Motoman XRC Series - Figure 1-2 Xrc;Medar Board Interface

INTRODUCTION
MOTO MAN 1-3 SpotWelding Manual for Medar
The robot moves the spot welding gun and supply lines through a series of
programmed steps. The XRC controls the speed, direction, and position of the
robot as it moves from point to point. The XRC also controls the actuation of the
spot gun. If the gun is pneumatic, the XRC turns on the output to close the gun.
Servo-gun control is more integrated. The robot is programmed to know when the
gun reaches the specified clamping forces, and can synchronize the firing of the
weld timer with gun pressure.
The Medar weld control provides power to the spot welding gun. The XRC
pendant is used to enter program data; however, the programs are executed by the
Medar board installed inside the controller. The Medar board directly controls the
firing of SRC and current flow.
The Medar programs are retained in the XRC memory.When changes are made
through the XRC pendant, the data must be written to the Medar board to take
effect. The Medar programs saved in the XRC memory can be downloaded using
a flash memory card or PC. If necessary, the Medar pendant can be connected to
the Medar board to view the program or change set-up data. See Figure 1-2.
NOTE: Changes made to weld schedules with the Medar pendant are not saved in the XRC memory and
will be lost at power down. Changes to setup parameters made with the Medar pendant can be
saved in XRC memory by toggling the “UPLOAD DYNAMIC DATA” output (OUT 188). These
changes are downloaded to the Medar board when the system restarts.
Figure 1-2 XRC/Medar Board Interface
XRC PENDANT
XRC CPU
MEDAR PENDANT
(OPTIONAL)
HIGH SPEED
DUAL-PORT
RAM
MEDAR INTEGRATED
WELD CONTROL BOARD
• MEDAR programs
downloaded at power up
• Display with weld results
• Shared I/O
– weld output
– schedule select
• MEDAR programs
loaded at power up
• Programs execute
on MEDAR board
• Update changes to
programs or set up
• Average Current, etc.
• Alarm Outputs
MEDWELD
CABLE
MEDLAN PORT
XRC
MEDAR
POWER
SOURCE
OPTIONAL I/O CONTROL
(NOT USED)