Panasonic VR2 Series - Spnrev; Spnofs; External Axis Commands (Optional); Eaxs_Sft-Off

16-43
16-14-6. SPNREV
Format
SPNREV [Spinning speed]
Function It specifies spinning speed of the sensor. Selection:
Condition Spin arc sensor
Spinning
speed
1:Low: 10Hz
Lock condition Arc lock (Internal execution) 2:Middle: 30Hz
Syntax check None. 3:High: 50Hz
Example
Change the spinning speed to the low.
SPNREV 3:Low
16-14-7. SPNOFS
Format
SPNOFS [Offset 1] [Offset 2]
Function It adjusts the spin arc offsets. Offset 1
Condition Spin arc sensor
Offset to perpendicular
direction to both welding
and torch directions.
Current tracking: [-99.9-99.9]
Voltage tracking: [-9.99-9.99]
Lock condition Arc lock (Internal execution) Offset 2
Syntax check None.
Offset to the torch direction:
Current tracking: [-99.9 - 99.9]
Voltage tracking: [-9.99 - 9.99]
Example
Offset 0.12 to the torch direction.
SPNOFS 0 0.12
Note
The offsets can set to two places of decimal. It is different from SNSOFS command.
16-15. External axis commands (Optional)
16-15-1. EAXS_SFT-OFF
Format
EAXS_SFT-OFF [Ext-Axis] See application examples
Function It terminates the external axis shift (EAXS_SFT)
command.
[Ext-Axis]
Condition
Lock condition None
Syntax check None
The external axis number the
applied EAXS_SFT processing to
be terminated.
[G1-G21 (including ones for slave
robot)
Example Terminate the shift of the external axis G1.
EAXS_SFT-OFF G1
The same command in
conventional models
Note
The section between EAXIS_SFT-ON and EAXIS_SFT-OFF becomes shift section.
16-15-2. EAXS_SFT-ON
Format
EAXS_SFT-ON [Ext-Axis]=[Value] See application examples
Function It shifts position of the external axis. . [Ext-Axis]
Condition
The external axis number to be
shifted by this command.
Range: G1-G21 and defined as
the system (including external
axes for slave robot.)
Lock condition None [Value]
Syntax check None
Shift amount (Real number, GR, LR)
[Real number: -99999.99- +99999.99]
Unit: depending on the type of the
external axis. (i.e. shift axis: mm,
rotary axis:°.)
Example Shift the external axis G1 by +100.
EAXS_SFT-ON G1 = +100
The same command in
conventional models
Note
The section between EAXIS_SFT-ON and EAXIS_SFT-OFF becomes shift section.