Sequence Wait Function Detail
This document will explain detailed functionality of sequence wait in two parts:
Part 1: Mapping Cube Prohibit Signals
Part 2: CIO mods for using restart function after a sequence wait occurred during
welding.
Part 1: Mapping Cube Prohibit Signals
Many implementations of triggering a cube prohibit signal (#70030-33) are possible, however, two implementations are detailed below. Note that Implementation A is problematic if not understood because of inconsistent functionality for Cubes 1/3 vs Cubes 2/4. See Figure 1 to see this logic inconsistency.
Signal List
#70030-33 --> Interference 1-4 Prohibit
#70034-37 --> In Cube 1-4
#50080-83 --> Cube Interference 1-4
#50063 --> Soft Limit Set Release
Two Methods of Cube Prohibit Implementation
Implementation A simply passes the status of cube interference to the other robot.
Implementation B passes a cube interference signal also, however the signal is sent through
additional logic to determine if it is not the first robot in the cube. This signal is passed to the other robot. Effectively, the second robot in the cube does not pass its cube prohibit signal to the first robot, allowing the first robot to avoid a sequence wait.
Implementation A (not ideal):
2 Robot Functionality:
Cubes 1 & 3 => First robot in cube does not enter sequence wait. Second robot in cube
enters sequence wait, sequence wait ends and motion continues after first robot exits the
cube.
Cubes 2 & 4 => Whenever two robots are in the same cube, both robots enter a sequence
wait.
STR #50080 // Cube 1 Interference
OUT #30050 // External Output -> R2
STR #50081 // Cube 2 Interference
OUT #30051 // External Output -> R2
STR #50082 // Cube 3 Interference
OUT #30052 // External Output to R2
STR #20050 // External Input <- R2
OUT #70030 // Cube 1 Entrance Prohibit
STR #20051 // External Input <- R2
OUT #70031 // Cube 2 Entrance Prohibit
STR #00032 // External Input <- R2
OUT #70032 // Cube 3 Entrance Prohibit
Implementation B (ideal)
2 Robot Functionality:
Cubes 1-4 => First robot in cube does not enter sequence wait. Second robot in cube
enters sequence wait, sequence wait ends and motion continues after first robot exits the
cube.
STR #70034 // In Cube 1
OUT #30050 // External Output -> R2
STR #70035 // In Cube 2
OUT #30051 // External Output -> R2
STR #70036 // In Cube 3
OUT #30052 // External Output to R2
STR #20050 // External Input <- R2
OUT #70030 // Cube 1 Entrance Prohibit
STR #20051 // External Input <- R2
OUT #70031 // Cube 2 Entrance Prohibit
STR #00032 // External Input <- R2
OUT #70032 // Cube 3 Entrance Prohibit
Part 2: Using Restart Function After a Sequence Wait Occurred During Welding.
The CIO modifications listed below are designed to use the "Restart" function after the robot has
entered a sequence wait and was welding prior to the sequence wait.
- Note that the system ladder mods include edits on existing rungs
while all of the user ladder mods shown need added entirely.
- From the pendant, Arc Welding->Arc Aux Cond-> define the restart function set and set
the restart mode of 'Arc Failure' to Auto Restart.
- Below you will find each section of CIO mods and the signal definitions.
System Ladder Mods
**Red text indicates the line does not exist in Standard Arc ladder.
--------- Mods to request restart ----------
STR #70126 // Arc Shortage Restart Request
AND-NOT #70041 // Arc Shortage
STR #75000 // Pulse to toggle 41140:'Restart Request'
OR-STR
OUT #41140 // Restart Request
--------------------------------------------
--------- Mods to keep robot from welding during restart ----------
STR #70064 // R1 Arc Occur Condition Cycle
AND #70065 // R1 Arc Occur Condition Mode
AND #70054 // R1 Motor Forward Rotation Permit
AND-NOT #51543 // R1 Arc Restarting (keeps robot from welding during restart)
OUT #70066 // R1 ArcOn (Trigger)
-------------------------------------------------------------------
User Ladder Mods
------ Mods associated with restart request logic --------
STR #40130 // Wait Job Sequence R1
AND #75004 // Copy of 'Arc Occur' signal, stays HIGH 40ms after falling edge
// of 'Arc Occur'
PLS #75000 // Pulse to toggle 41140:'Restart Request' in system ladder
STR #70070 // Arc Occur
PLF #75001 // Flag for falling edge of 70070:'Arc Occur'
STR #75001
STR #75002 // Stays HIGH 40ms after falling edge of 'Arc Occur'
AND-NOT #75003
OR-STR
OUT #75002
STR #75002
AND-NOT #75003
TMR M049,4
OUT #75003 // Break 75002 latch
STR #70070
OR #75002
AND-NOT #75003
OUT #75004
-----------------------------------------------------------
--------- Mod Example Associated with Cube Prohibit signal -------
STR #20030 // Location of 'In Cube 1' signal coming from other robot
OUT #70030 // Interference 1 Entrance Prohibit
-----------------------------------------------------------
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