General
Safety
WARNING!
Danger from incorrect operation and work that is not carried out properly.
This can result in serious personal injury and damage to property.
All the work and functions described in this document must only be carried out by technically trained and qualified personnel.
Read and understand this document in full.
Read and understand all safety rules and user documentation for this device and all system components.
Safety
WARNING!
Danger from incorrect operation and work that is not carried out properly.
This can result in serious personal injury and damage to property.
All the work and functions described in this document must only be carried out by technically trained and qualified personnel.
Read and understand this document in full.
Read and understand all safety rules and user documentation for this device and all system components.
Basics
DeviceNet is an open, CAN-based system. DeviceNet employs a standard application layer that allows the CAN protocol to be used in industrial applications.
The ‘AB DeviceNet Enterprise’ interface contains all the analog and digital components required for an efficient DeviceNet interface. The AB module has been certified by ODVA (Open DeviceNet Vendor Association) and tested for interoperability with all leading DeviceNet modules. ‘AB DeviceNet Enterprise’ handles automatically all DeviceNet bus traffic, thus relieving the main processor in the automation device of all DeviceNet protocol processing.Application area
The ‘AB DeviceNet Enterprise’ interface is optimised for use in high-performance automation devices and is used whenever high volumes of data need to be transmitted at high speeds.
DeviceNet functions
The ‘AB DeviceNet Enterprise’ interface supports baud rates from 125 to 500 kbit/s and implements the full range of functions of a DeviceNet adapter for implicit and explicit messaging.
The DeviceNet interface is completely electrically isolated. The following features are supported- ‘Polled I/O’
- ‘Bitstrobed I/O’
- ‘Change of State’
- ‘Cyclic I/O’.
- ‘I/O Data Input’, ‘I/O Data Output’
- ‘Diagnostic’
- ‘Parameter Input’, ‘Parameter Output’
Other manufacturer-specific objects can be added on an application by application basis. The DeviceNet Mac_ID (station address) and baud rate can be set using the DIP switches on the front of the module or in the software via the application interface.
Device concept
DeviceNet is characterised by its low construction volume and high modularity. The direct cabling of actuators and sensors without any interconnections between the terminals makes installation very staightforward. The uniform labelling concept further simplifies the installation.
Interface connections
Interface connections
| (1) | External power supply option |
| (2) | Blanking cover |
| (3) | DeviceNet Enterprise connection 9-pin sub-D plug for connecting the DeviceNet Enterprise data cable |
| (4) | Blanking cover |
| (5) | LocalNet connection for connecting other system components |
| (6) | LocalNet connection for connecting other system components |
| (7) | LocalNet connection for connecting other system components |
Example of application
 | |||||||||||||||||||||
|
| ||||||||||||||||||||
Connecting and configuring the AB DeviceNet Enterprise
Safety
WARNING!
Danger from incorrect operation and work that is not carried out properly.
This can result in serious personal injury and damage to property.
All the work and functions described in this document must only be carried out by technically trained and qualified personnel.
Read and understand this document in full.
Read and understand all safety rules and user documentation for this device and all system components.
WARNING!
Danger from electrical current.
This can result in serious personal injury and damage to property.
Before starting work, switch off all devices and components involved and disconnect them from the grid.
Secure all devices and components involved so they cannot be switched back on.
After opening the device, use a suitable measuring instrument to check that electrically charged components (such as capacitors) have been discharged.
Safety
WARNING!
Danger from incorrect operation and work that is not carried out properly.
This can result in serious personal injury and damage to property.
All the work and functions described in this document must only be carried out by technically trained and qualified personnel.
Read and understand this document in full.
Read and understand all safety rules and user documentation for this device and all system components.
WARNING!
Danger from electrical current.
This can result in serious personal injury and damage to property.
Before starting work, switch off all devices and components involved and disconnect them from the grid.
Secure all devices and components involved so they cannot be switched back on.
After opening the device, use a suitable measuring instrument to check that electrically charged components (such as capacitors) have been discharged.
General
Connecting and configuring the AB Profibus DP interface is performed on the Anybus-S DeviceNet bus module.
Connections, settings and displays on the Anybus-S Device-Net bus module
Anybus-S DeviceNet bus module
| (1) | Interface to UBST 1 board |
| (2) | DeviceNet Enterprise connection socket |
| (3) | TCP/IP configuration switch |
| (4) | LED indicator |
| (5) | Anybus-S status indicator |
Connecting the AB DeviceNet Enterprise interface
Connecting the AB DeviceNet Enterprise interface
1Connect LocalNet plug on intermediate hosepack to LocalNet connection (1)NOTE! While the robot interface is connected to the LocalNet, „2-step mode“ remains selected (display: 2-step mode).Further information on the „special 2-step mode for robot interface“ can be found in the power source operating instructions.
2Connect the DeviceNet Enterprise data cable to the DeviceNet Enterprise socket (2)
Pin assignments for DeviceNet Enterprise socket (9-pin sub-D plug)
Pin | Assignment |
|---|---|
1 | Not in use |
2 | CAN_L |
3 | CAN_GND |
4 | Not in use |
5 | Not in use |
6 | GND |
7 | CAN_H |
8 | Not in use |
9 | CAN_V+ |
Configuring additional signals
- Start / Programs / Fronius Product Group / Service Module
- Select AB DeviceNet Enterprise
- Click the Configuration button
- Select ‘System settings’
- Activate the ‘Connect’ check box under ‘ROB I/O’ to access the additional signals 105 - 112
- Activate the ‘Part number active’ check box under ‘Part number’ to access the additional signals 113 - 200
IMPORTANT! If you only want to use the additional signals 105 - 112 and not signals 113 - 200, the following option is required on the AB DeviceNet Enterprise interface: ‘Rob I/O installation set’
Additional configuration information can be found in the EDS data sheet of the Anybus-S DeviceNet bus module.
Setting the Mac ID
TCP/IP configuration switch
The Mac ID is set using Dip switches 3 - 8 on the TCP/IP configuration switch.
sw. = DIP switch
Mac ID | sw. 3 (MSB) | sw. 4 | sw. 5 | sw. 6 | sw. 7 | sw. 8 (LSB) |
|---|---|---|---|---|---|---|
0 | OFF | OFF | OFF | OFF | OFF | OFF |
1 | OFF | OFF | OFF | OFF | OFF | ON |
2 | OFF | OFF | OFF | OFF | ON | OFF |
3 | OFF | OFF | OFF | OFF | ON | ON |
... | ... | ... | ... | ... | ... | ... |
62 | ON | ON | ON | ON | ON | OFF |
63 | ON | ON | ON | ON | ON | ON |
Setting the baud rate
TCP/IP configuration switch
The baud rate is set using Dip switches 1 - 2 on the TCP/IP configuration switch.
sw. = DIP switch
Baud rate | sw. 1 | sw. 2 |
|---|---|---|
125 kBit/s | OFF | OFF |
250 kBit/s | OFF | ON |
500 kBit/s | ON | OFF |
reserviert | ON | ON |
Troubleshooting the UBST1 PC board
Operating status LEDs on the UBST 1 board
 | |||||||||||||||||
|
| ||||||||||||||||
Operating status LEDs on the UBST 1 board
| |||||||||||||||||
|
| ||||||||||||||||
„+5 V“ LED (1)
The „+5 V“ LED (1) comes on when the internal or external power supply is connected. The „+5 V“ LED indicates that the board electronics are OK.
„Traffic 1 - 4“ LEDs (2)
LED | Indicator | Meaning | Remedy |
|---|---|---|---|
Traffic X | Off or on | No communication on Fronius LocalNet | Check supply voltage; |
Traffic X | Flashing | Communication on the Fronius LocalNet active | - |
„L1 - L7“ LEDs (3)
LED | Indicator | Meaning | Remedy |
|---|---|---|---|
L1 | On/flashing | Error occurred in module | See error number in table/after sales service |
L2 | On | Communication on the Fronius LocalNet is active | - |
L3 | Flashing | Ethernet stack sending data | - |
L6 | On | Ethernet - physical connection present | - |
L7 | Flashing | Ethernet data transmission active | - |
„L1“ LED on:
The error description and the corresponding display on the power source are described in the „Robot interface“ leaflet (42,0410,0616):
chapter entitled „Output signals to robot“, section „Error number UBST“„L1“ LED flashing - error is communicated using the flash code:
(a) | Rapid flashing: Start of the error code |
(b) | First slow pulse: |
(c) | Second slow pulse: |
Error code | Error argument | Error description | Remedy |
|---|---|---|---|
1 | 1 | Max. Ethernet frame size exceeded | Switch interface off and on again |
| 2 | Incorrect mailbox type | - |
| 4 | UDP data underflow on port 15000 | - |
| 5 | UDP data overflow | - |
| 6 | UDP data underflow on port 15001 | - |
| 7 | Incorrect UDP port | - |
| 8 | Error during stack initialisation | - |
| 9 | Invalid function | - |
„EXT“ LED (4)
The „EXT“ LED (4) comes on if the external supply voltage is selected using the „EXT“ jumper (5).
„EXT“ jumper (5) / “INT“ jumper (6)
The „EXT“ (5) and „INT“ (6) jumpers are for choosing between an internal and external power supply. The jumper is set in the factory to „external power supply“.
„INT“ LED (7)
The „INT“ LED (7) comes on if the internal supply voltage is selected using „INT“ jumper (6).
„VCC“ LED (8)
The „VCC“ LED (8) comes on when the internal or external power supply is connected. The „VCC“ LED indicates that the + 24 V power supply for the modules on the LocalNet side is OK.
Troubleshooting the Anybus-S DeviceNet bus module
LED indicator on Anybus-S Device-Net bus module
LED indicator on Anybus-S DeviceNet bus module
| (1) | Spare |
| (2) | Network status |
| (3) | Module status |
| (4) | Spare |
LED | Indicator | Meaning |
|---|---|---|
1 | - | Reserved for other applications |
2 | Off | No power / not online |
| Steady green | Connection is OK, online |
| Flashing green | Online, not connected |
| Steady red | Critical connection error |
| Flashing red | Connection timeout |
(3) | Off | No power to Anybus-S DeviceNet bus module |
| Steady green | Anybus-S DeviceNet bus module is ready |
| Flashing green | Data volume greater than configured |
| Steady red | Serious error |
| Flashing red | Minor error |
4 | - | Reserved for other applications |
LED indicator on Anybus-S Device-Net bus module
LED indicator on Anybus-S DeviceNet bus module
| (1) | Spare |
| (2) | Network status |
| (3) | Module status |
| (4) | Spare |
LED | Indicator | Meaning |
|---|---|---|
1 | - | Reserved for other applications |
2 | Off | No power / not online |
| Steady green | Connection is OK, online |
| Flashing green | Online, not connected |
| Steady red | Critical connection error |
| Flashing red | Connection timeout |
(3) | Off | No power to Anybus-S DeviceNet bus module |
| Steady green | Anybus-S DeviceNet bus module is ready |
| Flashing green | Data volume greater than configured |
| Steady red | Serious error |
| Flashing red | Minor error |
4 | - | Reserved for other applications |
Anybus-S status indicator
Status display Anybus-S on Anybus-S Ethernet/IP bus module
The Anybus-S status indicator is an LED on the surface of the Anybus-S DeviceNet bus module.
The following errors and statuses are displayed by the Anybus-S status indicator:
Status indicator lights up red
Internal error or operating in „bootloader“ mode
Status indicator flashing red, 1 Hz
Error in configuration memory RAM
Status indicator flashing red, 2 Hz
Error in ASIC or FLASH
Status indicator flashing red, 4 Hz
Error in DPRAM
Status indicator flashing green, 2 Hz
Bus module not initialised
Status indicator flashing green, 1 Hz
Bus module initialised, normal operation
Data transfer properties and technical data
Data transmission properties
Network topology | Linear bus, |
Medium | Screened 2x2 twisted-pair cable, |
Max. number of nodes | 64 |
Max. bus length, depends on the baud rate: | 100 m at 500 kBit/s |
Bus connection | Open Style connector, 5-pin |
Operating modes | Bit Strobe, Polling, Cycling, |
Process data width | 104 bits (standard configuration) |
Process data format | Intel |
Data transmission properties
Network topology | Linear bus, |
Medium | Screened 2x2 twisted-pair cable, |
Max. number of nodes | 64 |
Max. bus length, depends on the baud rate: | 100 m at 500 kBit/s |
Bus connection | Open Style connector, 5-pin |
Operating modes | Bit Strobe, Polling, Cycling, |
Process data width | 104 bits (standard configuration) |
Process data format | Intel |
Safety features
If there is no data transmission, all inputs and outputs are reset and the power source goes into „Stop“. Once data transmission has been re-established, the following signals resume the process:
- “Robot ready” signal
- „Source error reset“ signal
AB DeviceNet Enterprise technical data
Power supply | 24 V DC +/- 10% internal |
Current input | 400 mA (typical) |
Position on the rear of the power sources: | TS 4000 / 5000 |
Protection | IP23 |
Configuration interface | Via field bus configuration module |
EDS file - Electronic Data Sheet
An EDS file is assigned to every node in a DeviceNet network. The EDS file contains all the information about the node. It is required for the network configuration and can be downloaded from the following website:
http://www.anybus.de/products/devicenet/Techn. Dokumentation/Configuration file
AB DeviceNet Enterprise signal description
General
Depending on the selected mode, the AB DeviceNet Enterprise interface can transfer numerous kinds of input and output signals.
General
Depending on the selected mode, the AB DeviceNet Enterprise interface can transfer numerous kinds of input and output signals.
Power source modes
Mode | E05 | E04 | E03 |
|---|---|---|---|
MIG/MAG standard synergic welding | 0 | 0 | 0 |
MIG/MAG pulse synergic welding | 0 | 0 | 1 |
Job mode | 0 | 1 | 0 |
Parameter selection internal | 0 | 1 | 1 |
MIG/MAG standard manual welding | 1 | 0 | 0 |
CC / CV | 1 | 0 | 1 |
TIG welding | 1 | 1 | 0 |
CMT/special process | 1 | 1 | 1 |
Overview
„AB DeviceNet Enterprise signal description“ is composed of the following sections:
- Input and output signals for MIG/MAG standard pulse synergic and CMT
- Input and output signals for TIG
- Input and output signals for CC/CV
- Input and output signals for standard manual
Input and output signals for MIG/MAG standard pulse synergic and CMT
Input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Torch blow out | - | High |
E15 | Not in use | - | - |
E16 | Not in use | - | - |
|
|
| |
E17- E24 | Job number | 0 - 99 | - |
|
|
|
|
E25 - E31 | Program number | 0 - 127 | - |
E32 | Welding simulation | - | High |
|
|
|
|
| With RCU 5000i and in Job mode | ||
E17- E31 | Job number | 0 - 999 | - |
E32 | Welding simulation | - | High |
|
|
|
|
| Power command value | 0 - 65535 (0 - 100 %) | - |
E33-E40 | Low Byte | - | - |
E41-E48 | High Byte | - | - |
|
|
|
|
| Arc length correction, Command value | 0 - 65535 (-30 - +30 %) | - |
E49-E56 | Low Byte | - | - |
E57-E64 | High Byte | - | - |
|
|
|
|
E65-E72 | Pulse or dynamic correction 1) Command value | 0 - 255 (-5 - +5 %) | - |
|
|
|
|
E73-E80 | Burn-back command value | 0 - 255 (-200 - +200 ms) | - |
|
|
|
|
| Welding speed | 0 - 32767 (0-3276 cm/min) | - |
E81 - E88 | Not in use | - | - |
E89 - E96 | Not in use | - | - |
|
|
|
|
E97 | Synchro Puls disable | - | High |
E98 | SFI disable | - | High |
E99 | Pulse or dynamic correction 1) disable | - | High |
E100 | Burn-back disable | - | High |
E101 | Full power range (0 - 30 m) | - | High |
E102-104 | Not in use | - | - |
1) | Different parameters are specified depending on the selected process and welding program: | ||
| Process | Parameters |
|
| Pulsed | Pulse correction |
|
| Standard | Dynamic correction |
|
| CMT | Hotstart time |
|
|
| Pulse correction |
|
|
| Hotstart pulse cycle |
|
|
| Boost correction |
|
|
| Dynamic correction |
|
Input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Torch blow out | - | High |
E15 | Not in use | - | - |
E16 | Not in use | - | - |
|
|
| |
E17- E24 | Job number | 0 - 99 | - |
|
|
|
|
E25 - E31 | Program number | 0 - 127 | - |
E32 | Welding simulation | - | High |
|
|
|
|
| With RCU 5000i and in Job mode | ||
E17- E31 | Job number | 0 - 999 | - |
E32 | Welding simulation | - | High |
|
|
|
|
| Power command value | 0 - 65535 (0 - 100 %) | - |
E33-E40 | Low Byte | - | - |
E41-E48 | High Byte | - | - |
|
|
|
|
| Arc length correction, Command value | 0 - 65535 (-30 - +30 %) | - |
E49-E56 | Low Byte | - | - |
E57-E64 | High Byte | - | - |
|
|
|
|
E65-E72 | Pulse or dynamic correction 1) Command value | 0 - 255 (-5 - +5 %) | - |
|
|
|
|
E73-E80 | Burn-back command value | 0 - 255 (-200 - +200 ms) | - |
|
|
|
|
| Welding speed | 0 - 32767 (0-3276 cm/min) | - |
E81 - E88 | Not in use | - | - |
E89 - E96 | Not in use | - | - |
|
|
|
|
E97 | Synchro Puls disable | - | High |
E98 | SFI disable | - | High |
E99 | Pulse or dynamic correction 1) disable | - | High |
E100 | Burn-back disable | - | High |
E101 | Full power range (0 - 30 m) | - | High |
E102-104 | Not in use | - | - |
1) | Different parameters are specified depending on the selected process and welding program: | ||
| Process | Parameters |
|
| Pulsed | Pulse correction |
|
| Standard | Dynamic correction |
|
| CMT | Hotstart time |
|
|
| Pulse correction |
|
|
| Hotstart pulse cycle |
|
|
| Boost correction |
|
|
| Dynamic correction |
|
Additional ‘Rob I/O’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E105 | ROB I/O output 1 | - | High |
E106 | ROB I/O output 2 | - | High |
E107-112 | Not in use | - | - |
Additional ‘part number’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E113-120 | Part number, character 1 | ASCII 32 - 254 | - |
E121-128 | Part number, character 2 | ASCII 32 - 254 | - |
E129-136 | Part number, character 3 | ASCII 32 - 254 | - |
E137-144 | Part number, character 4 | ASCII 32 - 254 | - |
E145-152 | Part number, character 5 | ASCII 32 - 254 | - |
E153-160 | Part number, character 6 | ASCII 32 - 254 | - |
E161-168 | Part number, character 7 | ASCII 32 - 254 | - |
E169-176 | Part number, character 8 | ASCII 32 - 254 | - |
E177-184 | Part number, character 9 | ASCII 32 - 254 | - |
E185-192 | Part number, character 10 | ASCII 32 - 254 | - |
E193-200 | Part number, character 11 | ASCII 32 - 254 | - |
Output signals (from power source to robot)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A01 | Arc stable | - | High |
A02 | Limit signal (only with RCU 5000 i) | - | High |
A03 | Process active | - | High |
A04 | Main current signal | - | High |
A05 | Torch collision protection | - | High |
A06 | Power source ready | - | High |
A07 | Communication ready | - | High |
A08 | Not in use | - | - |
A09 - A16 | Error number | 0 - 255 | - |
A17 - A24 | Not in use | - | - |
A25 | Stick control | - | High |
A26 | Not in use | - | - |
A27 | Robot access (only with RCU 5000 i) | - | High |
A28 | Wire available | - | High |
A29 | Timeout short circuit | - | High |
A30 | Data documentation ready (only with RCU 5000 i) | - | High |
A31 | Not in use | - | - |
A32 | Power outside range | - | - |
|
|
| |
Welding voltage (actual value) | 0 - 65535 | - | |
A33 - A40 | Low byte | - | - |
A41 - A48 | High byte | - | - |
|
|
| |
Welding current (actual value) | 0 - 65535 | - | |
A49 - A56 | Low byte | - | - |
A57 - A64 | High byte | - | - |
|
|
| |
A65 - A72 | Motor current (actual value) | 0 - 255 | - |
A73 - A80 | Not in use | - | - |
| Wire feed speed (actual value) | 0 - 65535 |
|
A81 - A88 | Low byte | - | - |
A89 - A96 | High byte | - | - |
|
|
|
|
A97 | Limit exceed vD | - | High |
A98 | Lower limit exceed vD | - | High |
A99 | Limit exceed welding current | - | High |
A100 | Lower limit exceed welding current | - | High |
A101 | Limit exceed welding voltage | - | High |
A102 | Lower limit exceed welding voltage | - | High |
A103 | Limit exceed main motor | - | High |
A104 | Limit exceed Push-pull motor | - | High |
Additional ‘Rob I/O’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A105 | ROB I/O input 1 | - | High |
A106 | ROB I/O input 2 | - | High |
A107 | ROB I/O input 3 | - | High |
A108 | ROB I/O input 4 | - | High |
A109-112 | Not in use | - | - |
Additional ‘part number’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A113-120 | Not in use | - | - |
A121-128 | Not in use | - | - |
A129-136 | Not in use | - | - |
A137-144 | Not in use | - | - |
A145-152 | Not in use | - | - |
A153-160 | Not in use | - | - |
A161-168 | Not in use | - | - |
A169-176 | Not in use | - | - |
A177-184 | Not in use | - | - |
A185-192 | Not in use | - | - |
A193-200 | Not in use | - | - |
Input and output signals for TIG
TIG input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Cold wire disable | - | High |
E15 | Not in use | - | - |
E16 | Not in use | - | - |
|
|
| |
E17- E24 | Job number | 0 - 99 | - |
|
|
|
|
E25 | DC/AC | - | High |
E26 | DC- / DC+ | - | High |
E27 | Cap shaping | - | High |
E28 | Pulse disable | - | High |
E29 | Pulse range bit 0 | - | High |
E30 | Pulse range bit 1 | - | High |
E31 | Pulse range bit 2 | - | High |
E32 | Welding simulation | - | High |
|
|
|
|
| Main current (command value) | 0 - 65535 (0 - Imax) | - |
E33 - E40 | Low byte | - | - |
E41 - E48 | High byte | - | - |
|
|
|
|
| External parameter (command value) | 0 - 65535 |
|
E49 - E56 | Low byte | - | - |
E57 - E64 | High byte | - | - |
|
|
|
|
E65 - E72 | Base current (command value) | 0 - 255 (0 - 100 %) | - |
E73 - E80 | Duty cycle (command value) | 0 - 255 (10 - 90 %) | - |
|
|
|
|
| Wirefeed speed Fd.1 (command value) | 0 - 65535 (0 - vDmax) | - |
E81 - E88 | Low byte | - | - |
E89 - E96 | High byte | - | - |
E97 - E98 | Not in use | - | - |
E99 | Base current disable | - | High |
E100 | Duty cycle disable | - | High |
E101-104 | Not in use | - | - |
TIG input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Cold wire disable | - | High |
E15 | Not in use | - | - |
E16 | Not in use | - | - |
|
|
| |
E17- E24 | Job number | 0 - 99 | - |
|
|
|
|
E25 | DC/AC | - | High |
E26 | DC- / DC+ | - | High |
E27 | Cap shaping | - | High |
E28 | Pulse disable | - | High |
E29 | Pulse range bit 0 | - | High |
E30 | Pulse range bit 1 | - | High |
E31 | Pulse range bit 2 | - | High |
E32 | Welding simulation | - | High |
|
|
|
|
| Main current (command value) | 0 - 65535 (0 - Imax) | - |
E33 - E40 | Low byte | - | - |
E41 - E48 | High byte | - | - |
|
|
|
|
| External parameter (command value) | 0 - 65535 |
|
E49 - E56 | Low byte | - | - |
E57 - E64 | High byte | - | - |
|
|
|
|
E65 - E72 | Base current (command value) | 0 - 255 (0 - 100 %) | - |
E73 - E80 | Duty cycle (command value) | 0 - 255 (10 - 90 %) | - |
|
|
|
|
| Wirefeed speed Fd.1 (command value) | 0 - 65535 (0 - vDmax) | - |
E81 - E88 | Low byte | - | - |
E89 - E96 | High byte | - | - |
E97 - E98 | Not in use | - | - |
E99 | Base current disable | - | High |
E100 | Duty cycle disable | - | High |
E101-104 | Not in use | - | - |
Additional ‘Rob I/O’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E105 | ROB I/O output 1 | - | High |
E106 | ROB I/O output 2 | - | High |
E107-112 | Not in use | - | - |
Additional ‘part number’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E113-120 | Part number, character 1 | ASCII 32 - 254 | - |
E121-128 | Part number, character 2 | ASCII 32 - 254 | - |
E129-136 | Part number, character 3 | ASCII 32 - 254 | - |
E137-144 | Part number, character 4 | ASCII 32 - 254 | - |
E145-152 | Part number, character 5 | ASCII 32 - 254 | - |
E153-160 | Part number, character 6 | ASCII 32 - 254 | - |
E161-168 | Part number, character 7 | ASCII 32 - 254 | - |
E169-176 | Part number, character 8 | ASCII 32 - 254 | - |
E177-184 | Part number, character 9 | ASCII 32 - 254 | - |
E185-192 | Part number, character 10 | ASCII 32 - 254 | - |
E193-200 | Part number, character 11 | ASCII 32 - 254 | - |
TIG pulse range settings
Range selection | E31 | E30 | E29 |
|---|---|---|---|
Set pulse range on power source | 0 | 0 | 0 |
Pulse setting range deactivated | 0 | 0 | 1 |
0.2 - 2 Hz | 0 | 1 | 0 |
2 - 20 Hz | 0 | 1 | 1 |
20 - 200 Hz | 1 | 0 | 0 |
200 - 2000 Hz | 1 | 0 | 1 |
Output signals (from power source to robot)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A01 | Arc stable | - | High |
A02 | Not in use | - | - |
A03 | Process active | - | High |
A04 | Main current signal | - | High |
A05 | Torch collision protection | - | High |
A06 | Power source ready | - | High |
A07 | Communication ready | - | High |
A08 | Reserve | - | - |
A09 - A16 | Error number | 0 - 255 | - |
A17 - A24 | Not in use | - | - |
A25 | Not in use | - | - |
A26 | High frequency active | - | High |
A27 | Not in use | - | - |
A28 | Wire available (cold wire) | - | High |
A29 | Not in use | - | - |
A30 | Not in use | - | - |
A31 | Pulse High | - | High |
A32 | Not in use | - | - |
|
|
| |
Welding voltage (actual value) | 0 - 65535 | - | |
A33 - A40 | Low byte | - | - |
A41 - A48 | High byte | - | - |
|
|
| |
Welding current (actual value) | 0 - 65535 | - | |
A49 - A56 | Low byte | - | - |
A57 - A64 | High byte | - | - |
|
|
| |
A65 - A72 | Motor current (actual value) | 0 - 255 | - |
A73 - A80 | Arc length (actual value) (AVC) | 0 - 255 | - |
|
|
|
|
| Wirefeed speed (actual value) | 0 - 65535 |
|
A81 - A88 | Low byte | - | - |
A89 - A96 | High byte | - | - |
|
|
|
|
A97 - E104 | Not in use | - | - |
Additional ‘Rob I/O’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A105 | ROB I/O input 1 | - | High |
A106 | ROB I/O input 2 | - | High |
A107 | ROB I/O input 3 | - | High |
A108 | ROB I/O input 4 | - | High |
A109-112 | Not in use | - | - |
Additional ‘part number’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A113-120 | Not in use | - | - |
A121-128 | Not in use | - | - |
A129-136 | Not in use | - | - |
A137-144 | Not in use | - | - |
A145-152 | Not in use | - | - |
A153-160 | Not in use | - | - |
A161-168 | Not in use | - | - |
A169-176 | Not in use | - | - |
A177-184 | Not in use | - | - |
A185-192 | Not in use | - | - |
A193-200 | Not in use | - | - |
Input and output signals for CC/CV
Input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Torch blow out | - | High |
E15 - E16 | Not in use | - | - |
E17- E24 | Job number | 0 - 99 | - |
E25 - E31 | Not in use | - | - |
E32 | Welding simulation | - | High |
|
|
|
|
| Welding current (command value) | 0 - 65535 (0 - max.) | - |
E33-E40 | Low byte | - | - |
E41-E48 | High byte | - | - |
|
|
|
|
| Wire feed speed | 0 - 65535 (-30 - +30 %) | - |
E49-E56 | Low byte | - | - |
E57-E64 | High byte | - | - |
|
|
|
|
E65-E72 | Welding voltage | 0 - 255 (-5 - +5 %) | - |
E73-E80 | Not in use | - | - |
|
|
|
|
E81 - E88 | Low byte | - | - |
E89 - E96 | High byte | - | - |
E97 - 104 | Not in use | - | - |
Input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Torch blow out | - | High |
E15 - E16 | Not in use | - | - |
E17- E24 | Job number | 0 - 99 | - |
E25 - E31 | Not in use | - | - |
E32 | Welding simulation | - | High |
|
|
|
|
| Welding current (command value) | 0 - 65535 (0 - max.) | - |
E33-E40 | Low byte | - | - |
E41-E48 | High byte | - | - |
|
|
|
|
| Wire feed speed | 0 - 65535 (-30 - +30 %) | - |
E49-E56 | Low byte | - | - |
E57-E64 | High byte | - | - |
|
|
|
|
E65-E72 | Welding voltage | 0 - 255 (-5 - +5 %) | - |
E73-E80 | Not in use | - | - |
|
|
|
|
E81 - E88 | Low byte | - | - |
E89 - E96 | High byte | - | - |
E97 - 104 | Not in use | - | - |
Additional ‘Rob I/O’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E105 | ROB I/O output 1 | - | High |
E106 | ROB I/O output 2 | - | High |
E107-112 | Not in use | - | - |
Additional ‘part number’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E113-120 | Part number, character 1 | ASCII 32 - 254 | - |
E121-128 | Part number, character 2 | ASCII 32 - 254 | - |
E129-136 | Part number, character 3 | ASCII 32 - 254 | - |
E137-144 | Part number, character 4 | ASCII 32 - 254 | - |
E145-152 | Part number, character 5 | ASCII 32 - 254 | - |
E153-160 | Part number, character 6 | ASCII 32 - 254 | - |
E161-168 | Part number, character 7 | ASCII 32 - 254 | - |
E169-176 | Part number, character 8 | ASCII 32 - 254 | - |
E177-184 | Part number, character 9 | ASCII 32 - 254 | - |
E185-192 | Part number, character 10 | ASCII 32 - 254 | - |
E193-200 | Part number, character 11 | ASCII 32 - 254 | - |
Output signals (from power source to robot)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A01 | Arc stable | - | High |
A02 | Limit signal (only with RCU 5000 i) | - | High |
A03 | Process active | - | High |
A04 | Main current signal | - | High |
A05 | Torch collision protection | - | High |
A06 | Power source ready | - | High |
A07 | Communication ready | - | High |
A08 | Not in use | - | - |
A09 - A16 | Error number | 0 - 255 | - |
A17 - A24 | Not in use | - | - |
A25 | Stick control | - | High |
A26 | Not in use | - | - |
A27 | Robot access (only with RCU 5000 i) | - | High |
A28 | Wire available | - | High |
A29 | Timeout short circuit | - | High |
A30 | Data documentation ready (only with RCU 5000 i) | - | High |
A31 | Not in use | - | - |
A32 | Power outside range | - | High |
|
|
| |
Welding voltage (actual value) | 0 - 65535 | - | |
A33 - A40 | Low byte | - | - |
A41 - A48 | High byte | - | - |
|
|
| |
Welding current (actual value) | 0 - 65535 | - | |
A49 - A56 | Low byte | - | - |
A57 - A64 | High byte | - | - |
|
|
| |
A65 - A72 | Motor current (actual value) | 0 - 255 | - |
A73 - A80 | Not in use | - | - |
| Wire feed speed (actual value) | 0 - 65535 |
|
A81 - A88 | Low byte | - | - |
A89 - A96 | High byte | - | - |
|
|
|
|
A97 | Limit exceed vD | - | High |
A98 | Lower limit exceed vD | - | High |
A99 | Limit exceed welding current | - | High |
A100 | Lower limit exceed welding current | - | High |
A101 | Limit exceed welding voltage | - | High |
A102 | Lower limit exceed welding voltage | - | High |
A103 | Limit exceed main motor | - | High |
A104 | Limit exceed Push-pull motor | - | High |
Additional ‘Rob I/O’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A105 | ROB I/O input 1 | - | High |
A106 | ROB I/O input 2 | - | High |
A107 | ROB I/O input 3 | - | High |
A108 | ROB I/O input 4 | - | High |
A109-112 | Not in use | - | - |
Additional ‘part number’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A113-120 | Not in use | - | - |
A121-128 | Not in use | - | - |
A129-136 | Not in use | - | - |
A137-144 | Not in use | - | - |
A145-152 | Not in use | - | - |
A153-160 | Not in use | - | - |
A161-168 | Not in use | - | - |
A169-176 | Not in use | - | - |
A177-184 | Not in use | - | - |
A185-192 | Not in use | - | - |
A193-200 | Not in use | - | - |
Input and output signals for standard manual
Input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Torch blow out | - | High |
E15 | Not in use | - | - |
E16 | Not in use | - | - |
|
|
| |
E17- E24 | Not in use | - | - |
|
|
|
|
E25 - E31 | Program number | 0 - 127 | - |
E32 | Welding simulation | - | High |
|
|
|
|
| Wire feed speed | 0 - 65535 (-327,67 - +327,67 m/min) | - |
E33-E40 | Low byte | - | - |
E41-E48 | High byte | - | - |
|
|
|
|
| Welding voltage | 0 - 65535 (0 - Umax) | - |
E49-E56 | Low byte | - | - |
E57-E64 | High byte | - | - |
|
|
|
|
E65-E72 | Dynamic correction | 0 - 255 (-5 - +5 %) | - |
E73-E80 | Burn-back command value | 0 - 255 (-200 - +200 ms) | - |
|
|
|
|
| Not in use | - | - |
E81 - E88 | Low byte | - | - |
E89 - E96 | High byte | - | - |
|
|
|
|
E97 | Not in use | - | - |
E98 | Not in use | - | - |
E99 | Pulse or dynamic correction 1) disable | - | High |
E100 | Burn-back disable | - | High |
E101 | Full power range (0 - 30 m) | - | High |
E102-104 | Not in use | - | - |
Input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E01 | Welding start | - | High |
E02 | Robot ready | - | High |
E03 | Modes bit 0 | - | High |
E04 | Modes bit 1 | - | High |
E05 | Modes bit 2 | - | High |
E06 | Master selection twin | - | High |
E07 | Not in use | - | - |
E08 | Not in use | - | - |
|
|
|
|
E09 | Gas test | - | High |
E10 | Wire inching | - | High |
E11 | Wire retract | - | High |
E12 | Source error reset | - | High |
E13 | Touch sensing | - | High |
E14 | Torch blow out | - | High |
E15 | Not in use | - | - |
E16 | Not in use | - | - |
|
|
| |
E17- E24 | Not in use | - | - |
|
|
|
|
E25 - E31 | Program number | 0 - 127 | - |
E32 | Welding simulation | - | High |
|
|
|
|
| Wire feed speed | 0 - 65535 (-327,67 - +327,67 m/min) | - |
E33-E40 | Low byte | - | - |
E41-E48 | High byte | - | - |
|
|
|
|
| Welding voltage | 0 - 65535 (0 - Umax) | - |
E49-E56 | Low byte | - | - |
E57-E64 | High byte | - | - |
|
|
|
|
E65-E72 | Dynamic correction | 0 - 255 (-5 - +5 %) | - |
E73-E80 | Burn-back command value | 0 - 255 (-200 - +200 ms) | - |
|
|
|
|
| Not in use | - | - |
E81 - E88 | Low byte | - | - |
E89 - E96 | High byte | - | - |
|
|
|
|
E97 | Not in use | - | - |
E98 | Not in use | - | - |
E99 | Pulse or dynamic correction 1) disable | - | High |
E100 | Burn-back disable | - | High |
E101 | Full power range (0 - 30 m) | - | High |
E102-104 | Not in use | - | - |
Additional ‘Rob I/O’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E105 | ROB I/O output 1 | - | High |
E106 | ROB I/O output 2 | - | High |
E107-112 | Not in use | - | - |
Additional ‘part number’ input signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
E113-120 | Part number, character 1 | ASCII 32 - 254 | - |
E121-128 | Part number, character 2 | ASCII 32 - 254 | - |
E129-136 | Part number, character 3 | ASCII 32 - 254 | - |
E137-144 | Part number, character 4 | ASCII 32 - 254 | - |
E145-152 | Part number, character 5 | ASCII 32 - 254 | - |
E153-160 | Part number, character 6 | ASCII 32 - 254 | - |
E161-168 | Part number, character 7 | ASCII 32 - 254 | - |
E169-176 | Part number, character 8 | ASCII 32 - 254 | - |
E177-184 | Part number, character 9 | ASCII 32 - 254 | - |
E185-192 | Part number, character 10 | ASCII 32 - 254 | - |
E193-200 | Part number, character 11 | ASCII 32 - 254 | - |
Output signals (from power source to robot)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A01 | Arc stable | - | High |
A02 | Limit signal (only with RCU 5000 i) | - | High |
A03 | Process active | - | High |
A04 | Main current signal | - | High |
A05 | Torch collision protection | - | High |
A06 | Power source ready | - | High |
A07 | Communication ready | - | High |
A08 | Not in use | - | - |
A09 - A16 | Error number | 0 - 255 | - |
A17 - A24 | Not in use | - | - |
A25 | Stick control | - | High |
A26 | Not in use | - | - |
A27 | Robot access (only with RCU 5000 i) | - | High |
A28 | Wire available | - | High |
A29 | Timeout short circuit | - | High |
A30 | Data documentation ready (only with RCU 5000 i) | - | High |
A31 | Not in use | - | - |
A32 | Power outside range | - | High |
|
|
| |
Welding voltage (actual value) | 0 - 65535 | - | |
A33 - A40 | Low byte | - | - |
A41 - A48 | High byte | - | - |
|
|
| |
Welding current (actual value) | 0 - 65535 | - | |
A49 - A56 | Low byte | - | - |
A57 - A64 | High byte | - | - |
|
|
| |
A65 - A72 | Motor current (actual value) | 0 - 255 | - |
A73 - A80 | Not in use | - | - |
| Wire feed speed (actual value) | 0 - 65535 |
|
A81 - A88 | Low byte | - | - |
A89 - A96 | High byte | - | - |
|
|
|
|
A97 | Limit exceed vD | - | High |
A98 | Lower limit exceed vD | - | High |
A99 | Limit exceed welding current | - | High |
A100 | Lower limit exceed welding current | - | High |
A101 | Limit exceed welding voltage | - | High |
A102 | Lower limit exceed welding voltage | - | High |
A103 | Limit exceed main motor | - | High |
A104 | Limit exceed Push-pull motor | - | High |
Additional ‘Rob I/O’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A105 | ROB I/O input 1 | - | High |
A106 | ROB I/O input 2 | - | High |
A107 | ROB I/O input 3 | - | High |
A108 | ROB I/O input 4 | - | High |
A109-112 | Not in use | - | - |
Additional ‘part number’ output signals (from robot to power source)
Seq. no. | Signal designation | Range | Activity |
|---|---|---|---|
A113-120 | Not in use | - | - |
A121-128 | Not in use | - | - |
A129-136 | Not in use | - | - |
A137-144 | Not in use | - | - |
A145-152 | Not in use | - | - |
A153-160 | Not in use | - | - |
A161-168 | Not in use | - | - |
A169-176 | Not in use | - | - |
A177-184 | Not in use | - | - |
A185-192 | Not in use | - | - |
A193-200 | Not in use | - | - |
Circuit diagram
