Fronius ROB4000 to Motoman MRC Communication

    Good morning, does anyone have an idea how to call Fronius Jobs from a Fronius power supply into MRC programs? We have an NX100 / Fronius set up and its relatively easy to do using the inform list / macros / AON_FRJ1 / INSERT / ENTER.

    However on an MRC there is no Inform list. I'm looking for a way to tell the Fronius ROB4000 that I want MODE 1 out of Mode 0, Mode 1 and Mode 2 to turn on program selection then select the weld program I want. Unfortunately this isn't the original power supply for this machine so none of the universal I/O are labeled correctly. For years the operator has been using Arcon files and manually entering parameters to weld. I am trying to simplify this for new operators so they can select Jobs via sheet thickness like they do on the NX100.


    Any help would be great.

    Thank You.

    You could recreate the AON_FRJ1 job in the MRC. This would be a CALL job instead of a macro. Instead of passing arguments the operator would manually type values into a global variable. You could use local variables like the AON_FRJ1 but on the MRC, they can not be seen. All the instructions are there but the GETARG. Would also need to be in Expanded Language level for locals and indirect addressing.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Hello 95 so if I am understanding you correctly I have to change the instruction set to Expanded, then create a job containing the information from the AON_FRJ1 job? Then call that job when I want to call a Fronius welding job? Thank You

    Essentially, yes. If you want to use local variables and indirect addressing like the macro, you would need to be in Expanded Language Level. Instead of arguments being passed you would use global variables.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Quote from Robatics1278

    Then I would need multiple "FRJ" jobs to call different Jobs from the power source?

    Should not need to. That is an argument that is passed. The operator (as long as they can do edits) can change or set the value in a variable.

    If you go this route the SET EXPRESS doesn’t exist on the MRC. You’ll have to write the expression with SET and MUL.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Could you please highlight what has to be changed in the job? I am assuming the heading and the GETARG statements. This is the NX100 Macro.


    /JOB
    //NAME AON_FRJ1
    //POS
    ///NPOS 0,0,0,0,0,0
    //INST
    ///DATE 2008/01/14 09:40
    ///ATTR SC,RW,MC
    ///GROUP1 RB1
    ///LVARS 2,10,0,1,0,0,0,0
    NOP
    'v1.2
    '*****************************
    '*****Begin Setup Section*****
    '--Set OGH# for Mode Select
    SET LI005 4
    '--Set LI009 to the number of
    '---Program BITS (4 or :smiling_face_with_sunglasses:
    SET LI009 8
    '--Set OG/OGH# for Job select
    SET LI006 3
    '*****End of Set up Section*****
    '*******************************
    '
    SET LB001 2
    DIN LB000 OGH#(LI005)
    AND LB000 8
    ADD LB001 LB000
    DOUT OGH#(LI005) LB001
    '
    ' AWELD setting
    GETARG LR000 IARG#(3)
    SET LI002 EXPRESS LR000 * 10
    SET I000 LI002
    JUMP *MINWFS IF LI002<-200
    JUMP *MAXWFS IF LI002>200
    JUMP *WFSCALC
    *MINWFS
    SET LI002 -200
    JUMP *WFSCALC
    *MAXWFS
    SET LI002 200
    *WFSCALC
    ADD LI002 200
    MUL LI002 25
    DIV LI002 10
    AWELD LI002
    '
    ' VWELD setting
    GETARG LI003 IARG#(4)
    JUMP *MINV IF LI003<-30
    JUMP *MAXV IF LI003>30
    JUMP *VCALC
    *MINV
    SET LI003 -30
    JUMP *VCALC
    *MAXV
    SET LI003 30
    *VCALC
    ADD LI003 30
    MUL LI003 100
    DIV LI003 6
    VWELD LI003
    '
    ' Job Number
    GETARG LB000 IARG#(1)
    JUMP *NG IF LB000>255
    JUMP *OGH IF LI009<=4
    DOUT OG#(LI006) LB000
    JUMP *OG
    *OGH
    DOUT OGH#(LI006) LB000
    *OG
    '
    ARCON
    ' TIMER setting
    GETARG LR000 IARG#(2)
    SET LI004 EXPRESS LR000 * 10
    TIMER T=LI004
    RET
    '
    *NG
    PAUSE
    END

    /JOB
    //NAME AON_FRJ1
    //POS
    ///NPOS 0,0,0,0,0,0
    //INST
    ///DATE 2008/01/14 09:40
    ///ATTR SC,RW,MC
    ///GROUP1 RB1
    ///LVARS 2,10,0,1,0,0,0,0
    NOP
    'v1.2
    '*****************************
    '*****Begin Setup Section*****
    '--Set OGH# for Mode Select
    SET LI005 4
    '--Set LI009 to the number of
    '---Program BITS (4 or :smiling_face_with_sunglasses:
    SET LI009 8
    '--Set OG/OGH# for Job select
    SET LI006 3
    '*****End of Set up Section*****
    '*******************************
    '
    SET LB001 2
    DIN LB000 OGH#(LI005)
    AND LB000 8
    ADD LB001 LB000
    DOUT OGH#(LI005) LB001
    '
    ' AWELD setting
    GETARG LR000 IARG#(3)
    SET LI002 EXPRESS LR000 * 10
    SET I000 LI002
    JUMP *MINWFS IF LI002<-200
    JUMP *MAXWFS IF LI002>200
    JUMP *WFSCALC
    *MINWFS
    SET LI002 -200
    JUMP *WFSCALC
    *MAXWFS
    SET LI002 200
    *WFSCALC
    ADD LI002 200
    MUL LI002 25
    DIV LI002 10
    AWELD LI002
    '
    ' VWELD setting
    GETARG LI003 IARG#(4)
    JUMP *MINV IF LI003<-30
    JUMP *MAXV IF LI003>30
    JUMP *VCALC
    *MINV
    SET LI003 -30
    JUMP *VCALC
    *MAXV
    SET LI003 30
    *VCALC
    ADD LI003 30
    MUL LI003 100
    DIV LI003 6
    VWELD LI003
    '
    ' Job Number
    GETARG LB000 IARG#(1)
    JUMP *NG IF LB000>255
    JUMP *OGH IF LI009<=4
    DOUT OG#(LI006) LB000
    JUMP *OG
    *OGH
    DOUT OGH#(LI006) LB000
    *OG
    '
    ARCON
    ' TIMER setting
    GETARG LR000 IARG#(2)
    SET LI004 EXPRESS LR000 * 10
    TIMER T=LI004
    RET
    '
    *NG
    PAUSE
    END

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    This is assuming that you want to still use local variables. The SETs at the beginning of the job may also need to change based on where I/O is wired into.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

Advertising from our partners