ESAB Robot integration Integrator manual

Brand: ESAB

Model: Robot integration

Category: Welding System

Type: Integrator manual

ESAB - Fanuc

Integration manual

0740 800 224 GB 20171018

Robot integration

TABLE OF CONTENTS

0740 800 224 © ESAB AB 2017

READ THIS FIRST......................................................................................... 3

1.1 Documentation overview ......................................................................... 3

INTRODUCTION............................................................................................ 4

2.1 Supported equipment .............................................................................. 4

2.1.1 Powersource .......................................................................................... 4

2.1.2 Wire feeding systems ............................................................................. 4

2.1.3 Interface unit........................................................................................... 4

2.2 Schematic system design ....................................................................... 5

W82 ANYBUS................................................................................................ 6

3.1 Fieldbus connection................................................................................. 6

ETHERNET IP................................................................................................ 7

4.1 24AP6 Fieldbus board - EtherNet IP ....................................................... 7

4.2 Configuration of fieldbus board - EtherNet IP ....................................... 7

INSTALLATION OF HARDWARE ................................................................. 8

5.1 Installing W82 ........................................................................................... 8

CONFIGURATION EXAMPLE ....................................................................... 12

6.1 Signals out ................................................................................................ 12

6.2 Signals in................................................................................................... 14

6.3 Cross reference Anybus.......................................................................... 18

FUNCTIONAL DESCRIPTION OF I/O........................................................... 24

7.1 Input from controller to welding equipment .......................................... 24

7.1.1 Weld status bits ...................................................................................... 24

7.1.2 Weld data number .................................................................................. 25

7.1.3 Numerical welding parameters............................................................... 25

7.2 Output from Welding Equipment to Controller...................................... 26

7.2.1 Weld Status Bits ..................................................................................... 26

7.2.2 Default error types.................................................................................. 27

7.2.3 Weld Data Number................................................................................. 28

7.2.4 Numerical Welding Parameters.............................................................. 28

7.2.5 Measured Values.................................................................................... 28

7.2.6 Error Mask.............................................................................................. 28

SERVICE INSTRUCTIONS............................................................................ 29

8.1 What is ESD? ............................................................................................ 29

SPARE PARTS .............................................................................................. 30

9.1 Ordering spare parts................................................................................ 30

Rights reserved to alter specifications without notice.

1 READ THIS FIRST

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1 READ THIS FIRST

Maintenance and repair work must be performed by an experienced person, and electrical

work only by a trained electrician. Use only recommended replacement parts.

This service manual is intended for use by technicians with electrical/electronic training for

help in connection with fault-tracing and repair.

Use the wiring diagram as a form of index for the description of operation. The circuit boards

are divided into numbered blocks, which are described individually in more detail in the

description of operation. Component names in the wiring diagram are listed in the component

description.

Use the spare parts list as a guide to where the components are located in the equipment.

The spare parts list is published as a separate document, see “SPARE PARTS”, page30.

This manual contains details of design changes that have been made up to and including

February 2017.

1.1 Documentation overview

The documentation structure. This manual is the ESAB - Fanuc integration manual.

2 INTRODUCTION

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2 INTRODUCTION

This manual is intended to guide a system integrator in his work when integrating ESAB

equipment with a Fanuc robotic solution.

2.1 Supported equipment

2.1.1 Powersource

Mig 5000i / 5000iw, Mig 4004i Pulse, Mig 4002c / 4002cw, Mig 5002c / 5002cw, Mig 6502c.

2.1.2 Wire feeding systems

For hollow wrist robots like ARC Mate 100iC and ARC Mate 120iC it is recommended to use

drive unit RoboFeed 3004HW and electronic unit Feed Control Box 3004HW.

For robots with traditional upper arms it is recommended to use wire feed system RoboFeed

3004W. RoboFeed 3004W contains both a mechanical drive unit and electronics.

2.1.3 Interface unit

The interface unit is installed between welding equipment and automation equipment, such

as robots. The W8

is available in several versions, this manual describes W8

Anybus.

CAUTION!

Read and understand the instruction manual before

installing or operating.

CAUTION!

STATIC ELECTRICITY can damage circuit boards and

electronic components.

• Observe precautions for handling electrostatic

sensitive devices.

• Use proper static-proof bags and boxes.

2 INTRODUCTION

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2.2 Schematic system design

Schematic system design

3 W82 ANYBUS

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3 W82 ANYBUS

External fieldbus connection via Ethernet IP.

fieldbus version

3.1 Fieldbus connection

External fieldbus connection to W8

4 ETHERNET IP

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4 ETHERNET IP

Ethernet IP is used to control valves, sensors, I/O units and automation equipment.

4.1 24AP6 Fieldbus board - EtherNet IP

4.2 Configuration of fieldbus board - EtherNet IP

Configuration of the EtherNet IP fieldbus board is performed from the U8

control panel as

follows:

1. From the MAIN menu, select the CONFIGURATION menu.

2. From the CONFIGURATION menu, select I/O UNIT.

3. From I/O UNIT, select ANYBUS.

4. Restart the welding power source.

The configuration of the EtherNet IP fieldbus board is now completed.

5 INSTALLATION OF HARDWARE

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5 INSTALLATION OF HARDWARE

The installation chapter will describe how to connect the different components. The ESAB

integrated software in the robot controller should be installed by Fanuc before delivery to the

site.

5.1 Installing W82

Connections and control devices

Anybus

1. Indicating lamp

Orange indicating lamp - Overheating

2. Fieldbus

Connection for communication with robot system

3. Measure

Connection for measurement cable for arc voltage feedback and emergency stop

signal, measurement kit

4. Internal CAN

Connections for communication with ESAB wire feed unit and control panel

5. LAN

Connection to network, Ethernet

6. CAN to welding power source

Connection for communication with welding power source

7. USB

USB memory connection

5 INSTALLATION OF HARDWARE

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Mounting W8

on Mig 5000i

• On the power source, remove the two screws holding the rear handle.

• Remove handle.

• Place the interface box onto the welding power source.

• Place handle on top of the interface box.

• Fasten interface box and handle with the two screws.

Mounting W8

on Mig 4002c, Mig 5002c and Mig 6502c

• On the power source, use the “keyholes” that is normally used for the chain holding

the gas tube.

• Place the interface box onto the welding power source according to the picture.

• Fasten interface box with the two screws.

Installing the wire feeder and control unit

Mount the feeder unit and controller according to the mounting instruction that comes in the

same box as the units.

Power source

Unpack and install the power source according to the user manual.

Installing the welding torch

Unpack and install the welding torch according to the user manual.

Installing the bobbin holder

Unpack and install the bobbin holder according to the user manual, refer to the assembly

instruction for Robot Bobbin Kit “RoboFeed 3004HW”.

5 INSTALLATION OF HARDWARE

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Installing the cables W82 Anybus

1. Connection between welding W8

and power source. External CAN to power source.

2. Connection between W8

and robot control cabinet. External fieldbus to robot control

cabinet.

3. Connection between welding power source and wire feed unit. Internal CAN.

4. Connection between welding power source and control panel. Internal CAN.

NOTE!

When using a wire feed unit other than RoboFeed, install a separate arc voltage

feedback to the measurement contact on the control unit.

5 INSTALLATION OF HARDWARE

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1. Connection between welding W8

and power source. External CAN to power source.

2. Connection between W8

and robot control cabinet. External fieldbus to robot control

cabinet.

3. Connection between welding power source and wire feed unit. Internal CAN.

4. Connection between welding power source and control panel. Internal CAN.

NOTE!

When using a wire feed unit other than RoboFeed, install a separate arc voltage

feedback to the measurement contact on the control unit.

1. Connection between welding W8

and power source. External CAN to power source.

2. Connection between W8

and robot control cabinet. External fieldbus to robot control

cabinet.

3. Connection between welding power source and wire feed unit. Internal CAN.

4. Connection between welding power source and control panel. Internal CAN.

NOTE!

When using a wire feed unit other than RoboFeed, install a separate arc voltage

feedback to the measurement contact on the control unit.

6 CONFIGURATION EXAMPLE

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6 CONFIGURATION EXAMPLE

This section describes examples of signals and cross references.

6.1 Signals out

This table lists examples of signals from robot to W8

Fanuc ESAB Description

Arc Start Weld On Start/Stop welding equipment

Quick Stop Quick Stop Quick stop of welding equipment

without end data

Emerg. Stop Emerg. Stop Emergency stop

Inch Forward Inching Start/Stop wire feeding

Gas Start Gas Purge Start/Stop gas flow

Clean Clean Start/Stop compressed air flow

Inch Backward Inch Reverse Start/Stop reversing wire feed

Fault Reset Remote Active Remote active Enabled/Disabled

Wire Feed 1 Wire Feed 1 Enable/Disable wire feeder 1

Wire Feed 2 Wire Feed 2 Enable/Disable wire feeder 2

Wire Feed 3 Wire Feed 1 Enable/Disable wire feeder 3

Wire Feed 4 Wire Feed 4 Enable/Disable wire feeder 4

Analog Aktiv Analog Active Wirefeed & Voltage reference

controlled from FP instead of weld data

number.

Simulation <not used>

Rel. Wire Release Wire Execute a current pulse to burn of the

wire if frozen in weld pole.

Touch Sense Touch Sense Turns on the possibility to search using

wire or gas cup. Used with search instr.

Weld Data Nr. 1-8 Weld Data Number

Recalls a complete set of weld data

Weld Data Nr. 2-8 Weld Data Number

Weld Data Nr. 3-8 Weld Data Number

Weld Data Nr. 4-8 Weld Data Number

Weld Data Nr. 5-8 Weld Data Number

Weld Data Nr. 6-8 Weld Data Number

Weld Data Nr. 7-8 Weld Data Number

Weld Data Nr. 8-8 Weld Data Number

6 CONFIGURATION EXAMPLE

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Fanuc ESAB Description

Voltage 1-16 Voltage Low Byte

Value of Voltage reference. Only used if

Analog On is enabled.

Voltage 2-16 Voltage Low Byte

Voltage 3-16 Voltage Low Byte

Voltage 4-16 Voltage Low Byte

Voltage 5-16 Voltage Low Byte

Voltage 6-16 Voltage Low Byte

Voltage 7-16 Voltage Low Byte

Voltage 8-16 Voltage Low Byte

Voltage 9-16 Voltage High Byte

Voltage 10-16 Voltage High Byte

Voltage 11-16 Voltage High Byte

Voltage 12-16 Voltage High Byte

Voltage 13-16 Voltage High Byte

Voltage 14-16 Voltage High Byte

Voltage 15-16 Voltage High Byte

Voltage 16-16 Voltage High Byte

Wire Feed 1-16 Wire Feed Speed Low Byte

Value of Wire feed speed reference.

Only used if AnalogOn is enabled.

Wire Feed 2-16 Wire Feed Speed Low Byte

Wire Feed 3-16 Wire Feed Speed Low Byte

Wire Feed 4-16 Wire Feed Speed Low Byte

Wire Feed 5-16 Wire Feed Speed Low Byte

Wire Feed 6-16 Wire Feed Speed Low Byte

Wire Feed 7-16 Wire Feed Speed Low Byte

Wire Feed 8-16 Wire Feed Speed Low Byte

Wire Feed 9-16 Wire Feed Speed High Byte

Wire Feed 10-16 Wire Feed Speed High Byte

Wire Feed 11-16 Wire Feed Speed High Byte

Wire Feed 12-16 Wire Feed Speed High Byte

Wire Feed 13-16 Wire Feed Speed High Byte

Wire Feed 15-16 Wire Feed Speed High Byte

Wire Feed 16-16 Wire Feed Speed High Byte

6 CONFIGURATION EXAMPLE

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6.2 Signals in

This table lists examples of signals from W8

to robot.

Fanuc ESAB Description

Prozess Aktiv Weld Busy This signal indicates that the

welding equipment is occupied

with welding.

Arc Detect Arc Acknowledge This signal will be activated

when the arc is established at a

weld start.

TouchSense Respo TouchSense Response This signal indicates contact

with wire or gas cup if

TouchSenseOn is enabled.

Remote Active Remote Active Indicates that remote active is

on.

Wire feed 1 WFU 1 Active Wire feeder 1 active.

Wire feed 2 WFU 2 Active Wire feeder 2 active.

Wire feed 3 WFU 3 Active Wire feeder 3 active.

Wire feed 4 WFU 4 Active Wire feeder 4 active.

Error Typ 1-8 Error Type 1

See U8

manual for future

information regarding the error

bit mask.

Error Typ 2-8 Error Type 2

Error Typ 3-8 Error Type 3

Error Typ 4-8 Error Type 4

Error Typ 5-8 Error Type 5

Error Typ 6-8 Error Type 6

Error Typ 7-8 Error Type 7

Error Typ 8-8 Error Type 8

Error WDU Error WDU If active there is an error in the

Weld Data Unit.

Error PS Error PS If active there is an error in the

Power Source

Error WF Error WFU If active there is an error in the

active Wire Feeder.

Esab Res. Gas Active Indicates that gas is flowing thru

gas flow sensor.

Collision Detect Collision Detect Indicates robot collision.

Synergy ON Synergy Active Indicates that synergy is active.

Esab Res. Inching Active Indicates that Wire Feeder is

active.

6 CONFIGURATION EXAMPLE

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Fanuc ESAB Description

Volt. Feedb. 1-16 Voltage Low Byte (Measured)

This is the measured voltage

from the welding equipment.

Volt. Feedb. 2-16 Voltage Low Byte (Measured)

Volt. Feedb. 3-16 Voltage Low Byte (Measured)

Volt. Feedb. 4-16 Voltage Low Byte (Measured)

Volt. Feedb. 5-16 Voltage Low Byte (Measured)

Volt. Feedb. 6-16 Voltage Low Byte (Measured)

Volt. Feedb. 7-16 Voltage Low Byte (Measured)

Volt. Feedb. 8-16 Voltage Low Byte (Measured)

Volt. Feedb. 9-16 Voltage High Byte (Measured)

Volt. Feedb. 10-16 Voltage High Byte (Measured)

Volt. Feedb. 11-16 Voltage High Byte (Measured)

Volt. Feedb. 12-16 Voltage High Byte (Measured)

Volt. Feedb. 13-16 Voltage High Byte (Measured)

Volt. Feedb. 14-16 Voltage High Byte (Measured)

Volt. Feedb. 15-16 Voltage High Byte (Measured)

Volt. Feedb. 16-16 Voltage High Byte (Measured)

Curr. Feedb. 1-16 Current Low Byte (Measured)

This is the measured current

from the welding equipment.

Curr. Feedb. 2-16 Current Low Byte (Measured)

Curr. Feedb. 3-16 Current Low Byte (Measured)

Curr. Feedb. 4-16 Current Low Byte (Measured)

Curr. Feedb. 5-16 Current Low Byte (Measured)

Curr. Feedb. 6-16 Current Low Byte (Measured)

Curr. Feedb. 7-16 Current Low Byte (Measured)

Curr. Feedb. 8-16 Current Low Byte (Measured)

Curr. Feedb. 9-16 Current High Byte (Measured)

Curr. Feedb. 10-16 Current High Byte (Measured)

Curr. Feedb. 11-16 Current High Byte (Measured)

Curr. Feedb. 12-16 Current High Byte (Measured)

Curr. Feedb. 13-16 Current High Byte (Measured)

Curr. Feedb. 14-16 Current High Byte (Measured)

Curr. Feedb. 15-16 Current High Byte (Measured)

Curr. Feedb. 16-16 Current High Byte (Measured)

6 CONFIGURATION EXAMPLE

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Fanuc ESAB Description

Powe. Feedb. 1-16 Power Low Byte (Measured)

This is the measured power

from the welding equipment.

Powe. Feedb. 2-16 Power Low Byte (Measured)

Powe. Feedb. 3-16 Power Low Byte (Measured)

Powe. Feedb. 4-16 Power Low Byte (Measured)

Powe. Feedb. 5-16 Power Low Byte (Measured)

Powe. Feedb. 6-16 Power Low Byte (Measured)

Powe. Feedb. 7-16 Power Low Byte (Measured)

Powe. Feedb. 8-16 Power Low Byte (Measured)

Powe. Feedb. 9-16 Power High Byte (Measured)

Powe. Feedb. 10-16 Power High Byte (Measured)

Powe. Feedb. 11-16 Power High Byte (Measured)

Powe. Feedb. 12-16 Power High Byte (Measured)

Powe. Feedb. 13-16 Power High Byte (Measured)

Powe. Feedb. 14-16 Power High Byte (Measured)

Powe. Feedb. 15-16 Power High Byte (Measured)

Powe. Feedb. 16-16 Power High Byte (Measured)

Weld Data Nr. 1-8 Weld Data Number

This is updated every time there

has been a successful recall of a

weld data set.

Weld Data Nr. 2-8 Weld Data Number

Weld Data Nr. 3-8 Weld Data Number

Weld Data Nr. 4-8 Weld Data Number

Weld Data Nr. 5-8 Weld Data Number

Weld Data Nr. 6-8 Weld Data Number

Weld Data Nr. 7-8 Weld Data Number

Weld Data Nr. 8-8 Weld Data Number

Volt. Feedb. 1-16 Voltage Low Byte (SINT)

This value indicates which

voltage the welding power

source is using.

Volt. Feedb. 2-16 Voltage Low Byte (SINT)

Volt. Feedb. 3-16 Voltage Low Byte (SINT)

Volt. Feedb. 4-16 Voltage Low Byte (SINT)

Volt. Feedb. 5-16 Voltage Low Byte (SINT)

Volt. Feedb. 6-16 Voltage Low Byte (SINT)

Volt. Feedb. 7-16 Voltage Low Byte (SINT)

Volt. Feedb. 8-16 Voltage Low Byte (SINT)

Volt. Feedb. 9-16 Voltage High Byte (SINT)

Volt. Feedb. 10-16 Voltage High Byte (SINT)

Volt. Feedb. 11-16 Voltage High Byte (SINT)

Volt. Feedb. 12-16 Voltage High Byte (SINT)

Volt. Feedb. 13-16 Voltage High Byte (SINT)

Volt. Feedb. 14-16 Voltage High Byte (SINT)

Volt. Feedb. 15-16 Voltage High Byte (SINT)

Volt. Feedb. 16-16 Voltage High Byte (SINT)

6 CONFIGURATION EXAMPLE

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Fanuc ESAB Description

Wire Feedb. 1-16 Wire Feed Speed Low Byte (USINT)

This value indicates which wire

feed speed the welding power

source is using.

Wire Feedb. 2-16 Wire Feed Speed Low Byte (USINT)

Wire Feedb. 3-16 Wire Feed Speed Low Byte (USINT)

Wire Feedb. 4-16 Wire Feed Speed Low Byte (USINT)

Wire Feedb. 5-16 Wire Feed Speed Low Byte (USINT)

Wire Feedb. 6-16 Wire Feed Speed Low Byte (USINT)

Wire Feedb. 7-16 Wire Feed Speed Low Byte (USINT)

Wire Feedb. 8-16 Wire Feed Speed Low Byte (USINT)

Wire Feedb. 9-16 Wire Feed Speed High Byte (USINT)

Wire Feedb. 10-16 Wire Feed Speed High Byte (USINT)

Wire Feedb. 11-16 Wire Feed Speed High Byte (USINT)

Wire Feedb. 12-16 Wire Feed Speed High Byte (USINT)

Wire Feedb. 13-16 Wire Feed Speed High Byte (USINT)

Wire Feedb. 14-16 Wire Feed Speed High Byte (USINT)

Wire Feedb. 15-16 Wire Feed Speed High Byte (USINT)

Wire Feedb. 16-16 Wire Feed Speed High Byte (USINT)

SynVolt. Feedb. Synergic Voltage Low Byte (SINT)

This value indicates the result of

the calculations done by the

welding equipment.

SynVolt. Feedb. Synergic Voltage Low Byte (SINT)

SynVolt. Feedb. Synergic Voltage High Byte (SINT)

6 CONFIGURATION EXAMPLE

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6.3 Cross reference Anybus

This table lists examples of cross references for W8

Anybus.

Fanuc ESAB

Name Type Byte Name Type Byte Bit

Arc Start OUT 100 Weld On IN 0 0

Quick Stop OUT 101 Quick Stop IN 0 1

Emerg. Stop OUT 102 Emerg. Stop IN 0 2

Inch Forward OUT 103 Inching IN 0 3

Gas Start OUT 104 Gas Purge IN 0 4

Clean OUT 105 Clean IN 0 5

Inch Backward OUT 106 Inch Reverse IN 0 6

Fault Reset OUT 107 Remote Active IN 0 7

Wire Feed 1 OUT 108 Wire Feed 1 IN 1 0

Wire Feed 2 OUT 109 Wire Feed 2 IN 1 1

Wire Feed 3 OUT 110 Wire Feed 3 IN 1 2

Wire Feed 4 OUT 111 Wire Feed 4 IN 1 3

Analog Aktiv OUT 112 Analog Active IN 1 4

Simulation OUT 113 <not used> IN 1 5

Rel. Wire OUT 114 Release Wire IN 1 6

Touch Sense OUT 115 Touch Sense IN 1 7

Weld Data Nr. 1-8 OUT 116 Weld Data Number IN 2 0

Weld Data Nr. 2-8 OUT 117 Weld Data Number IN 2 1

Weld Data Nr. 3-8 OUT 118 Weld Data Number IN 2 2

Weld Data Nr. 4-8 OUT 119 Weld Data Number IN 2 3

Weld Data Nr. 5-8 OUT 120 Weld Data Number IN 2 4

Weld Data Nr. 6-8 OUT 121 Weld Data Number IN 2 5

Weld Data Nr. 7-8 OUT 122 Weld Data Number IN 2 6

Weld Data Nr. 8-8 OUT 123 Weld Data Number IN 2 7

Esab Res. 1-40 OUT 124 <reserved> IN 3 0

Esab Res. OUT 125 <reserved> IN 3 1

Esab Res. OUT 126 <reserved> IN 3 2

Esab Res. OUT 127 <reserved> IN 3 3

Esab Res. OUT 128 <reserved> IN 3 4

Esab Res. OUT 129 <reserved> IN 3 5

Esab Res. OUT 130 <reserved> IN 3 6

Esab Res. 8-40 OUT 131 <reserved> IN 3 7

Esab Res. OUT 132 <reserved> IN 4 0

Esab Res. OUT 133 <reserved> IN 4 1

Esab Res. OUT 134 <reserved> IN 4 2

Esab Res. OUT 135 <reserved> IN 4 3

Esab Res. OUT 136 <reserved> IN 4 4

6 CONFIGURATION EXAMPLE

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Fanuc ESAB

Name Type Byte Name Type Byte Bit

Esab Res. OUT 137 <reserved> IN 4 5

Esab Res. OUT 138 <reserved> IN 4 6

Esab Res. 16-40 OUT 139 <reserved> IN 4 7

Esab Res. OUT 140 <reserved> IN 5 0

Esab Res. OUT 141 <reserved> IN 5 1

Esab Res. OUT 142 <reserved> IN 5 2

Esab Res. OUT 143 <reserved> IN 5 3

Esab Res. OUT 144 <reserved> IN 5 4

Esab Res. OUT 145 <reserved> IN 5 5

Esab Res. OUT 146 <reserved> IN 5 6

Esab Res. 24-40 OUT 147 <reserved> IN 5 7

Esab Res. OUT 148 <reserved> IN 6 0

Esab Res. OUT 149 <reserved> IN 6 1

Esab Res. OUT 150 <reserved> IN 6 2

Esab Res. OUT 151 <reserved> IN 6 3

Esab Res. OUT 152 <reserved> IN 6 4

Esab Res. OUT 153 <reserved> IN 6 5

Esab Res. OUT 154 <reserved> IN 6 6

Esab Res. 32-40 OUT 155 <reserved> IN 6 7

Esab Res. OUT 156 <reserved> IN 7 0

Esab Res. OUT 157 <reserved> IN 7 1

Esab Res. OUT 158 <reserved> IN 7 2

Esab Res. OUT 159 <reserved> IN 7 3

Esab Res. OUT 160 <reserved> IN 7 4

Esab Res. OUT 161 <reserved> IN 7 5

Esab Res. OUT 162 <reserved> IN 7 6

Esab Res. 40-40 OUT 163 <reserved> IN 7 7

Voltage 1-16 OUT 164 Voltage Low Byte IN 8 0

Voltage 2-16 OUT 165 Voltage Low Byte IN 8 1

Voltage 3-16 OUT 166 Voltage Low Byte IN 8 2

Voltage 4-16 OUT 167 Voltage Low Byte IN 8 3

Voltage 5-16 OUT 168 Voltage Low Byte IN 8 4

Voltage 6-16 OUT 169 Voltage Low Byte IN 8 5

Voltage 7-16 OUT 170 Voltage Low Byte IN 8 6

Voltage 8-16 OUT 171 Voltage Low Byte IN 8 7

Voltage 9-16 OUT 172 Voltage High Byte IN 9 0

Voltage 10-16 OUT 173 Voltage High Byte IN 9 1

Voltage 11-16 OUT 174 Voltage High Byte IN 9 2

Voltage 12-16 OUT 175 Voltage High Byte IN 9 3

6 CONFIGURATION EXAMPLE

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Fanuc ESAB

Name Type Byte Name Type Byte Bit

Voltage 13-16 OUT 176 Voltage High Byte IN 9 4

Voltage 14-16 OUT 177 Voltage High Byte IN 9 5

Voltage 15-16 OUT 178 Voltage High Byte IN 9 6

Voltage 16-16 OUT 179 Voltage High Byte IN 9 7

Wire Feed 1-16 OUT 180 Wire Feed Speed Low Byte IN 10 0

Wire Feed 2-16 OUT 181 Wire Feed Speed Low Byte IN 10 1

Wire Feed 3-16 OUT 182 Wire Feed Speed Low Byte IN 10 2

Wire Feed 4-16 OUT 183 Wire Feed Speed Low Byte IN 10 3

Wire Feed 5-16 OUT 184 Wire Feed Speed Low Byte IN 10 4

Wire Feed 6-16 OUT 185 Wire Feed Speed Low Byte IN 10 5

Wire Feed 7-16 OUT 186 Wire Feed Speed Low Byte IN 10 6

Wire Feed 8-16 OUT 187 Wire Feed Speed Low Byte IN 10 7

Wire Feed 9-16 OUT 188 Wire Feed Speed High Byte IN 11 0

Wire Feed 10-16 OUT 189 Wire Feed Speed High Byte IN 11 1

Wire Feed 11-16 OUT 190 Wire Feed Speed High Byte IN 11 2

Wire Feed 12-16 OUT 191 Wire Feed Speed High Byte IN 11 3

Wire Feed 13-16 OUT 192 Wire Feed Speed High Byte IN 11 4

Wire Feed 14-16 OUT 193 Wire Feed Speed High Byte IN 11 5

Wire Feed 15-16 OUT 194 Wire Feed Speed High Byte IN 11 6

Wire Feed 16-16 OUT 195 Wire Feed Speed High Byte IN 11 7

Prozess Aktiv IN 100 Weld Busy OUT 0 0

Arc Detect IN 101 Arc Acknowledge OUT 0 1

TouchSense Respo IN 102 TouchSense Response OUT 0 2

Remote Active IN 103 Remote Active OUT 0 3

Wire feed 1 IN 104 WFU 1 Active OUT 0 4

Wire feed 2 IN 105 WFU 2 Active OUT 0 5

Wire feed 3 IN 106 WFU 3 Active OUT 0 6

Wire feed 4 IN 107 WFU 4 Active OUT 0 7

Error Typ 1-8 IN 108 Error Type 1 OUT 1 0

Error Typ 2-8 IN 109 Error Type 2 OUT 1 1

Error Typ 3-8 IN 110 Error Type 3 OUT 1 2

Error Typ 4-8 IN 111 Error Type 4 OUT 1 3

Error Typ 5-8 IN 112 Error Type 5 OUT 1 4

Error Typ 6-8 IN 113 Error Type 6 OUT 1 5

Error Typ 7-8 IN 114 Error Type 7 OUT 1 6

Error Typ 8-8 IN 115 Error Type 8 OUT 1 7

Error WDU IN 116 Error WDU OUT 2 0

Error PS IN 117 Error PS OUT 2 1

Error WF IN 118 Error WFU OUT 2 2

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ESAB Robot integration Integrator manual

Brand: ESAB

Model: Robot integration

Category: Welding System

Type: Integrator manual

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ESAB Robot integration Integrator manual

ESAB Robot integration Integrator manual

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