Sealer Bead Interruption

Are you definitely using Analog Output from the Controller to SCA to report TCP speed feedback for flow demand?
Is the SCA reporting this problem because the Analog value is too low - ie have you measured and confirmed that the voltage is too low.

- Looks like you're using output bits for flow demand to me and not analog. (outputs 50 - 64)
- So you need to evaluate the 'bits' set for the TCP speed in that particular part of the program.
- Also, the SCA probably has a scaling factor, because the Kawasaki will be sending integers not decimals, so I would check this.

The aux function you are displaying, can either be set in the Teach Pendant or via AS command - if it is AS, it will overwrite the data in the aux function.
The min volts setting should really be as low as possible without being 0...........0.1 is a good value, either in the aux function or locate the AS command and adjust it there.

- That fact it is occurring in 'one' area suggests to me, there is no issue within the Controller/Settings, possibly the 'min volts' value - I would change that to 0.1.
- I would confirm the SCA thresholds are correct.
- I would also check the speed of the TCP around that area, it may well be that the TCP speed is going to slow for that position, if this is the case, then altering orientation/speed values in the robot could resolve it.
- Also, LMOVES produce a more accurate TCP feedback than JMOVES/C1/C2 MOVES (especially if you are rotating the nozzle).

Any chance of any code to evaluate?

If you are using analog to feedback TCP Speed, then its a case of using a DVM on the analog output terminals (usually top of 1TW) to monitor.
- However, you will have to slow the robot down, or maybe create a simple 'jogging program with LMOVES between 2 points and adjust the speed to see the output).

If you are using digital outputs to feedback the TCP, you can see these in the IO monitor section.
- Again, you will have to slow the robot down, or maybe create a simple 'jogging program with LMOVES between 2 points and adjust the speed to see the output).

I also think on the SCA you can display the incoming signals from the Kawasaki too.

Attached is the flow manual and specifically you are looking at SETOUTPSEED, SETOUTSIG and OUTSPEED Commands if your using digital outputs, which will enable you to create a small program.
- Below is a test program I have used on an empty robot to feedback the output signals to the IF Panel as background task to function in Teach Mode.......BUT DO NOT LOAD IT INTO YOUR CONTROLLER...or it will disable your current output signals if you are using them.
- Cross reference the commands with the manual and it should make sense.

.INTER_PANEL_D
15,8,"cmd.tcp"," COMMAND","SPEED  MMS",7,2,5,2,-1
17,8,"act.tcp","  ENCODER","SPEED  MMS",7,2,5,2,-1
19,8,"int.tcp","   BITS","OUTPUT VAL",7,2,5,1,-1
.END
.PROGRAM tcp_speed() #4
;=====================================================================
;Background task to set bits for TCP speed feedback for flow feedback
;Displays Commanded Speed, Actual Encoder Speed and Integer BIT values
;System Switch FLOWRATE=OFF for Speed control
;Motion steps HAVE TO BE LMOVE FOR MORE ACCURATE TCP SPEED FEEDBACK
;=====================================================================
  SETOUTSIG 2001,8,1; set 8 bits from 2001 (LSB) for TCP speed
  SETOUTSPEED 0,250,10,0.1; max speed here = 255 for bits output
  OUTSPEED; Start speed output
;
again:; THIS AREA IS JUST TO VIEW VALUES ON IF PAGE - SET OPTIONS 8
  cmd.tcp = OUTSPEED(1); Commanded speed
  act.tcp = OUTSPEED(0); Actual speed from encoder
  int.tcp = BITS(2001,8); Integer speed from bits
  TWAIT 0.016
  GOTO again
.END