Yaskawa/Miller retraction

Hey all, been lurking for a little while now and found this to be the most helpful place to figure out various issues I have had.

Several of the units I am working with are Yaskawa YRC1000 Cobots paired with Miller Auto-Continuum 350s.

I am having trouble figuring out auto-retraction. After each weld on several of my robots it will auto-retract just enough to occasionally get the wire stuck back inside the tip, and will then break the wire at the feeder when attempting to re-arc on the next weld. I cannot find anything regarding retraction in the pendant, and on the welder power source itself I have both attempted to turn it down as far as possible and then turned it off completely.

Any ideas or solutions would be much appreciated. Thank you! -JD

I thought that was what was happening at first, as in the past that was always the cause with my other machines.

I threw on a helmet to try and diagnose where my settings could be off though, and I can actually watch it do a retraction after every weld.

Quote from 95devils

On the welder. Home, Setup, whatever Sequence your using. Disable the Retract or change the time amount.

Disregard the red line and arrow.

That was one of the very first things I attempted. Did not work.

We ended up figuring it out after a long call to Motoman and some digging. Apparently we are very early adopters of the collaborative yrc1000/HC10DT and a lot of people still aren't familiar with some of the obscure issues, even within Motoman.

Because of the collaboration, there is a safety setting that ignores the front panel welder controls even after unlocked. There is an IN/OUT Register that we had to change to lessen the amount of auto-retraction. I believe it was M925 (I am at home and not in front of my robot so I cannot remember for sure off the top of my head) and it is set within a range from 1-10. 10 being the most aggressive amount of retraction and 1 being the least. We were set at 10 for default, changing it to 1 fixed the issues.