I/O Table; Timing Diagrams; Welding Startup Timing; Welding Stop Timing - Kemppi A3 Integration Manual

5.3 I/O table

Table size = 8 bytes
Byte Bit Control (Robot -> Welder)
0
WireFeedSpeed
1
2
Voltage / FineTuning
3
4 MemoryChannel
5 (Not in use)
6 0 StartWelding
1 SimulationMode
2 WireInch
3 WireRetract
4 GasBlow
5 (Not in use)
6 TouchSensorToolSel
7 TouchSensorOn
7 0 OnlineControl
1 ErrorReset
2 (Not in use)
3 Watchdog
4 (Not in use)
5 (Not in use)
6 (Not in use)
7 (Not in use)
Status (Welder -> Robot)
WeldingCurrent
WeldingVoltage
ErrorNumber
(Not in use)
Ready
PowerSourceReady
CycleOn
ArcOn
(Not in use)
(Not in use)
(Not in use)
TouchSensed
(Not in use)
Error
CollisionDetected
(Not in use)
(Not in use)
(Not in use)
(Not in use)
(Not in use)
17
© Kemppi Oy 2020

5.4 Timing diagrams

5.4.1 Welding startup timing

Digital robot interface function timing
B B
StartWelding StartWelding
CycleOn CycleOn
ArcOn ArcOn
Symbol Description Min
A Cycle-on time 6
B Arc establishment 17
time
* The maximum time is limited by a wire feeding time-out.

5.4.2 Welding stop timing

Digital robot interface function timing
A
StartWelding
CycleOn
ArcOn
A3 MIG Welder
Typical Max Units
17 40 ms
Pre-gas time + Pre-gas time + ms
open-air distance + 2050 *
23
B
R01