Posts by kawa

Do You use Fronius power source?

I have the same issue, in old TPS and earlier TPSi firmware - if You use two signal at the same time -, xmwire function forces it (- wire inching and touch sensing - ) Fronius firmware gives no voltage on wire...

For me the solution was to write own function using XAC command - I'm going towards the "Z" axis from the tool direction, if the height is OK - I'm going to weld, if the height is NO OK - going to the cleaning station and cut the wire to the desired height.

If anyone has a better solution, I would be grateful for the idea.

Quote from buontempone

Secondly, my problem: I've been asked to implement a solution to change the speed of the robot ( an RS007n with F controller) mid-movement without stopping; from my experience I don't think it is possible, but I thought it was worth asking here.

It is tricky, but it is possible.
Try to use "slow repeat mode" - this is the only method known to me to change the speed during movement (since D-CON).

Firstly in AUX / advanced setting / set slow repaet speed expressed in % (unfortunately it can't be in mm/s unit).
Then use the dedicated signal "Ext. slow repeat mode".

Of course, you should immediately activate Cubic-S speed monitoring on the two-channel input when the signal "Ext. slow repeat mode" is turned on (actually off because this one signal is in negative notation).

if you are using a arc welding software controller you should use W1SET or W2SET command to set speed in arc interpolation: LWS LWE etc.
Give us some more code of your program.

That's Kawasaki/Sanyo amp or mitsubishi ?

what kind of amp (A)? what kind of servo (kW)?
Also give us softweare version of this ZX