Robot Auto-Calibration Sample Programs - Miller Electric Auto-Axcess 450 Owner's Manual

4-6. Robot Auto-Calibration Sample Programs

.
It is critical to make certain that NO start power, start conditions, run-in, or crater parameters of any kind are present in the robot program. The
welding power source is looking for 2 distinct welding conditions. If there is a "start power" condition, the welding power source will equate this
as the first condition and fail to execute Auto-Cal correctly. If there is a "crater fill" condition, the welding power source will equate this as the second
condition and fail to execute Auto-Cal correctly.
Actual Motoman Welder Condition File
<Welding Current Output Char.>
NO. REF (V) MEASURE (A)
01 0.01
02 7.00
03 13.99
04 0.00
<Welding Voltage Output Char.>
NO. REF (V) MEASURE (V)
01 0.14
02 7.00
03 14.00
04
Sample Auto-Calibration Routine For Motoman Robot
0000 NOP
0001 Mov J
0002 AWELD 1.40
0003 VWELD 2.80
0004 Arcon
0005 Timer T=10.00
0006 Arcof
0007 AWELD 14.00
0008 VWELD 12.32
0009 Arcon
0010 Timer T=10.00
0011 Arcof
0012 End
OM-210 540 Page 28
1
500
999
000
0.5
25.0
50.0
(AWELD direct input of 1.40Volts = 100 ipm)
(VWELD direct input of 2.80Volts = 10.0 volts)
(AWELD direct input of 14.00Volts = 1000 ipm)
(VWELD direct input of 12.32Volts = 44.0 volts)