Application Example Of If-Arc; Application Example - Panasonic VR2 Series Operating Instructions Manual

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
+GASVALVE ON
GASVALVE ON
+TORCHSW ON
TORCHSW ON
:LABL0001
DELAY 0.1s
+IF-ARC=ON
LABL0002 ELSE NOP
IF-ARC=ON
LABL0002 ELSE NOP
DEC LB001
IF LB001 >
LABL0001 ELSE NOP
HOLD No-ARC
:LABL0002
* Commands start with "+" are one for the slave robot.
Upper limit of the loop count. (This example shows 20)
Open the gas valve of the slave robot.
Open the gas valve of the master robot.
Turn ON the torch switch of the slave robot.
Turn ON the torch switch of the master robot.
Loop label
Delay time
THEN JUMP If the slave robot is generating the arc, jump to the "End label
(LABL0002).
THEN JUMP If the master robot is generating the arc, jump to the "End label
(LABL0002).
Subtract "1" from the loop count.
0 THEN JUMP If the loop count is larger than "0", return to the loop label.
Error stop
(No arc has generated after checking 0.1s ×20 times.)
End label.
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