Hi,
I have an R-2000ic and a Bosch weld timer.
During production yesterday the robot went to the position to weld, closed the servo gun, didn't weld, then went to the next point. There are witness marks on the part where the tips made contact, but no weld. The robot carried on like everything was ok, luckily the operator saw a missing weld. The next parts that came out of the cell were fine.
I'm not clear on how the spot welding works. The program only tells me that it goes to a position, welds, then moves on to the next instruction.
Can anyone give me a basic rundown on what is going on in the background of a spot weld program?
Does the robot wait for a 'weld complete' signal from the Bosch? Is there additional instructions for waiting for a weld complete?
Here is the section of program where I missed the weld...
112: !Weld #5 005_A_PS_0005 ;
113: !-------------------------------- ;
114:L P[20] 3000mm/sec CNT5 ;
115:L P[21:005_A_PS_0005] 3000mm/sec FINE
: SPOT[SD=1,P=16,t=5.2,S=15,ED=12] ;
116: DO[701:Weld Complete]=PULSE,0.5sec ;
117:L P[28] 3000mm/sec CNT5 ;
118: !-------------------------------- ;
119: !Weld #6 006_A_PS_0006 ;
120: !-------------------------------- ;
121:L P[22] 3000mm/sec CNT5 ;
122:L P[23:006_A_PS_0006] 3000mm/sec FINE
: SPOT[SD=1,P=16,t=5.2,S=16,ED=12] ;
123: DO[701:Weld Complete]=PULSE,0.5sec ;
124: ;
125:L P[24] 3000mm/sec CNT100 ;
126: LBL[11] ;
127: DO[200:R01-ON-P2]=OFF ;
128:L P[25] 1500mm/sec CNT25 ;
129:L P[31] 1500mm/sec CNT25 ;
130:L P[32] 1500mm/sec CNT25 ;
131: ;
Is there something missing that would tell me that the weld timer did not complete?
Thank you.