Collision Sensor - Kemppi A3 MIG Operating Manual

4.9 Collision sensor

For information on connecting and configuring the
collision sensor, see the A3 MIG Welder Integration guide.
The collision sensor is a module mounted between a ro-
bot arm and a welding torch. It protects the torch neck
from bending and breaking on a collision to an obstacle.
The collision detection is usually based on micro switches
or optical switches which act on the collision. The detec-
tion is passed to the robot that uses it to stop motion im-
mediately to prevent any damage.
In the A3 MIG Welder the collision sensor signal is read by
the power source, and the information is passed to the ro-
bot by the welding system. In addition, a collision causes
always the Error 146 Collision detected
system. When the error occurs, the power source stops
welding immediately.
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Fieldbus
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3
in the welding
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Figure 4.7 Collision sensing system
1. Collision sensor
2. Fieldbus / Digital robot interface
3. Wire feeder control cable
4. Peripheral connector
5. Configuration using DIP switches
The collision sensor is mounted to the robot arm, and it is
a mounting point for the welding torch.
© Kemppi Oy 2018
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Figure 4.8: Collision sensor mounting
There is a 7-pin peripheral connector in the front panel
of the wire feeder. The collision sensor signal is available
in the pin B, and the supply for the signal is in the pin A.
See the
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A3 MIG Welder
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1 2 4
1. Robot arm
2. Collision sensor
3. Collision signal cable
4. Torch suspension
5. Torch neck
A3 MIG Welder Integration guide for more details.
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