Searching for possible work-around for not having the background logic option.

    • New

    Hello, I am looking for assistance on a creative solution. I have an older RJ2 welding robot V5.4 and it does not have the background logic option. The robot is configured to continue the program from where it stops, usually due to an arc fault. On occasion the weld wire burns back into the tip and the restart option cannot be used. At this point an Electrician is called to come out and home the robot. When in the burn back condition, I would like to avoid the Electrician call by disabling the weld functions from the PLC, using variable $AWEPOR.ARC_ENABLE and resuming operation until the robot reaches the home position. Union rules prevent the operator from using the teach pendant, so PLC control of the variable is desired. How can I turn off the weld enable variable when necessary and prior to resuming the robot program?

    Thank you

    Shannon

    • New

    Look in the System, Config menu to see if you have an option to select a Cold Start file to run when the robot boots up. This file can run in the background by jumping back up to a LBL. You can monitor I/O and might be able to turn that variable off. We use an IF statement then JMP to a LBL to change the I/O desired then JMP back to the main loop.

    • New

    DaveP

    I looked and I do not have that option. I am working with version 5.4 software, and it looks like I need version 9.4 or above to have the cold start auto exec feature. I believe that would have worked well. Thank you for the feedback.

    Edited once, last by sherhold1 (June 10, 2025 at 7:02 PM).

    • New

    I have never worked with such an old system but maybe auto execution is existing on your system but simply not part of the System/Config menu.

    Search for $PWR_NORMAL (should be the COLD START Autoexec program) or $PWR_SEMI (should be the HOT START Autoexec program) in your system variables.

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