Panasonic VR2 Series - Application Example of IF-ARC; Application Example

18-17
18-9. Application example of IF-ARC
It applies different actions depending on whether or not the arc is generated.
This command is useful to adjust the arc start timing in a system using a multi-cooperative robot control or two torches.
18-9-1. Application example:
In a multi-cooperative robot control system, a program to start a weld start program when either the master
robot or slave robot generates the arc.
SET LB001 20 Upper limit of the loop count. (This example shows 20)
+GASVALVE ON Open the gas valve of the slave robot.
GASVALVE ON Open the gas valve of the master robot.
+TORCHSW ON Turn ON the torch switch of the slave robot.
TORCHSW ON Turn ON the torch switch of the master robot.
:LABL0001 Loop label
DELAY 0.1s Delay time
+IF-ARC=ON THEN JUMP
LABL0002 ELSE NOP
If the slave robot is generating the arc, jump to the “End label
(LABL0002).
IF-ARC=ON THEN JUMP
LABL0002 ELSE NOP
If the master robot is generating the arc, jump to the “End label
(LABL0002).
DEC LB001 Subtract “1” from the loop count.
IF LB001 > 0 THEN JUMP
LABL0001 ELSE NOP
If the loop count is larger than “0”, return to the loop label.
HOLD No-ARC Error stop
(No arc has generated after checking 0.1s ×20 times.)
:LABL0002 End label.
* Commands start with “+” are one for the slave robot.