protection 6 1 Power Source Ready 7 1 Communication Ready 8 1 Protocol mode 9 - 16 8 Error Number (bit 7 - 0) 17 1 Pulse Sync 18 - 23 6 Not used 24 1 Pilot Arc 25 1 Sticking Remedied 26 - 27 2 Not used 28 1 Wire available 29 1 Not used 30 1 Data documentation ready 31 1 Not used 32 1 Hard Fault AOUT0 33 - 48 16 Welding Voltage (AO0) AOUT1 49 - 64 16 Welding Current (AO1) AOUT2 65 - 80 16 Motor Current (AO2) AOUT3 81 - 96 16 Motor Speed (AO3) AOUT4 97 - 112 16 Plasma Gas Flow (A04) AOUT5 113 - 128 16 Shield Gas Flow (A05) AOUT6 129 - 144 16 Not Used AOUT7 145 - 160 16 Not Used 52/56 53/56 Automation & Robotics 10 10 10 MODELLO DI SEGNALI SIGNALS PATTERN MODELO DE SEÑALES Protocollo segnali TIG Robot Digital Inputs for Operating Mode 2 (JOB Mode) Job Number (bit 0 – 7) Digital Inputs (Robot → Power Source) Robot Ready Weld Start Digital Outputs (Power Source → Robot) Power Source Ready Process Active Current Flow Main Current Welding Current First Level Crater Level Output Current 0 54/56 Preflow Time First Level Time First Slope Time Welding Torch Movement Crater Slope Time Crater Level Time Postflow Time t Automation & Robotics Protocollo segnali TIG Robot Digital Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13 Analogue Setpoint Enable Ain (AI0 – AI7) Analogue Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13 Analogue Setpoint Ain (AI0 – AI7) Digital Inputs (Robot → Power Source) Robot Ready Weld Start Digital Outputs (Power Source → Robot) Power Source Ready Process Active Current Flow Main Current Welding Current First Level Crater Level Output Current 0 Preflow Time First Level Time First Slope Time Welding Torch Movement Crater Slope Time Crater Level Time Postflow Time t 55/56 CEBORA S.p.A - Via Andrea Costa, 24 - 40057 Cadriano di Granarolo - BOLOGNA - Italy Tel. +39.051.765.000 - Fax. +39.051.765.222 www.cebora.it - e-mail: [email protected] 56/56 ES PROTOCOLOS DIGITALES PARA SISTEMAS AUTOMATIZADOS WIN TIG CEBORA Traducción de las instrucciones originales 3301084/B 17/02/2021 SUMARIO 1 INTRODUCCIÓN�� 60 1.1 ESTE MANUAL�� 60 1.2 BUSES DE CAMPO TRATADOS EN ESTE MANUAL�� 60 2 SEÑALES DIGITALES DESDE CONTROL ROBOT A GENERADOR (INPUT)�� 62 2.1 WELD START�� 63 2.2 ROBOT READY�� 63 2.3 2.3.1 2.3.2 2.3.3 OPERATING MODE (BIT 3 - 0)�� 64 Job Mode (Mode 2)�� 64 Parameter Selection Internal (Mode 3)�� 64 Modo TIG (Modo 0, 1, 4, 5, 8, 9, 12, 13)�� 64 2.4 PROTOCOL MODE�� 64 2.5 GAS TEST�� 65 2.6 WIRE INCHING�� 65 2.7 WIRE RETRACT�� 65 2.8 SOURCE ERROR RESET�� 65 2.9 TOUCH SENSING�� 65 2.10 GAS TEST SHIELD�� 66 2.11 JOB NUMBER (BIT 7 - 0)�� 66 2.12 WELDING SIMULATION�� 66 2.13 HABILITACIÓN ENTRADAS ANALÓGICAS�� 66 2.14 PILOT ARC START�� 67 3 SEÑALES ANALÓGICAS DESDE CONTROL ROBOT A GENERADOR (INPUT)�� 67 3.1 ANALOG SETPOINT (AI0)�� 67 3.2 ANALOG SETPOINT (AI1)�� 67 3.3 ANALOG SETPOINT (AI2)�� 67 3.4 ANALOG SETPOINT (AI3)�� 67 3.5 ANALOG SETPOINT (AI4)�� 68 3.6 ANALOG SETPOINT (AI5)�� 68 3.7 ANALOG SETPOINT (AI6)�� 68 3.8 ANALOG SETPOINT (AI7)�� 68 4 SEÑALES DIGITALES DE GENERADOR A CONTROL ROBOT (OUTPUT)�� 69 4.1 CURRENT FLOW�� 69 4.2 PROCESS ACTIVE�� 69 4.3 MAIN CURRENT�� 70 4.4 COLLISION PROTECTION�� 70 4.5 POWER SOURCE READY�� 70 4.6 COMMUNICATION READY �� 70 4.7 ERROR NUMBER (BIT 7 - 0)�� 70 4.8 PULSE SYNC�� 71 4.9 PILOT ARC�� 71 4.10 WIRE AVAILABLE�� 71 4.11 DATA DOCUMENTATION READY�� 71 4.12 HARD FAULT�� 71 5 SEÑALES ANALÓGICAS DESDE GENERADOR A CONTROL ROBOT (OUTPUT)�� 71 5.1 ANALOG MEASURE (AO0)�� 71 5.2 ANALOG MEASURE (AO1)�� 72 5.3 ANALOG MEASURE (AO2)�� 72 5.4 ANALOG MEASURE (AO3)�� 72 5.5 ANALOG MEASURE (AO4)�� 72 5.6 ANALOG MEASURE (AO5)�� 72 58/84 6 6.2 CANopen DATA PROCESS IMAGE�� 73 MENSAJES CANopen TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR�� 73 MENSAJES CANopen TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT�� 74 7 PROFIBUS DATA PROCESS IMAGE ART.428.01�� 75 7.1 MENSAJES PROFIBUS TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR�� 75 7.2 MENSAJES PROFIBUS TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT�� 76 8 DeviceNet DATA PROCESS IMAGE ART 428.02�� 77 MENSAJES DeviceNet TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR�� 77 MENSAJES DeviceNet TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT�� 78 6.1 8.1 8.2 9 9.2 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART. 428.03 - 428.04�� 79 MENSAJES EtherCAT-EtherNet/IP TRANSMITIDOS DEL CONTROL ROBOT AL GENERADOR �� 79 MENSAJES EtherCAT-EtherNet/IP TRANSMITIDOS DEL GENERADOR AL CONTROL ROBOT�� 80 10 MODELO DE SEÑALES �� 82 9.1 59/84 1 INTRODUCCIÓN 1�1 Este manual Este manual presenta la configuración de los mensajes de los buses de campo (Data Process Image) adoptados en los sistemas de soldadura automatizados TIG Cebora, incluidos Plasma Welding. Se indican y describen todas las señales intercambiadas entre el sistema de soldadura TIG Cebora y el control del sistema robotizado (Robot Control). Este manual ha de considerarse parte integrante de los manuales de instrucciones de cada uno de los aparatos que AUTOMATION componen el sistema de soldadura MIG Cebora, por tanto podrá requerirse la consulta simultánea de los mismos. En Fig. 1 se presenta un ejemplo de sistema robot Cebora. TIG (10) (11) (9) (7) (8) (1) (3) (2) Fig. 1 Posición Descripción Artículo 1 Generador serie WIN TIG Robot 380-381394-395396.80 2 Robot Interfaz 428.XX, 448 3 Conexión Generador - Robot Interfaz 2063 - 6 Carro arrastrahilo Robot 1649 X 7 Conexión generador - Carro arrastrahilo Robot 2067 X 8 Portabobinas/ acoplamiento rápido 121/173 X 9 Envoltura guíahilos 1935 X 10 Panel de control remoto TIG 438 X 11 Conexión Generador - Panel de control remoto TIG 2065 X 1�2 Buses de campo tratados en este manual − CANopen DS401; − DeviceNet; − Profibus DP-V1; − EtherCAT − EtherNet/IP 60/84 Opcional - (X) Para cada bus de campo Cebora suministra el correspondiente archivo de configuración. Al final del manual (apart. 6 ÷ 9) aparecen las tablas de los mensajes intercambiados entre generador y control robot (Data Process Image), subdivididas según tipo de bus de campo. La Data Process Image está compuesta de la siguiente forma: INPUT OUTPUT Digital [byte] 8 4 Analog [word] 8 8 Total Size [byte] 24 20 61/84 2 SEÑALES DIGITALES DESDE CONTROL ROBOT A GENERADOR (INPUT) Lista de señales digitales y analógicas en entrada al generador. 62/84 n° bit Size [bit] Name Analog interface Art. 448 Digital interface Art. 428.XX 1 2 1 Weld Start X X 1 Robot Ready X X 3-6 4 Operating Modes (bit 3 - 0) X X 7 1 Reserved (set to 0) - 0 8 1 Protocol Mode - X 9 1 Gas Test/Gas Test Plasma X X 10 1 Wire Inching X X 11 1 Wire Retract X X 12 1 Source Error Reset X X 13 1 Touch Sensing X X 14 1 Gas Test Shield X X 15 1 Not used - - 16 1 Not used - - 17 - 23 7 Job Number (bit 6 - 0) X X 24 1 Job Number (bit 7 ) - X 25 - 31 7 Not used - - 32 1 Welding Simulation - - 33 1 Analog setpoint enable 0 - X 34 1 Analog setpoint enable 1 - X 35 1 Analog setpoint enable 2 - X 36 1 Analog setpoint enable 3 - X 37 1 Analog setpoint enable 4 - X 38 1 Analog setpoint enable 5 - X 39 1 Analog setpoint enable 6 - X 40 1 Analog setpoint enable 7 - X 41 - 48 8 Not used - - 49 - 55 7 Not used - - 56 1 Pilot Arc Start X X 57 - 64 8 Not used - - 65 - 80 16 Current Setpoint AI0 X X 81 - 96 16 Pulse Frequency/Wire Speed High AI1 X X 97 - 112 16 Current pulse ratio AI2 - X 113 - 128 16 Pulse duty cycle AI3 - X 129 - 144 16 Gas Plasma Flow AI4 - X I45 - 160 16 Gas Shield Flow AI5 - X 161 - 176 16 High speed CW AI6 - X 177 - 192 16 Low speed CW AI7 - X 2.1 Weld Start El bit Weld Start manda el encendido y apagado del arco de soldadura. Weld Start = (activo alto) Weld Start Descripción 0→ 1 El control robot manda el encendido del arco. Esta señal es aceptada si la señal de Power Source Ready está activada. 1→ 0 El control robot manda el apagado del arco. NOTA En modalidad Robot con el bit Robot Ready activo, el generador es automáticamente programado en modalidad 2-tiempos. 2.2 Robot Ready El bit Robot Ready habilita la comunicación entre generador y control robot; una vez que la comunicación ha sido establecida, el generador queda listo para enviar y recibir los datos desde el CNC externo. Si el bit está programado en cero, el generador permanece en el estado de error Error 90 CNC no listo y el icono en la barra de estado del display parpadea. Si no está activado el bit Robot Ready, tampoco se adquiere alguna señal digital o analógica ni están activadas las salidas del generador. Robot Ready = Activo alto Robot Ready Descripción 0 El control robot no está listo 1 El control robot está listo para el intercambio de datos con el exterior ADVERTENCIA: El bit Robot Ready no puede ser utilizado para efectuar una parada de emergencia. Para esta función hay un kit específico (Art. 449). 63/84 2.3 Operating Mode (bit 3 - 0) La selección de la modalidad operativa (Operating Mode) del generador se efectúa mediante 4 bits: Operating Mode MIG Bit3 Bit2 Bit1 Bit0 Mode 0 0 0 0 0 DC 0 0 0 1 1 XP 0 0 1 0 2 JOB MODE 0 0 1 1 3 PAR. SEL. INT. 0 1 0 0 4 AC 0 1 0 1 5 MIX 0 1 1 0 6 / 0 1 1 1 7 / 1 0 0 0 8 DC PULSE 1 0 0 1 9 PULSE XP 1 0 1 0 10 / 1 0 1 1 11 / 1 1 0 0 12 AC PULSE 1 1 0 1 13 MIX PULSE 1 1 1 0 14 / 1 1 1 1 15 / Tabla 1 2.3.1 Job Mode (Mode 2) En esta modalidad es posible seleccionar un Job precedentemente memorizado en el generador. En la máquina es posible memorizar hasta 99 Jobs (véase apartado 2.10). Job Mode = Activo alto. 2.3.2 Parameter Selection Internal (Mode 3) La modalidad Parameter Selection Internal habilita la selección de los parámetros de soldadura a través del panel de control del generador. En esta modalidad es posible guardar los Jobs, los cuales podrán ser sucesivamente convocados mediante el respectivo número identificativo en la modalidad Job mode. 2.3.3 Modo TIG (Modo 0, 1, 4, 5, 8, 9, 12, 13) El proceso es programado en TIG. Con esta programación son tomadas en consideración las señales digitales y analógicas. En esta modalidad son aceptadas las entradas analógicas AI0…AI7. 2.4 Protocol Mode El bit Protocol Mode permite representar las variables de los setpoints analógicos y de las medidas analógicas (Analog Set Point y Analog Measure) de dos maneras diferentes, transformando de todas formas en enteros las variables que admiten valores decimales, mediante un factor multiplicador 10 (por ej. 9.9 se considera como 99). Protocol Mode 64/84 Descripción 0 Cada señal analógica (setpoint o medida) es transformada en un valor numérico y redeterminada entre los valores mínimo y máximo utilizando un campo de 16-bits sin signo (0 ÷ 65535). 1 Las señales analógicas no se someten a ninguna conversión, por tanto se visualizan directamente. El valor numérico es representado directamente en binario con un campo de 16-bits con signo. 2.5 Gas Test La señal opcional, Gas Test activa la electroválvula del gas. También puede usarse para un gas Pre-flow adicional durante un posicionamiento. Gas Test = Activo alto. Gas Test Descripción 0 Válvula gas cerrada 1 Válvula gas abierta Con el proceso de soldadura activo, los tiempos de gas Pre-flow y Post-flow son controlados directamente por el generador. Con el accesorio Plasma Welding este ingreso esta entrada activa la válvula de gas plasma. 2.6 Wire Inching La señal Wire Inching acciona el avance del hilo de soldadura sin salida de gas y sin que se genere corriente. La velocidad de avance se programa en el panel del generador, mediante el menú Test hilo. Wire Inching = Activo alto. Wire Inching Descripción 0 Ninguna operación 1 Avance hilo ADVERTENCIA: Mantener la antorcha lejos del rostro y del cuerpo para evitar el riesgo de sufrir heridas debido a la salida del hilo de soldadura. 2.7 Wire Retract La señal Wire Retract acciona el retroceso del hilo por una longitud determinada, tras lo cual se para el motor. La velocidad de retroceso del hilo está fijada en 1,0 m/min. Wire Retract = Activo alto. Wire Retract 2.8 Descripción 0 Ninguna operación 1 Retiro hilo Source Error Reset La señal Source Error Reset activada en el frente 0→ 1 elimina solo los errores rectificables (Warning), para los cuales no resulta activado (bajo) el bit de Hard Fault. Source Error Reset 0,1,1→ 0 0→ 1 Descripción Ninguna operación Reseteo de un error rectificable. (Warning) Para la lista de los errores rectificables (Warning) véase el manual de uso del generador WIN TIG. 2.9 Touch Sensing La señal Touch Sensing cumple la función de identificar el cortocircuito del hilo de soldadura con la pieza y pasar la información al control robot mediante la señal Current Flow, con un retraso máximo de 10 ms. Touch Sensing = Activo alto Touch Sensing Descripción 0 Ninguna operación 1 Procedimiento de Touch Sensing activado 65/84 NOTA La señal Current Flow se envía a la salida durante 0,2 s más que la duración del cortocircuito. Durante todo el tiempo de activación de la señal “Touch Sensing” no es posible efectuar la soldadura. Si la señal de “Touch Sensing” se activa durante la soldadura, se ignora el evento y no se interrumpe el proceso de soldadura en acto. 2.10 Gas Test Shield Disponible solo en modo P.W. realiza el test de gas de protección Gas_Shield_Test= activo alto Gas_Shield_Test Descripción 0 Válvula cerrada 1 Válvula abierta 2.11 Job Number (bit 7 - 0) Este byte es válido si está programado el modo de funcionamiento Job Mode (apart. 2.3) y selecciona el número de Job a ejecutar. Job Number 0 1 - 99 100 - 255 Descripción Job seleccionado de modo manual desde el panel del generador Job válido. Job no válido. Si en el menú de las programaciones del generador la opción Permitir Modificación Job está: - OFF entonces ningún parámetro de los jobs seleccionados puede ser modificado, - ON, algunos de los parámetros de los Jobs pueden variarse run-time mediante las respectivas entradas analógicas habilitadas o bien desde el panel de control del generador. Si desde el control robot se selecciona una posición de memoria vacía o no válida, en la barra de estado del panel principal se visualiza el siguiente icono: 2.12 Welding Simulation Modalidad de funcionamiento no implementada. 2.13 Habilitación Entradas Analógicas Byte de habilitación de las entradas analógicas. Cada bit corresponde a la respectiva entrada analógica según se indica en la siguiente tabla: 66/84 Analog Setpoint Enable bit / Function Valor=0 Valor=1 Analog Setpoint Enable AI0 (Current Setpoint) Inhabilitado Habilitado Analog Setpoint Enable AI1 (Pulse Frequency) Inhabilitado Habilitado Analog Setpoint Enable AI2 (Current Pulse Ratio) Inhabilitado Habilitado Analog Setpoint Enable AI3 (Pulse Duty Cycle) Inhabilitado Habilitado Analog Setpoint Enable AI4 (Gas Plasma Flow) Inhabilitado Habilitado Analog Setpoint Enable AI5 (Gas Shield Flow) Inhabilitado Habilitado Analog Setpoint Enable AI6 (High Speed CW) Inhabilitado Habilitado Analog Setpoint Enable AI7 (Low Speed CW) Inhabilitado Habilitado 2.14 Pilot Arc Start Es el mando de encendido del arco piloto en el proceso plasma welding. En el sistema debe estar presente la consola plasma, programada para el funcionamiento automático, es decir, gestionada por el control robot: véase el manual de instrucciones de la consola digital gas Art 465.01. Función Pilot Arc Start = activo alto. Pilot Arc Start 3 Descripción 0 Arco piloto apagado 1 Encendido arco piloto; si dentro de 3 s no hay presencia de corriente de arco piloto, ese ingreso es ignorado por el generador, aunque esté aún activo. SEÑALES ANALÓGICAS DESDE CONTROL ROBOT A GENERADOR (INPUT) El generador está en condiciones de gestionar 4 entradas analógicas para las regulaciones de los parámetros de soldadura en tiempo real. Cada entrada analógica está compuesta por 16 bits. El formato de cada analógica depende del bit Protocol Mode. 3.1 Analog Setpoint (AI0) Analog Setpoint AI0 = Current Setpoint. Es la velocidad del hilo de soldadura. Este valor no es efectivo solo en las modalidades de funcionamiento Mode 3 (Parameter selection internal) y Mode 2 (Job Mode: vease la excepción descrita en el párrafo 2.10). An. In0 Valor[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 500.0 0xFFFF 0x01F4 3.2 Analog Setpoint (AI1) Analog Setpoint AI1 = Pulse Frequency. Esta regulación se refiere a la corrección de la tensión de arco respecto del valor de setpoint. An. In1 Valor[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 2500 0xFFFF 0x09C4 3.3 Analog Setpoint (AI2) Analog Setpoint AI2 = Current Pulse Ratio. Ajuste el valor de la impedancia de salida modificando los bordes ascendente y descendente de la corriente de soldadura An. In2 Valor[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 3.4 Analog Setpoint (AI3) Analog Setpoint AI3 = Pulse Duty Cycle. Modifica el valor de la corriente de Burnback para regular la longitud del hilo al término de la soldadura. An. In3 Valor[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 67/84 3.5 Analog Setpoint (AI4) Analog Setpoint AI4 = Gas Plasma Flow. Este parámetro regula el flujo de gas plasma durante la soldadura y es definido por los siguientes valores de plena escala: An. In4 Valor[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 10.0 0xFFFF 0x0064 3.6 Analog Setpoint (AI5) Analog Setpoint AI5 = Gas Shield Flow. Este parámetro regula el flujo del gas de pantalla durante la soldadura y es definido por los siguientes valores de plena escala: An. In5 Valor[m/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 30.0 0xFFFF 0x0120 3.7 Analog Setpoint (AI6) Analog Setpoint AI6 = High Speed CW. Esta regulación se refiere a la velocidad “alta” del motor durante el proceso “hilo frío” y es definida por los siguientes valores de plena escala: An. In6 Valor[m/min] Protocol mode=0 Protocol mode=1 Min -12.5 0x0000 0xFF83 Max +12.5 0xFFFF 0x007D 3.8 Analog Setpoint (AI7) Analog Setpoint AI7 = Low Speed CW. Esta regulación se refiere a la velocidad baja del motor durante el proceso “hilo frío” y es definida por los siguientes valores de plena escala: An. In6 Valor[m/min] Protocol mode=0 Protocol mode=1 Min -12.5 0x0000 0xFF83 Max +12.5 0xFFFF 0x007D 68/84 4 SEÑALES DIGITALES DE GENERADOR A CONTROL ROBOT (OUTPUT) En la tabla se indican las señales digitales y analógicas en salida desde el generador de soldadura n° bit Size [bit] Name Analog interface Art. 448 Digital interface Art. 428.XX 1 1 Current Flow X X 2 1 Not used - - 3 1 Process Active X X 4 1 Main Current X X 5 1 Torch Collision Protection - X 6 1 Power Source Ready X X 7 1 Communication Ready X X 8 1 Protocol Mode - X 09 - 16 8 Error Number (bit 7 - 0) - X 17 1 Pulse Sync X - 18 - 23 6 Not used - - 24 1 Pilot Arc X X 25 1 Not used - - 26 - 27 2 Not used - - 28 1 Wire Available - X 29 1 Not used - - 30 1 Data documentation ready - - 31 1 Not used - - 32 1 Hard Fault - X 33 - 48 16 Welding Voltage AO0 X X 49 - 64 16 Welding Current AO1 X X 65 - 80 16 Motor Current AO2 - X 81 - 96 16 Motor Speed AO3 - X 97 - 112 16 Gas Plasma Flow AO4 - X 113 - 145 16 Gas Shield Flow AO5 - X 146 - 161 16 Not used - - NOTA Si la conexión entre generador e interfaz robot está interrumpida, todas las señales digitales y analógicas desde la interfaz robot hacia el control robot quedan programadas en “0”. 4.1 Current Flow Current Flow es activado apenas la corriente de soldadura comienza a circular en la pieza por soldar. Current Flow = activo alto Current flow 4.2 Descripción 0 No hay presencia de corriente en la pieza de soldadura 1 Circula corriente en la pieza de soldadura. Process Active Desde el inicio del gas pre-flow hasta el fin del gas post-flow, el generador activa la señal Process Active. La señal Process Active sirve para garantizar la protección gaseosa ideal del baño de soldadura, asegurando que el robot permanezca en medida suficientemente prolongada al principio y al fin del cordón de soldadura. Process Active = activo alto. 69/84 Process Active 4.3 Descripción 0 Proceso de soldadura inactivo 1 Proceso de soldadura en acto. Main Current La señal Main Current permanece activa durante el tramo de soldadura con corriente suministrada igual al valor de setpoint programado, excluidas por lo tanto las fases de activación arco, corriente inicial, rampas de subida y bajada y corriente de cráter. Main Current = activo alto. Main Current 4.4 Descripción 0 Corriente circulante en la pieza por soldar diferente de la corriente de setpoint 1 Corriente circulante en la pieza por soldar igual a la corriente de setpoint. Collision Protection El robot puede dotarse de un sensor de colisión que, en caso de impacto de la antorcha de soldadura, pone baja la señal Collision Protection. En ese caso, el control robot para inmediatamente el robot e interrumpe el proceso de soldadura desactivando la señal Robot Ready. Collision Protection = activo bajo. Collision protection 4.5 Descripción 0 Colisión entre antorcha y pieza 1 No detectada colisión entre antorcha y pieza Power Source Ready La señal Power Source Ready se activa cuando el generador está listo para soldar. Apenas se verifica una situación de error en el generador o bien la señal Robot Ready es desactivada, la señal Power Source Ready es desactivada inmediatamente. Power Source Ready = activo alto. Power Source Ready 4.6 Descripción 0 El generador no está habilitado para soldar. 1 Ningún error detectado: el generador está listo para ejecutar el proceso de soldadura. Communication Ready Activado indica el funcionamiento correcto de la comunicación entre la interfaz robot y el generador. Cuando no está activado, indica ausencia de comunicación entre la interfaz robot y el generador. Communication Ready = activo alto Communication Ready Descripción 4.7 0 El generador no está listo para el intercambio de los datos (por ej. se encuentra en estado de boot) 1 El generador está listo para el intercambio de los datos. Error Number (bit 7 - 0) La secuencia de bits comunica el código error del generador (véase el apartado “Códigos Error” en el Manual de Instrucciones del generador). Error Number 0 1 - 99 70/84 Descripción El generador funciona correctamente. Identifica el código del error detectado. 4.8 Pulse Sync La señal Pulse Sync está activada y sincronizada con cada impulso de “corriente alta”, solo cuando está programado el proceso “TIG Pulsado” con una frecuencia de pulsación igual o inferior a 10 Hz. Si el proceso “TIG Pulsado” está programado, la señal “Pulse Sync” está activada: − con frecuencia de pulsación igual o inferior a 10 Hz, la salida “Pulse Sync” sigue el estado del impulso “alto” de corriente; − con frecuencia de pulsación superior a 10 Hz la salida “Pulse Sync” permanece fija a nivel alto. Si el proceso “Tig Pulsado” no está programado, la señal “Pulse Sync” es mantenida a nivel bajo. Esta señal está activada solo si está presente la interfaz analógica Art. 448. Pulse Sync = activo alto. Pulse Sync 4.9 Descripción 0 Impulso de corriente bajo 1 Impulso de corriente alto Pilot Arc Señala el encendido del arco piloto en el proceso plasma welding, como efecto del mando Pilot Arc (apart. 2.24). Pilot Arc = activo alto. Pilot Arc Descripción 0 Arco piloto apagado 1 Arco piloto encendido. 4.10 Wire Available RESERVED 4.11 Data documentation ready RESERVED 4.12 Hard Fault La señal va alta cuando se verifica un error no rectificable (véase también apart. 2.8 Source error reset y apart. 4.7 Error Number) mientras que permanece baja en ausencia de error no rectificable o bien en presencia de warning. Hard fault = activo alto. Hard Fault 5 Descripción 0 Ningún error presente ni warning presente 1 Se ha verificado un error grave y es necesario apagar el generador de soldadura. SEÑALES ANALÓGICAS DESDE GENERADOR A CONTROL ROBOT (OUTPUT) El generador está en condiciones de gestionar 4 salidas analógicas para las regulaciones de los parámetros de soldadura en tiempo real. Cada salida analógica está compuesta por 16 bits. El formato de cada analógica depende del bit Protocol Mode. 5.1 Analog Measure (AO0) Analog Measure (AO0) = Welding Voltage. Es la señal relativa a la tensión de salida del generador, definida mediante los siguientes valores de fondo escala: AO0 Valor[V] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 100.0 0xFFFF 0x0064 71/84 5.2 Analog Measure (AO1) Analog Measure (AO1) = Welding Current. Es la señal relativa a la tensión de salida del generador, definida mediante los siguientes valores de fondo escala: AO1 Valor[A] Protocol mode=0 Protocol mode=1 Min 0 0x0000 0x0000 Max 1000 0xFFFF 0x03E8 5.3 Analog Measure (AO2) Analog Measure (AO2) = Motor Current. Es la señal de la corriente absorbida por el motor de arrastre hilo, definida por los siguientes valores de fondo escala: AO2 Valor[A] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 5.0 0xFFFF 0x0032 5.4 Analog Measure (AO3) Analog Measure (AO3) = Motor Speed. Es la señal de la velocidad del hilo de soldadura, definida mediante los siguientes valores de fondo escala: AO3 Valor[l/min] Protocol mode=0 Protocol mode=1 Min -12.5 0x0000 0xFF83 Max 12.5 0xFFFF 0x007D 5.5 Analog Measure (AO4) Analog Measure (AO4) = Gas Plasma Flow. Es la señal del medidor de flujo del gas plasma en la consola, definida mediante los siguientes valores de plena escala: AO4 Valor[l/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 10.0 0xFFFF 0x0064 5.6 Analog Measure (AO5) Analog Measure (AO5) = Gas Shield Flow. Es la señal medida por el detector de flujo del gas shield, definida mediante los siguientes valores de plena escala: AO5 Valor[l/min] Protocol mode=0 Protocol mode=1 Min 0.0 0x0000 0x0000 Max 30.0 0xFFFF 0x012C 72/84 CANopen DATA PROCESS IMAGE IT EN ES I bit sono ordinati dal meno significativo al più significativo e ogni byte è delimitato da linea in grassetto. The bit are ordered from less to most significant and each byte is delimited by a bold line. Los bit están ordenados de menos significativo hacia más significativo y cada byte se delimita de línea gruesa. 6.1 6.1 6.1 Messaggi CANopen trasmessi dal Controllo Robot al Generatore CANopen messages transmitted from Robot Control to Power Source Mensajes CANopen transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). COBID =0x400 COBID =0x300 COBID =0x200 6 n° bit Size Signal name 1 1 Weld Start 2 1 Robot Ready 3-6 4 Operating Mode bit (3 - 0) 7 1 Reserved (set to 0) 8 1 Protocol Mode 9 1 Gas Test Plasma 10 1 Wire Inching 11 1 Wire Retract 12 1 Source Error Reset 13 1 Touch Sensing 14 1 Gas Test Shield 15 1 Not Used 16 1 Not Used 17 - 24 8 Job Number (bit (7 - 0) 25 - 31 7 Not used 32 1 Not Used 33 - 40 8 Analog Setpoint Enable (7 - 0) 41 - 48 8 Not used 49 - 55 7 Not used 56 1 Pilot Arc On 57 - 64 8 Not Used n° bit Size Signal name 1 - 16 16 Current Setpoint (AI0) 17 - 32 16 Pulse Frequency (AI1) 33 - 48 16 Current Pulse Ratio (AI2) 49 - 64 16 Pulse Duty Cycle (AI3) n° bit Size Signal name 1 - 16 16 Gas Plasma Flow (AI4) 17 - 32 16 Gas Shield Flow (AI5) 33 - 48 16 High Speed CW (AI6) 49 - 64 16 Low Speed CW (AI7) 73/84 Messaggi CANopen trasmessi dal Generatore al Controllo Robot CANopen messages transmitted from Power Source to Robot Control Mensajes CANopen transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit) The total data size is 20 bytes (160 bit) El tamaño total de los datos es 20 bytes (160 bit) Size Signal name 1 1 Current Flow 2 1 Not used 3 1 Process Active 4 1 Main Current 5 1 Collision Protection 6 1 Power Source Ready 7 1 Communication Ready 8 1 Protocol mode 9 - 16 8 Error Number (bit 7 - 0) 17 1 Pulse Sync 18 - 23 6 Not used 24 1 Pilot Arc 25 1 Not used 26 - 27 2 Not used 28 1 Wire Available 29 1 Not used 30 1 Data documentation ready 31 1 Not used 32 1 Hard fault COBID = 0x280 n° bit n° bit Size Signal name 1 - 16 16 Welding Voltage (AO0) 17 - 32 16 Welding Current (AO1) 33 - 48 16 Motor Current (AO2) 49 - 64 16 Motor Speed (AO3) COBID = 0x380 COBID = 0x180 6.2 6.2 6.2 n° bit Size Signal name 1 - 16 16 Plasma gas flow (AO4) 17 - 32 16 Shield gas flow (AO5) 33 - 48 16 Not Used 49 - 64 16 Not Used 74/84 7 PROFIBUS DATA PROCESS IMAGE ART.428.01 IT EN ES I bit sono ordinati dal meno significativo al più significativo. The bit are ordered from less to most significant. Los bit están ordenados de menos significativo hacia más significativo. 7.1 7.1 7.1 Messaggi PROFIBUS trasmessi dal Controllo Robot al Generatore PROFIBUS messages transmitted from Robot Control to Power Source Mensajes PROFIBUS transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit) The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit) Field n° bit Size Signal name I01 1 Gas Test I02 1 Wire Inching I03 1 Wire Retract I04 1 Source Error Reset I05 1 Touch Sensing I06 1 Gas Test Shield I07 1 Not used I08 1 Not used I09 1 Weld Start I10 1 Robot Ready I11 - I14 4 Operating Mode (bit 3- 0) I15 1 Reserved (set to 0) I16 1 Protocol Mode I17 - I23 7 Not used I24 1 Not used 8 I25 - I32 8 Job number 8 I33 - I40 8 Not used 8 I41 - I48 8 Analog Setpoint Enable (7 - 0) 8 I49 - I56 8 Not used I57 - I63 7 Not used I64 1 Pilot Arc Start I65 - I172 8 low I73 - I80 8 high I81 - I88 8 low I89 - I96 8 high I97 - I104 8 low I105 - I112 8 high I113 - I120 8 low I121 - I128 8 high I129 - I136 8 low I137 - I144 8 high I145 - I152 8 low I153 - I160 8 high 8 8 8 8 16 16 16 16 16 16 Current set point (AI0) Pulse frequency (AI1) Current Pulse Ratio (AI2) Pulse Duty Cycle (AI3) Gas Plasma Flow (AI4) Gas Shield Flow (AI5) 75/84 7.2 7.2 7.2 Messaggi PROFIBUS trasmessi dal Generatore al Controllo Robot PROFIBUS messages transmitted from Power Source to Robot Control Mensajes Profibus transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). Field 8 8 8 8 16 16 16 16 16 16 16 16 76/84 n° bit Size Signal name O01 - O08 8 Error Number (bit 7 - 0) O09 1 Current Flow O10 1 Not used O11 1 Process Active O12 1 Main Current O13 1 Collision Protection O14 1 Power Source Ready O15 1 Communication Ready O16 1 Protocol Mode O17 1 Not used O18 - 019 2 Not used O20 1 Wire Available O21 1 Not used O22 1 Data documentation ready O23 1 Not used O24 2 Hard fault O25 1 Pulse Sync O26 - O31 6 Not used O32 1 Pilot Arc O33 - O40 8 low Welding Voltage (AO0) O41 - O48 8 high O49 - O56 8 low O57 - O64 8 high O65 - O72 8 low O73 - O80 8 high O81 - O88 8 low O89 - O96 8 high O97 - O104 8 low O105 - O112 8 high O113 - O120 8 low O121 - O128 8 high O129 - O136 8 low Not used O137 - O144 8 high Not used O145 - O152 8 low Not used O153 - O160 8 high Not used Welding Current (AO1) Motor Current (AO2) Motor Speed (AO3) Plasma Gas Flow (AO4) Shield Gas flow (AO5) 8 DeviceNet DATA PROCESS IMAGE ART 428.02 ITI EN ES I bit sono ordinati dal meno significativo al più significativo. The bit are ordered from less to most significant. Los bit están ordenados de menos significativo hacia más significativo. 8.1 8.1 8.1 Messaggi DeviceNet trasmessi dal Controllo Robot al Generatore DeviceNet messages transmitted from Robot Control to Power Source Mensajes DeviceNet transmitidos del Control Robot al Generador IIT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). Field 8 8 8 8 n° bit Size Signal name I01 1 Weld Start I02 1 Robot Ready I03 - I06 4 Operating Modes (bit 3 - 0) I07 1 Reserved (set to 0) I08 1 Protocol Mode I09 1 Gas Test I10 1 Wire Inching I11 1 Wire Retract I12 1 Source Error Reset I13 1 Touch Sensing I14 1 Gas Test Shield I15 1 Not used I16 1 Not used I17 - I24 8 Job Number (bit 7 - 0) I25 - I31 7 Not used I32 1 Not Used 8 I33 - I40 8 Analog Setpoint Enable 8 I41 - I48 8 Not used I49 - I55 7 Not used I56 1 Pilot arc start I57 - I64 8 Not used I65 - I72 8 low Current Setpoint (AI0) I73 - I80 8 high I81 - I88 8 low I89 - I96 8 high I97 - I104 8 low I105 - I112 8 high I113 - I120 8 low I121 - I128 8 high I129 - 136 8 low I137 - I144 8 high I145 - I152 8 low I153- I160 8 high I161 - I168 8 low I169 - I176 8 high I177 - I184 8 low I185 - I192 8 high 8 8 16 16 16 16 16 16 16 16 Pulse Frequency (AI1) Current Pulse Ratio (AI2) Pulse Duty Cycle (AI3) Gas Plasma Flow (AI4) Gas Shield Flow (AI5) High Speed CW A16 Low Speed CW A17 77/84 8.2 8.2 8.2 Messaggi DeviceNet trasmessi dal Generatore al Controllo Robot DeviceNet messages transmitted from Power Source to Robot Control Mensajes DeviceNet transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). Field 8 8 8 8 16 16 16 16 16 16 16 16 78/84 n° bit Size Signal name O01 1 Current Flow O02 1 Not used O03 1 Process Active O04 1 Main Current O05 1 Collision Protection O06 1 Power Source Ready O07 1 Communication Ready O08 1 Protocol mode O09 - O16 8 Error Number (bit 7 - 0) O17 1 Pulse Sync O18 - O23 6 Not used O24 1 Pilot Arc O25 1 Not Used O26 - 027 2 Not used O28 1 Wire Available O29 1 Not used O30 1 Data documentation ready O31 1 Not used O32 1 Hard Fault O33 - O40 8 low Welding Voltage (AO0) O41 - O48 8 high O49 - O56 8 low O57 - O64 8 high O65 - O72 8 low O73 - O80 8 high O81 - O88 8 low O89 - O96 8 high O97 - O104 8 low O105 - O112 8 high O113 - O120 8 low O121 - O128 8 high O129 - O136 8 low O137 - O144 8 high O145 - O152 8 low O153 - O160 8 high Welding Current (AO1) Motor Current (AO2) Motor Speed (AO3) Plasma Gas Flow (AO4) Shield gas flow (AO5) Not used Not used 9 EtherCAT-EtherNet/IP DATA PROCESS IMAGE ART. 428.03 - 428.04 IT EN ES I bit sono ordinati dal meno significativo al più significativo e ogni byte è delimitato da linea in grassetto The bit are ordered from less to most significant and each byte is delimited by a bold line Los bit están ordenados de menos significativo hacia más significativo y cada byte se delimita de línea gruesa 9.1 9.1 9.1 Messaggi EtherCAT-EtherNet/IP trasmessi dal Controllo Robot al Generatore EtherCAT-EtherNet/IP messages transmitted from Robot Control to Power Source Mensajes EtherCAT-EtherNet/IP transmitidos del Control Robot al Generador IT EN ES La dimensione totale dei dati è 24 byte (192 bit). The total data size is 24 bytes (192 bit). El tamaño total de los datos es 24 bytes (192 bit). data DIN0 DIN1 DIN2 DIN3 n° bit Size Signal name 1 1 Weld Start 2 1 Robot Ready 3-6 4 Operating Mode bit (3 - 0) 7 1 Reserved (set to 0) 8 1 Protocol Mode 9 1 Gas Test 10 1 Wire Inching 11 1 Wire Retract 12 1 Source Error Reset 13 1 Touch Sensing 14 1 Gas Test Shield 15 1 Not used 16 1 Not used 17 - 24 8 Job Number (bit 7 - 0) 25 - 31 7 Not used 32 1 Not Used DIN4 33 - 40 8 Analog Setpoint Enable DIN5 41 - 48 8 Not used 49 - 55 7 Not used 56 1 Pilot Arc start DIN7 57 - 64 8 Not used AIN0 65 - 80 16 Current Setpoint (AI0) DIN6 AIN1 81 - 96 16 Pulse Frequency (AI1) AIN2 97 - 112 16 Current Pulse Ratio (AI2) AIN3 113 - 128 16 Pulse Duty Cycle (AI3) AIN4 129 - 144 16 Gas Plasma Flow (AI4) AIN5 145 - 160 16 Gas Shield Flow (AI5) 79/84 9.2 9.2 9.2 Messaggi EtherCAT-EtherNet/IP trasmessi dal Generatore al Controllo Robot EtherCAT-EtherNet/IP messages transmitted from Power Source to Robot Control Mensajes EtherCAT-EtherNet/IP transmitidos del Generador al Control Robot IT EN ES La dimensione totale dei dati è 20 byte (160 bit). The total data size is 20 bytes (160 bit). El tamaño total de los datos es 20 bytes (160 bit). data n° bit Size Signal name 1 1 Current Flow 2 1 Not used 3 1 Process Active 4 1 Main Current 5 1 Collision Protection 6 1 Power Source Ready 7 1 Communication Ready 8 1 Protocol mode 9 - 16 8 Error Number (bit 7 - 0) 17 1 Pulse Sync 18 - 23 6 Not used 24 1 Pilot Arc 25 1 Sticking Remedied 26 - 27 2 Not used 28 1 Wire available 29 1 Not used 30 1 Data documentation ready 31 1 Not used 32 1 Hard Fault AOUT0 33 - 48 16 Welding Voltage (AO0) DOUT0 DOUT1 DOUT2 DOUT3 AOUT1 49 - 64 16 Welding Current (AO1) AOUT2 65 - 80 16 Motor Current (AO2) AOUT3 81 - 96 16 Motor Speed (AO3) AOUT4 97 - 112 16 Plasma Gas Flow (A04) AOUT5 113 - 128 16 Shield Gas Flow (A05) AOUT6 129 - 144 16 Not Used AOUT7 145 - 160 16 Not Used 80/84 81/84 Automation & Robotics 10 10 10 MODELLO DI SEGNALI SIGNALS PATTERN MODELO DE SEÑALES Protocollo segnali TIG Robot Digital Inputs for Operating Mode 2 (JOB Mode) Job Number (bit 0 – 7) Digital Inputs (Robot → Power Source) Robot Ready Weld Start Digital Outputs (Power Source → Robot) Power Source Ready Process Active Current Flow Main Current Welding Current First Level Crater Level Output Current 0 82/84 Preflow Time First Level Time First Slope Time Welding Torch Movement Crater Slope Time Crater Level Time Postflow Time t Automation & Robotics Protocollo segnali TIG Robot Digital Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13 Analogue Setpoint Enable Ain (AI0 – AI7) Analogue Inputs for Operating Mode 0, 1, 4, 5, 8, 9, 12, 13 Analogue Setpoint Ain (AI0 – AI7) Digital Inputs (Robot → Power Source) Robot Ready Weld Start Digital Outputs (Power Source → Robot) Power Source Ready Process Active Current Flow Main Current Welding Current First Level Crater Level Output Current 0 Preflow Time First Level Time First Slope Time Welding Torch Movement Crater Slope Time Crater Level Time Postflow Time t 83/84 CEBORA S.p.A - Via Andrea Costa, 24 - 40057 Cadriano di Granarolo - BOLOGNA - Italy Tel. +39.051.765.000 - Fax. +39.051.765.222 www.cebora.it - e-mail: [email protected] 84/84

Cebora WIN TIG DC 500 T ROBOT Manual de usuario

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